A method and system for controlling the sequential motion of a multi-degree-of-freedom grafting robot

Abstract

A sequential motion control method for a multi-degree-of-freedom grafting robot, decomposing the motion flow of the multi-degree-of-freedom grafting robot to complete a set of grafting into all the motion steps executed by it; grouping the motion into two parts: a single-axis motion group and a multi-axis linkage group, determining the running time and motion parameters of each axis and each linkage axis, and determining the feedback link motion instruction trigger flag through the state quantity of the feedback signal; determining the running time interval of each axis through the motion flow of the multi-degree-of-freedom grafting robot and the feedback link motion instruction trigger flag; determining the motion control instruction of each axis through the motion parameters of each axis; determining the execution time node of the motion control instruction of each axis through the running time interval of each axis; determining the time sequence through the execution time node of the motion control instruction; and executing the motion control instruction of each axis through the time sequence. The present invention is a motion control method with time as a variable, which can significantly improve the working efficiency of the grafting robot and reduce the use cost.

Description

Technical Field

[0001] The invention belongs to the technical field of motion control, and in particular relates to a sequential motion control method and system for a multi-degree-of-freedom grafting robot. Background Art

[0002] In the field of advanced agricultural science and technology, grafting for fruit and vegetable seedlings is a commonly used method of artificial plant cultivation. However, given that manual grafting is time-consuming and labor-intensive, and the quality of grafting varies, researchers have proposed different types of robots dedicated to grafting in the field of robotics. For example, patent ZL202011218371.9 proposes a semi-automatic grafting robot, which consists of a work platform, a lifting platform, a Y-axis positioning mechanism on both sides, an X-axis positioning and transportation mechanism, a rotary seedling cutting mechanism, a seedling tray and other multi-degree-of-freedom components. Patents CN209964697U and CN109716949A invented a grafting robot, which includes a base, a rotary cutting mechanism, a clamping mechanism, a scion seedling delivery mechanism and a rootstock seedling delivery mechanism; the rotary cutting mechanism includes a cutter head fixing block, and a manipulator is used to grasp the grafted object. These grafting robots are all multi-degree-of-freedom grafting robots. Due to the limitations of the grafting process, sequential operation control is required to achieve control of multiple degrees of freedom.

[0003] The existing motion control methods for general multi-DOF robots all emphasize linkage control or collaborative control, but this control strategy does not have an advantage in realizing the motion timing control of the grafting robot, and the hardware cost is relatively high. In particular, it is impossible to plan in advance for general multi-DOF robot control methods to determine the time sequence in combination with the grafting process; that is, the motion control of the grafting robot is directly related to its grafting process and has a strong uniqueness. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a method and system for sequential motion control of a multi-degree-of-freedom grafting robot, so as to achieve sequential coordinated control of the motion movements of the multi-degree-of-freedom grafting robot and promote the rapid and efficient grafting process.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A time sequence motion control method for a multi-degree-of-freedom grafting robot comprises the following steps:

[0007] Step 1: Decompose the motion flow of the multi-degree-of-freedom grafting robot to complete a set of grafting into all the motion steps executed by it; group the motion into two parts: a single-axis motion group and a multi-axis linkage group. The single-axis motion group refers to a set of motion steps in which the axis involved in the motion is a single axis, and the multi-axis linkage group refers to a set of motion steps in which the axes involved in the motion are multiple axis linkages;

[0008] Step 2: Determine the running time of each axis of the single-axis motion group; the running time of each axis refers to the motion time required for the axis participating in the motion of each motion step in the motion step set of the single-axis motion group;

[0009] Step 3: Determine the running time of each linkage axis group of the multi-axis linkage group; the running time of each linkage axis group refers to the movement time required for the linkage axis group participating in the movement of each movement step in the movement step set of the multi-axis linkage group;

[0010] Step 4: determining the motion parameters of each axis according to the running time of each axis of the single-axis motion group; the motion parameters of each axis include angular displacement, angular velocity, and angular acceleration;

