Intelligent fine adjustment system of walking routes

Abstract

The invention relates to an intelligent fine adjustment system of walking routes. The intelligent fine adjustment comprises an intelligent robot architecture and area capturing equipment, wherein the intelligent robot architecture walks in a tomato plantation and comprises a route planning mechanism, a following walking mechanism, an industrial control computer, a display screen, a camera support frame, a visual monitoring mechanism, a permanent magnet motor, a mechanical arm, a fruit basket body and a top end execution mechanism; the area capturing equipment is used for executing a combination operation on each green plant pixel point in a walking scene picture to obtain a left green plant area and a right green plant area; the route planning mechanism is connected with the area capturing equipment and is used for taking a curve located between the left green plant area and the right green plant area as a reference walking curve. The intelligent fine adjustment system of the walking routes is specific in design and effective in regulation and control. The system can carry out fine adjustment on a walking path of the intelligent robot based on layout states of tomato green leaves on two sides of a road, so that the walking speed and efficiency of the robot are improved.

Description

technical field [0001] The invention relates to the field of tomato planting, in particular to an intelligent fine-tuning system for walking routes. Background technique [0002] Tomato, that is, tomato, is an annual or perennial herbaceous plant belonging to the order Tubularfloweres, Solanaceae, and Tomato genus. It has a body height of 0.6 to 2 meters, with viscous glandular hairs all over the body, strong smell, stems that are easy to lodging, and leaves that are pinnately compound. Or pinnately parted, peduncle 2-5 cm long, usually 3-7 flowers, calyx radial, corolla radial, berry oblate or nearly spherical, fleshy and juicy, yellow seed, flower and fruit period in summer and autumn . [0003] The center of tomato origin is the Andes region of South America. In Peru, Ecuador, Bolivia and other places, there are still large areas of wild species distributed. The tomato genus is divided into the colored tomato subspecies and the green tomato subspecies. The former has ...

AI Technical Summary

Problems solved by technology

[0004] At present, when the robot performing the picking operation walks on the road in the tomato plantation, due to the inconsistent growth status of the green tomato leaves on both sides of the road, there may be a scene where one side is dense and the other is shrinking. The driving strategy may cause the robot to be entangled with the green leaves on the side of the dense growth, which affects the efficiency of the robot's walking and picking

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