Control system and control method for humanoid mushroom picking double-arm robot

A control system and robot technology, applied in control/regulation systems, mushroom cultivation, non-electric variable control, etc., can solve problems such as low work efficiency

Pending Publication Date: 2021-07-30
NANJING AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Insufficient labor force, low work efficiency, and occupational diseases caused by long-term work will become more and more obvious. Therefore, there is an urgent need for an intelligent mushroom picking robot to be used in mushroom factories

Method used

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  • Control system and control method for humanoid mushroom picking double-arm robot
  • Control system and control method for humanoid mushroom picking double-arm robot
  • Control system and control method for humanoid mushroom picking double-arm robot

Examples

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Effect test

Embodiment 1

[0037] combine figure 1 This embodiment is described. This embodiment provides a humanoid mushroom picking dual-arm robot control system, including a robot controller 1 and a remote control module 2 connected to the robot controller 1, a picking platform control module 3, Power supply module 4, mobile platform control module 5, lifting platform control module 6 and visual measurement module 7; remote control module 2 includes user PC 21 and wireless router 22; picking platform control module 3 includes mechanical double-arm control module 31, X-axis movement Control module 32 and picking claw control module 33; Power supply module 4 includes voltage stabilizing module 41 and power management module 42; Mobile platform control module 5 includes navigation module 51, switching value module 52, ranging module 53, positioning module 54, drive Module 55, brake alarm module 56 and display module 57; Lifting platform control module 6 includes lifting control module 61, roller control...

Embodiment 2

[0058] combine Figure 2 to Figure 6 To describe this embodiment, figure 2 A control method for a humanoid mushroom-picking dual-arm robot is given, including the following steps:

[0059] Step 1, firstly initialize the robot system, supply power to the motor and the sensor, and start collecting the signal of the sensor after ensuring that the state of each sensor is normal, and then under the guidance of the navigation module 51, the mobile platform control module 5 controls the mobile platform of the robot to reach the first A docking point for a mushroom stand;

[0060] Step 2: The mushroom rack has N layers, and the lifting platform control module 6 controls the lifting platform to lift according to the height of the mushroom rack. After the lifting platform reaches the height of the mushroom bed on the first layer, the visual measurement module 7 is used to scan the plane of the mushroom bed to perform Mushroom identification measurement and positioning;

[0061] Step...

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Abstract

The invention provides a control system and a control method for a humanoid mushroom picking double-arm robot, belongs to the technical field of automatic control, and particularly relates to the control system and the control method for the humanoid mushroom picking double-arm robot. The control system for the humanoid mushroom picking double-arm robot provided by the invention is characterized by comprising a robot controller, and a remote control module, a picking platform control module, a power supply module, a mobile platform control module, a lifting platform control module and a vision measurement module which are respectively connected with the robot controller. The control method for the humanoid mushroom picking double-arm robot provided by the invention is characterized by mainly comprising a robot autonomous navigation control method, a mushroom identifying, measuring and positioning method and a double-arm humanoid mushroom picking operation method. According to the control system and the control method for the humanoid mushroom picking double-arm robot provided by the invention, intelligent mushroom picking can be achieved, and the most important step of full-automatic mushroom production is achieved.

Description

technical field [0001] The invention belongs to the technical field of automation control, and in particular relates to a control system and a control method of a humanoid mushroom-picking dual-arm robot. Background technique [0002] Mushrooms are rich in nutrition. It is determined that every 100 grams of fresh mushrooms contains 2.9 grams of protein, 0.2 grams of fat, 3 grams of carbohydrates, 0.6 grams of crude fiber, and 8 mg of calcium. In addition, there are sodium, potassium, manganese, copper, vitamin A, and vitamin A. B and various amino acids. For mushrooms, factory planting has been generally realized at present, and the large-scale cultivation of mushrooms requires a lot of labor. At the same time, due to the characteristics of mushrooms that grow without light and grow day and night, workers need to pick them day and night. When faced with a large number of mushroom beds, manual picking is not advisable. [0003] With the development of mushroom agricultural ...

Claims

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Application Information

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IPC IPC(8): A01G18/70G05D1/02
CPCA01G18/70G05D1/0255G05D1/0263
Inventor 卢伟李璋浔施浩楠纪伟茜秦欢欢李源
Owner NANJING AGRICULTURAL UNIVERSITY
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