[0011] Step 5: determining the motion parameters of each linkage axis according to the running time of each linkage axis group of the multi-axis linkage group; the motion parameters of each linkage axis include angular displacement, angular velocity, and angular acceleration;

[0012] Step 6: Determine the feedback link motion command trigger flag through the state quantity of the feedback signal; the feedback link motion command trigger flag is divided into a start motion trigger flag and an end motion trigger flag; the start motion trigger flag is applicable to the case where the axis motion starts when the feedback value meets the target value, and the end motion trigger flag is applicable to the case where the axis motion stops when the feedback value meets the target value.

[0013] Step 7: Determine the operating time interval of each axis based on the motion flow of the multi-degree-of-freedom grafting robot and the motion instruction trigger flag of the feedback link; determine the motion control instruction of each axis based on the motion parameters of each axis; determine the execution time node of the motion control instruction of each axis based on the operating time interval of each axis; determine the time sequence based on the execution time node of the motion control instruction; execute the motion control instruction of each axis based on the time sequence.

[0014] In one embodiment, the step 1, the motion step refers to an independent action performed by the grafting robot in a time sequence to complete a set of motion process, and the independent action is composed of a number of single sub-actions, and each single sub-action completion process corresponds to a motion step.

[0015] In one embodiment, in step 4 and step 5, the determination of the motion parameters of each axis or each linked axis refers to calculating the corresponding angular velocity and angular acceleration based on the angular displacement of each axis and the running time of each axis set according to the grafting efficiency of the grafting robot.

[0016] In one embodiment, in step 6, the state quantity of the feedback signal refers to the signal parameter obtained by the visual detection module or the signal quantity pre-set according to the teaching process, which is a switch quantity that defines the execution of the start or stop movement step of each axis.

[0017] In one embodiment, the running time interval of each axis, the left endpoint value of the interval is the right endpoint value of the running time interval of the previous axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark, and the right endpoint value of the interval is the left endpoint value of the running time interval of the next axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark.

[0018] In one embodiment, the execution time node of the motion control instructions of each axis is equal to the left endpoint value of the running time interval of each axis; the time sequence refers to a sequence in which the motion control instructions of each axis are arranged in the order of their execution time.

[0019] The present invention also provides a sequential motion control system for a multi-degree-of-freedom grafting robot, comprising a visual detection module, a motion controller module, a human-machine interface, a stepper motor driver module, a stepper motor module, a steering gear driver module, and a steering gear module;

[0020] The visual inspection module monitors the motion steps in the grafting process in the grafting area in real time, and determines whether each motion step in the grafting process is completed, and issues a corresponding feedback link motion instruction trigger flag or a state quantity of a feedback signal according to the determination result;

[0021] The motion controller module is used to process and analyze various data and instructions of the grafting process, and to communicate in real time with the stepper motor driver module, the steering gear driver module, the visual detection module, and the human-machine interface module; the stepper motor driver module communicates in real time with the stepper motor module; the steering gear driver module is connected to the steering gear module for real-time communication;

[0022] The control logic of the motion controller module is to first process and analyze various data and instructions of the grafting process, and convert the motion control instructions into corresponding electrical signals; then transmit the electrical signals to the stepper motor driver module and the steering gear driver module through real-time communication, and the stepper motor driver module and the steering gear driver module then convert the received electrical signals into corresponding angular displacements, thereby driving the stepper motor and the steering gear to operate;

[0023] The human-machine interface records and displays whether each movement step of the entire grafting process has been completed, is in progress, and is expected to be completed;

[0024] In one embodiment, the visual detection module uses a video camera or infrared photography as a detection sensor and uses the YOLO algorithm to determine whether the motion step is completed.

