Rod-shaped crop harvesting robot control method

Abstract

The invention relates to a rod-shaped crop harvesting robot control method, and belongs to the field of agricultural automation. The method comprises the steps of autonomous identification of rod-shaped crops, a robot control method, design of a clamping mechanism, design of a binding mechanism, design of a conveying mechanism and multi-motor fault detection diagnosis. A whole hardware structure of a robot is designed for solving the harvesting problem of the rod-shaped crops on the premise of maintaining low cost; a system is more stable and accurate through optimization of algorithms and fusion of multiple sensors. A convolutional neural network is designed to recognize a target, a simple recognition algorithm is used for recognition so as to improve real-time performance, data fusion isperformed on data obtained by the two algorithms, and consistency interpretation is obtained. According to the method, the algorithm for optimizing ultrasonic data is used, and the more accurate datais obtained through algorithm optimization on low-cost ultrasonic waves. The adaptive weighted fusion estimation algorithm is used to optimize data, and thus the consistency interpretation of the environment is obtained.

Description

technical field [0001] The invention belongs to the field of agricultural automation and relates to a control method for a rod-shaped crop harvesting robot. Background technique [0002] Agricultural robots basically belong to the category of robots, not only the simple fusion of mechanical structure and control algorithm, but also involves multi-sensor fusion technology, information processing technology, automatic control technology, computer technology, multi-system control and many other technologies. It is a comprehensive interdisciplinary subject. The general structure of a robot system includes three parts: mechanical structure, perception system, and control system; it includes six subsystems: drive system, mechanical structure system, sensory system, robot-environment interaction system, human-computer interaction system, and control system. [0003] The application of agricultural robots and industrial robots is quite different and the characteristics of agricultu...

AI Technical Summary

Problems solved by technology

However, due to the complexity of the environment and the uncertainty of the target position, agricultural robots must have certain perception capabilities.

So only from these two aspects, it is more difficult for agricultural robots to be as popular and widely used as industrial robots

[0006] (3) The operators of industrial robots are generally technical personnel with engineering background or personnel who have undergone systematic technical training, and have a certain foundation in electromechanical operation. The field of application of agricultural robots is destined to be farmers. Has rich experience in agricultural planting, but lacks corresponding technical operation experience, so it is necessary to consider the problem of human-computer interaction when developing agricultural robots, and the human-computer interaction should be more concise and easy to understand

[0007] On the one hand, the barriers caused by the complexity of technology; on the other hand, the economic barriers caused by the uncoordinated input and output; finally, there is a high demand for human-computer interaction

Images