Control system and control method of picking manipulator

Abstract

The invention relates to a control system and a control method of a picking manipulator. The control system is characterized by comprising an upper computer, a lower computer, a finger joint motor control module and a visual identifying system; a transmission module is arranged between the upper computer and the lower computer; the lower computer is respectively connected with the finger joint motor control module and the visual identifying system; the upper computer virtually debugs various optimal grabbing gestures of the manipulator according to shapes and sizes of different types of fruitand vegetables, and transmits to the lower computer through the transmission module; the lower computer receives and stores the various optimal grabbing gesture information of the manipulator virtually debugged by the upper computer, and transfers the correspondingly debugged grabbing gesture information to the finger joint motor control module for instruction sending according to the informationconveyed by the visual identifying system; and the finger joint motor control module receives and executes instructions of the lower computer. The control system is flexible in use, shortens the debugging time, and effectively improves the picking efficiency.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a control system for a picking manipulator. Background technique [0002] The labor force used in fruit and vegetable picking operations accounts for 33% to 50% of the labor force used in the entire production process. Using manual picking is inefficient and labor intensive. Therefore, fruit and vegetable picking robots occupy an important position in agricultural automation technology. With the development of precision in agricultural production, the development of picking manipulators has become a hot topic. However, the picking quality of picking robots seriously affects the economic value of fruits and vegetables. However, the existing picking manipulator control system is difficult to accurately and quickly make corresponding adjustments to the grasping action of the manipulator according to the specific size, shape, and type of the fruit, and the...

AI Technical Summary

Problems solved by technology

However, the picking quality of picking robots seriously affects the economic value of fruits and vegetables

However, the existing picking manipulator control system is difficult to accurately and quickly make corresponding adjustments to the grasping action of the manipulator according to the specific size, shape, and type of the fruit, and according to the posture of the manipulator grabbing the fruit.

The traditional offline programming mode is not convenient for debugging the grasping posture of the manipulator, and the start-stop characteristics of the motor are unstable and the pulsation is large

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