[0025] In one embodiment, the stepper motor module includes 1 to 16 stepper motors, the stepper motor driver module includes the same number of stepper motor drivers as the stepper motors, and each stepper motor is controlled by a stepper motor driver; the servo module includes 1 to 16 servos, the servo driver module includes the same number of servo drivers as the servos, and each servo is controlled by a servo driver.

[0026] In one embodiment, the record display items of the human-machine interface include the status display and button of each axis or each linked axis, the current step display and button, the current round display and button, the historical round display and button, the information display area, the clamping completion display and button, the switch button and the emergency stop button.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention provides a sequential motion control method and system, which is a motion control method with time as a variable. Since its execution condition is a function of time, it can complete a specific motion task within a specific time period, and is particularly suitable for control systems with high requirements for time accuracy.

[0029] Compared with the existing technology, sequential motion control can clearly determine the time required for a round of motion, and can quickly realize the series or parallel drive control of the stepper motor or servo in multi-degree-of-freedom motion through the time series. This can significantly improve the work efficiency and reduce the use cost of the grafting robot in the early debugging, operation process control, and later upgrade maintenance and troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structural composition of a multi-degree-of-freedom grafting robot.

[0031] Figure 2 It is a schematic diagram of the connection of control system modules of a multi-degree-of-freedom grafting robot.

[0032] Figure 3 It is a schematic diagram of the positioning, lifting and transporting mechanism of a multi-degree-of-freedom grafting robot.

[0033] Figure 4 It is a schematic diagram of the human-machine interface.

[0034] Figure 5 It is a process decomposition diagram.

[0035] Figure 6 It is a timing control diagram.

[0036] Explanation of the accompanying drawings: 1-1, stepper motor one; 1-2 stepper motor two; 1-3, stepper motor three; 1-4, stepper motor four; 1-5, stepper motor five; 1-6, stepper motor six; 1-7, stepper motor seven; 1-8, stepper motor eight; 1-9, servo one; 1-10, servo two; 1-11, servo three; 1-12, servo four; 1-13, visual inspection module; 1-14, human-machine interface; 1-15, grafting area; 1-16, gantry; 1-17, right XY axis positioning mechanism; 1-18, left XY Axis positioning mechanism; 1-19, rotary cutting mechanism; 2-1 motion controller module; 2-2-1, stepper motor driver module; 2-2-2, stepper motor module; 2-3-1, servo driver module; 2-3-2, servo module; 2-4 visual inspection module; 2-5, human-machine interface module; 4-1, axis status button; 4-2, current step button; 4-3, current round button; 4-4, historical round button; 4-5, information display area; 4-6, clamping completion button; 4-7, switch button; 4-8, emergency stop button. DETAILED DESCRIPTION

[0037] In order to make the technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The present invention is a time-sequential motion control method and system for a multi-degree-of-freedom grafting robot, which combines the special requirements of the grafting process and is a sequential control scheme based on a time sequence. The execution condition is a function of time, and the motion time is controllable. By sequentially controlling multiple motors, the grafting robot can complete the complete action required for grafting according to the established process.

[0039] At the same time, the control method can quickly locate possible motion fault points, significantly reducing costs and improving efficiency in early operation debugging and later upgrade maintenance and fault troubleshooting. In addition, the timing control method and system also have good reference value for the control method of systems and equipment with high requirements for time accuracy of process actions, and have a relatively broad engineering application prospect.

[0040] Specifically, the timing motion control method of the multi-degree-of-freedom grafting robot of the present invention comprises the following steps:

[0041] Step 1: Decomposition of exercise flow and exercise grouping

[0042] The motion process of the multi-degree-of-freedom grafting robot refers to all the motion steps performed by the multi-degree-of-freedom grafting robot to complete a set of grafting process actions. Based on this, its motion process can be decomposed into all the motion steps performed. The motion step is defined in the present invention as an independent action performed in time sequence by the grafting robot to complete a set of motion process processes. The independent action is composed of a number of single sub-actions, and each single sub-action completion process corresponds to a motion step.

