A method for controlling the movement of the mechanical arm of the automatic throwing system of the green feeding machine

Abstract

A method for controlling the movement of a mechanical arm of a green feeding machine automatic throwing system, comprising the following steps: using an RGB-D camera to identify the vehicle body, and positioning the position of the vehicle body in the coordinate system of the mechanical arm; according to the scope of the vehicle body positioning, Set multiple monitoring points of the material within the scope of the vehicle body, and obtain the fullness value of each monitoring point; traverse the fullness value of the material at the monitoring points in the vehicle body in a certain order, and compare the fullness value with the preset fullness value Make a comparison to find the first unfulfilled monitoring point whose full scale value is less than the preset full scale value; judge the direction of the first unfulfilled monitoring point where the robot arm is located, and count the number of rotations of the robotic arm in this direction. At the same time, the counter of the mechanical arm should be turned in the opposite direction is cleared, and the direction includes left and right; judge whether the accumulated counter of the robotic arm should be turned has reached three times or more, and if so, the mechanical arm will turn in this direction. Control the movement of the arm to automatically fill the bucket with materials.

Description

technical field [0001] The invention relates to the technical field of mechanical arm control and agricultural automation, in particular to a method for controlling the motion of a mechanical arm in an automatic throwing system of a green feeding machine. Background technique [0002] The green forage machine is a commonly used agricultural harvesting machine, which is mainly used to harvest green forage crops such as green grass, oats, beet stems and leaves, and corn. The green feeding machine is generally composed of the front header, the body feeding device and the chopping and throwing device. The front header is a rotary chopper equipped with multiple knives for high-speed harvesting of crops. The fuselage collects and chops the crops, and then throws them out from the throwing device. The materials thrown out by the green feeding machine are sent from the rear or side Transport vehicles traveling in the same direction undertake. [0003] For the green feeding machine...

AI Technical Summary

Problems solved by technology

Through manual control by the operator, it is necessary to add a professional operator to increase the harvesting cost; because the relative speed of the transport vehicle and the harvesting vehicle will be different, the operator must always observe the condition of the vehicle body and frequently operate the handle, resulting in manpower waste of labor and materials

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