[0043] At the same time, the motion is grouped into two parts: a single-axis motion group and a multi-axis linkage group. Among them, the single-axis motion group refers to a set of motion steps in which the axis involved in the motion is a single axis, which is a single-degree-of-freedom motion, with a single stepper motor or a single servo as the driving unit. The multi-axis linkage group refers to a set of motion steps in which the axis involved in the motion is a multi-axis linkage motion, which is a multi-degree-of-freedom motion, with multiple stepper motors or multiple servos as the driving units.

[0044] Step 2: Determine the running time of each axis of the single-axis motion group

[0045] In the present invention, the running time of each axis refers to the movement time required for the axis participating in the movement of each movement step in the movement step set of the single-axis movement group.

[0046] Step 3: Determine the running time of each linkage axis group of the multi-axis linkage group

[0047] In the present invention, the running time of each linkage axis group refers to the movement time required for the linkage axis group participating in the movement of each movement step in the movement step set of the multi-axis linkage group.

[0048] Step 4: Determine the motion parameters of each axis

[0049] In the present invention, the motion parameters of each axis can be determined by the running time of each axis of the single-axis motion group, and the motion parameters of each axis include angular displacement, angular velocity, angular acceleration, etc.

[0050] Step 5: Determine the motion parameters of each linkage axis

[0051] In the present invention, the motion parameters of each linkage axis can be determined by the running time of each linkage axis group of the multi-axis linkage group. The motion parameters of each linkage axis include angular displacement, angular velocity, angular acceleration, etc.

[0052] In order to determine the motion parameters of each axis or each linked axis, the present invention combines the angular displacement of each axis set by the grafting efficiency of the grafting robot and the running time of each axis to calculate the corresponding angular velocity and angular acceleration. The algorithms used, such as trapezoidal acceleration and deceleration algorithm, triangle acceleration and deceleration algorithm, S-shaped acceleration and deceleration algorithm, trigonometric function acceleration and deceleration algorithm, etc., can all be implemented.

[0053] Step 6: Determine the feedback link motion command trigger flag

[0054] In the present invention, the feedback link motion instruction trigger flag can be determined by the state quantity of the feedback signal. The state quantity of the feedback signal refers to the signal parameter obtained by the visual detection module or the signal quantity pre-set according to the teaching process, which is a switch quantity and defines the execution of the start or stop motion step of each axis.

[0055] The motion command trigger flags in the feedback link are divided into the start motion trigger flag and the end motion trigger flag; the start motion trigger flag is applicable to the case where the axis motion starts when the feedback value meets the target value, and the end motion trigger flag is applicable to the case where the axis motion stops when the feedback value meets the target value.

[0056] Step 7: Determine the operating time interval of each axis

[0057] The running time interval of each axis of the present invention is determined by the motion process of the multi-degree-of-freedom grafting robot and the motion instruction trigger flag of the feedback link. Specifically, the motion control instruction of each axis is determined by the motion parameters of each axis; the execution time node of the motion control instruction of each axis is determined by the running time interval of each axis; the time sequence is determined by the execution time node of the motion control instruction; and the motion control instruction of each axis is executed by the time sequence.

[0058] The running time interval of each axis, the left endpoint value of the interval is the right endpoint value of the running time interval of the previous axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark, and the right endpoint value of the interval is the left endpoint value of the running time interval of the next axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark.

[0059] The execution time node of the motion control instructions of each axis is equal to the left endpoint value of the running time interval of each axis; the time sequence refers to the sequence in which the motion control instructions of each axis are arranged in the order of their execution time.

[0060] In the method of the present invention, the timing control is realized by decomposing the motion process of the multi-degree-of-freedom grafting robot to obtain the control time parameters, and the time is used as the control quantity to complete the control of the stepping motor or the servo to perform the action.

[0061] The present invention also provides a corresponding sequential motion control system of a multi-degree-of-freedom grafting robot, including a visual detection module, a motion controller module, a human-machine interface, a stepper motor driver module, a stepper motor module, a steering gear driver module, and a steering gear module;

[0062] The visual detection module monitors the motion steps in the grafting process in the grafting area in real time, and judges whether each motion step in the grafting process is completed, and issues a corresponding feedback link motion instruction trigger mark or feedback signal state quantity according to the judgment result; for example, the visual detection module uses a video camera or infrared photography as a detection sensor, and uses the YOLO algorithm to judge whether the process actions such as loading and unloading of the seedling tray in the grafting process are completed, and gives a corresponding trigger mark or signal.

[0063] The motion controller module is used to process and analyze various data and instructions of the grafting process, and can communicate in real time with the stepper motor driver module, servo driver module, visual inspection module, human-machine interface module, etc.; the stepper motor driver module can communicate in real time with the stepper motor module; the servo driver module is connected to the servo module for real-time communication.

[0064] The control logic of the motion controller module is to first process and analyze various data and instructions of the grafting process, and convert the motion control instructions into corresponding electrical signals; then transmit the electrical signals to the stepper motor driver module and the servo driver module through real-time communication, and the stepper motor driver module and the servo driver module convert the received electrical signals into corresponding angular displacements, thereby driving the stepper motor and the servo to operate.

[0065] The human-machine interface records and displays whether each movement step of the entire grafting process has been completed, is in progress, and is expected to be in progress. The specific record and display items include the status display and button of each axis or each linkage axis, the current step display and button, the current round display and button, the historical round display and button, the information display area, the clamping completion display and button, the switch button, and the emergency stop button, etc. The switch button and emergency stop button at the human-machine interface are connected to the power supply.

[0066] In the present invention, the stepper motor module generally includes 1 to 16 stepper motors, the stepper motor driver module includes stepper motor drivers equal to the number of stepper motors, and each stepper motor is controlled by a stepper motor driver; the servo module generally includes 1 to 16 servos, the servo driver module includes servo drivers equal to the number of servos, and each servo is controlled by a servo driver.

[0067] An automated grafting robot is used as the object (its structure is as shown in the attached Figure 1 As shown), a specific implementation case of the present invention is given:

[0068] Multi-DOF grafting robot sequential motion control system, such as Figure 2 As shown, it includes a motion controller module 2-1, a stepper motor driver module 2-2-1, a stepper motor module 2-2-2, a servo driver module 2-3-1, a servo module 2-3-2, a visual detection module 2-4, a human-machine interface module 2-5, etc.

[0069] The motion controller module 2-1 can communicate in real time with the stepper motor driver module 2-2-1, the servo driver module 2-3-1, the visual detection module 2-4, the human-machine interface module 2-5, etc.; the stepper motor driver module 2-2-1 can communicate in real time with the stepper motor module 2-2-2; the servo driver module 2-3-1 is connected to the servo module 2-3-2 for real-time communication; the switch button 4-7, the emergency stop button 4-8, etc. at the human-machine interface are connected to the power supply.

[0070] In this embodiment, the stepper motor module 2-2-2 includes 8 stepper motors and 8 stepper motor drivers, and the stepper motors and stepper motor drivers are connected one-to-one for real-time communication; the servo module 2-3-2 includes 4 servos and 4 servo drivers, and the servos and servo drivers are connected one-to-one for real-time communication.

[0071] like Figure 1 As shown, the stepper motor 1-1 controls the right XY-axis positioning mechanism 1-17 to achieve translational movement of the positioning mechanism along the X-axis direction, so that the positioning mechanism can reach the specified scion seedling clamping position.

[0072] The stepper motor 2 1-2 controls the left XY-axis positioning mechanism 1-18 to achieve translational movement of the positioning mechanism along the X-axis direction, so that the positioning mechanism can reach the specified rootstock seedling clamping position.

[0073] Stepper motor three 1-3 control positioning lifting and transport mechanism see attached Figure 3 The translation movement in the X direction shown in the figure realizes the centering and positioning of the upper part of the scion seedling and the lower part of the rootstock seedling.

[0074] The stepper motor 4 1-4 controls the right XY axis positioning mechanism 1-17 to realize the translational movement of the positioning mechanism along the Y axis direction, so that the positioning mechanism completes the clamping of the lower half of the scion seedling.

[0075] The stepper motor five 1-5 controls the left XY axis positioning mechanism 1-18 to realize the translational movement of the positioning mechanism along the Y axis direction, so that the positioning mechanism completes the clamping of the lower half of the rootstock seedling.

[0076] Stepper motor 6 1-6 control positioning lifting and transport mechanism see attached Figure 3As shown, the scion seedling and the rootstock seedling move in the X direction to clamp the upper part in the X direction;

[0077] Stepper motor seven 1-7 control positioning lifting and transport mechanism see attached Figure 3 As shown, the grafted seedlings after cutting, including the upper part of the scion seedling and the rootstock seedling, are lifted and lowered along the Z-axis direction;

[0078] The stepper motor eight 1-8 controls the lifting and lowering movement of the rotary cutting mechanism 1-19 along the Z-axis direction;

[0079] Servo 1-9, servo 2-10, servo 3-11 and servo 4-12 control the rotary seedling cutting action of the rotary cutting mechanism 1-19.

[0080] The visual inspection module 1-13 is located on the crossbeam of the gantry 1-16 just above the grafting area 1-15. The camera collects the image of the grafting area 1-15, and uses the YOLO algorithm to determine whether the process actions such as loading and unloading of the seedling tray are completed, and gives a corresponding trigger mark or signal.

[0081] Human-machine interface 1-14, as attached Figure 4 As shown, it includes an axis status button 4-1, a current step button 4-2, a current round button 4-3, a historical round button 4-4, an information display area 4-5, a clamping completion button 4-6, a switch button 4-7, an emergency stop button 4-8, etc.

[0082] The detailed determination process of the time parameters, time interval, motion instruction trigger and other parameters or states of the process action in this implementation case is as follows:

[0083] It is assumed that it takes 45 seconds to complete one round of grafting, of which 30 seconds is for manual operation and 15 seconds is for the grafting robot. The entire grafting process is divided into 15 steps (see attached Figure 5 The corresponding time parameter determination process is as follows:

[0084] Step S1: the visual inspection module 1-13 detects the loading information of the seedling tray in the grafting area 1-15, and communicates the loading information of the seedling tray to the motion controller module 2-1 in real time. When the loading information of the seedling tray is "loaded", the motion instruction is triggered, and the motion control module 2-1 executes the subsequent process;

[0085] Step S2: The motion control module 2-1 controls the stepper motor 1-1 and the stepper motor 2-2 to realize the process of the left and right XY axis positioning mechanisms reaching the designated rootstock seedling clamping position, which takes 1 second;

[0086] Step S3: The motion control module 2-1 controls the stepper motor 4 1-4, the stepper motor 5 1-5, and the stepper motor 6 1-6 to realize the positioning process of the scion seedling and the rootstock seedling in the X-axis and Y-axis directions, which takes 2 seconds;

[0087] Step S4: the motion control module 2-1 controls the stepper motor eight 1-8 to realize the downward motion process of the rotary cutting mechanism in the negative direction of the Z axis, which takes 1 second;

[0088] Step S5: The motion control module 2-1 controls the steering gear 1-9, the steering gear 2-10, the steering gear 3-11, and the steering gear 4-1-12 to realize the cutting motion process of the scion seedlings and the rootstock seedlings, which takes 1 second;

[0089] Step S6: the motion control module 2-1 controls the stepper motor 7 1-7 to realize the upward motion process of the upper part of the scion seedling and the rootstock seedling in the positive direction of the Z axis, which takes 1 second;

[0090] Step S7: The motion control module 2-1 controls the steering gear 1-9, the steering gear 2-10, the steering gear 3-11, and the steering gear 4-12 to return to the starting position, which takes 1 second;

[0091] Step S8: The motion control module 2-1 controls the stepper motor 8 1-8 to return to the starting position, which takes 1 second;

[0092] Step S9: the motion control module 2-1 controls the stepper motor 3 1-3 to realize the centering process of the upper part of the scion seedling and the lower part of the rootstock seedling in the X-axis direction, which takes 3 seconds;

[0093] Step S10: the motion control module 2-1 controls the stepper motor 71-7 to achieve the docking process of the upper part of the scion seedling and the lower part of the rootstock seedling in the Z-axis direction, which takes 1 second;

[0094] Step S11: the human-machine interface 1-14 receives the "clamping completion" signal, and communicates the "clamping completion" signal to the motion control module 2-1 in real time, and the motion control module 2-1 executes the subsequent process;

[0095] Step S12: The motion control module 2-1 controls the stepper motor 4 1-4, the stepper motor 5 1-5, and the stepper motor 6 1-6 to return to the starting position, which takes 1 second;

[0096] Step S13: The motion control module 2-1 controls the stepper motor 1-1 and the stepper motor 2-2 to return to the starting position, which takes 1 second;

[0097] Step S14: the visual inspection module 1-13 detects the unloading information of the seedling tray in the grafting area 1-15, and communicates the unloading signal of the seedling tray to the motion control module 2-1 in real time. When the loading information of the seedling tray is "unloaded", the motion control module 2-1 executes the subsequent process;

[0098] Step S15: The motion control module 2-1 controls the stepper motor 3 1-3 to return to the starting position, which takes 1 second.

[0099] Attached Figure 6 The time series results obtained by decomposing the above process are shown. It can be seen that the stepper motor module, the steering gear module and the visual detection module are operated and detected in a time series under the control of the motion controller module, completing a complete set of grafting processes.

Claims

1. A method for controlling the sequential motion of a multi-degree-of-freedom grafting robot, characterized in that: The steps include: Step 1: Decompose the motion flow of the multi-degree-of-freedom grafting robot to complete a set of grafting into all the motion steps executed by it; group the motion into two parts: a single-axis motion group and a multi-axis linkage group. The single-axis motion group refers to a set of motion steps in which the axis involved in the motion is a single axis, and the multi-axis linkage group refers to a set of motion steps in which the axes involved in the motion are multiple axis linkages; Step 2: Determine the running time of each axis of the single-axis motion group; the running time of each axis refers to the motion time required for the axis participating in the motion of each motion step in the motion step set of the single-axis motion group; Step 3: Determine the running time of each linkage axis group of the multi-axis linkage group; the running time of each linkage axis group refers to the movement time required for the linkage axis group participating in the movement of each movement step in the movement step set of the multi-axis linkage group; Step 4: determining the motion parameters of each axis according to the running time of each axis of the single-axis motion group; the motion parameters of each axis include angular displacement, angular velocity, and angular acceleration; Step 5: determining the motion parameters of each linkage axis through the running time of each linkage axis group of the multi-axis linkage group; the motion parameters of each linkage axis include angular displacement, angular velocity, and angular acceleration; in steps 4 and 5, the determination of the motion parameters of each axis or each linkage axis refers to calculating the corresponding angular velocity and angular acceleration based on the angular displacement of each axis and the running time of each axis set according to the grafting efficiency of the grafting robot; Step 6: Determine the feedback link motion instruction trigger flag through the state quantity of the feedback signal; the feedback link motion instruction trigger flag is divided into a start motion trigger flag and an end motion trigger flag; the start motion trigger flag is applicable to the case where the axis motion starts when the feedback value meets the target value, and the end motion trigger flag is applicable to the case where the axis motion stops when the feedback value meets the target value; the state quantity of the feedback signal refers to the signal parameter obtained by the visual detection module or the signal quantity pre-set according to the teaching process, which is a switch quantity, defining the execution of the start or stop motion steps of each axis; Step 7: Determine the operating time interval of each axis of the single-axis motion group or each linkage axis of the multi-axis linkage group according to the motion flow of the multi-degree-of-freedom grafting robot and the motion instruction trigger flag of the feedback link; determine the motion control instruction of each axis or each linkage axis according to the motion parameters of the axis or each linkage axis; determine the execution time node of the motion control instruction of the axis or each linkage axis according to the operating time interval of the axis or each linkage axis; determine the time sequence according to the execution time node of the motion control instruction; execute the motion control instruction of the axis or each linkage axis according to the time sequence.

2. The timing motion control method of the multi-degree-of-freedom grafting robot according to claim 1 is characterized in that: The step 1, the motion step refers to an independent action performed by the grafting robot in a time sequence to complete a set of motion process. The independent action is composed of a number of single sub-actions, and the completion process of each single sub-action corresponds to a motion step.

3. The timing motion control method of the multi-degree-of-freedom grafting robot according to claim 1 is characterized in that: The running time interval of each axis, the left endpoint value of the interval is the right endpoint value of the running time interval of the previous axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark, and the right endpoint value of the interval is the left endpoint value of the running time interval of the next axis or the linked axis in the time series or the time node corresponding to the motion instruction trigger mark.

4. The method for controlling the sequential motion of a multi-degree-of-freedom grafting robot according to claim 1, characterized in that: The execution time node of the motion control instructions of each axis is equal to the left endpoint value of the running time interval of each axis; the time sequence refers to a sequence in which the motion control instructions of each axis are arranged in the order of their execution time.

5. A time sequence motion control system for a multi-degree-of-freedom grafting robot for implementing the time sequence motion control method for a multi-degree-of-freedom grafting robot according to claim 1, characterized in that: Including visual detection module, motion controller module, human-machine interface, stepper motor driver module, stepper motor module, servo driver module, servo module; The visual inspection module monitors the motion steps in the grafting process in the grafting area in real time, and determines whether each motion step in the grafting process is completed, and issues a corresponding feedback link motion instruction trigger flag or a state quantity of a feedback signal according to the determination result; The motion controller module is used to process and analyze various data and instructions of the grafting process, and to communicate with the stepper motor driver module, the steering gear driver module, the visual detection module, and the human-machine interface module in real time; the stepper motor driver module communicates with the stepper motor module in real time; the steering gear driver module is connected to the steering gear module for real-time communication; the motion controller module first processes and analyzes various data and instructions of the grafting process, and converts the motion control instructions into corresponding electrical signals; then transmits the electrical signals to the stepper motor driver module and the steering gear driver module through real-time communication, and the stepper motor driver module and the steering gear driver module then convert the received electrical signals into corresponding angular displacements, thereby driving the stepper motor and the steering gear to operate; The human-machine interface records and displays whether each movement step of the entire grafting process has been completed, is in progress, and is expected to be completed.

6. The timing motion control system of the multi-degree-of-freedom grafting robot according to claim 5, characterized in that: The visual detection module uses a video camera or infrared photography as a detection sensor and uses the YOLO algorithm to determine whether the motion step is completed.

7. The timing motion control system of the multi-degree-of-freedom grafting robot according to claim 5, characterized in that: The stepper motor module includes 1 to 16 stepper motors, the stepper motor driver module includes the same number of stepper motor drivers as the stepper motors, and each stepper motor is controlled by a stepper motor driver; the servo module includes 1 to 16 servos, the servo driver module includes the same number of servo drivers as the servos, and each servo is controlled by a servo driver.

8. The timing motion control system of the multi-degree-of-freedom grafting robot according to claim 5, characterized in that: The record display items of the human-machine interface include the status display and button of each axis or each linked axis, the current step display and button, the current round display and button, the historical round display and button, the information display area, the clamping completion display and button, the switch button and the emergency stop button.

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