CN108214451A - Rail system, farm robot and its control method - Google Patents
Rail system, farm robot and its control method Download PDFInfo
- Publication number
- CN108214451A CN108214451A CN201611148307.1A CN201611148307A CN108214451A CN 108214451 A CN108214451 A CN 108214451A CN 201611148307 A CN201611148307 A CN 201611148307A CN 108214451 A CN108214451 A CN 108214451A
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- CN
- China
- Prior art keywords
- farm
- plantation
- support column
- rail
- circumference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of rail system includes support column, rail rods, the first actuator and the second actuator, and the rail rods are connect with the support column, and the farm tool is set in the rail rods；The rail rods can be around the support column under the driving of first actuator axis circle, and polar coordinate system is established by pole of its tie point with the support column, second actuator is used to that the farm tool to be driven to move along the rail rods to closer or far from the support column direction.Rail system of the present invention is set using polar form, and rail rods are set to above farm and polar coordinate system is collectively formed with support column, simple in structure, and space availability ratio is high and causes farm edge that need not set guide rail, and convenient for farm, user is freely accessible to.Secondly, rail rods are located above farm, and soil or rock is avoided to enter, and are conducive to protect farm robot.The present invention also provides a kind of farm robot and its control methods.
Description
Technical field
The present invention relates to farm planting tool, more particularly to a kind of rail system, farm robot and its control method.
Background technology
At present in the implant system of intelligence farm, the guide rail for the movement of farm robot is set in the form of cartesian coordinate system
It is placed in around farm.Wherein, Y " guide rail " must be longitudinally disposed in farm edge, however, due to its soil in farm
Earth so that soil or rock are easily entered in guide rail, and farm robot is caused to be damaged when passing through or stop motion.Its
Secondary, farm user must could enter inside farm across guide rail, occupied space, and Y " guide rail " is caused to become a kind of obstruction
The obstacle that farm user enters.In addition, the drive system being set to above guide rail is exposed to outside air, easily it is damaged.
Invention content
Based on this, it is necessary to provide it is a kind of it is simple in structure, space availability ratio is high and be conducive to protect farm robot rail
Road system.
It there is a need to and a kind of farm robot with the rail system is provided.
More it is necessary to provide a kind of control methods of the farm robot.
A kind of rail system, for coordinating with farm tool, including support column, rail rods, the first actuator and the
Two actuators, the rail rods are connect with the support column, and the farm tool is set in the rail rods；The rail rods
Axis that can be around the support column under the driving of first actuator circles, and with its company with the support column
Contact establishes polar coordinate system for pole, second actuator for driving the farm tool along the rail rods to close or
It is moved far from the support column direction.
The rail rods include first end in one of the embodiments, and the first end is around the axis of the support column
Circumferentially it is rotationally arranged on the support column.
The rail rods include first end and the connection knot being set in the first end in one of the embodiments,
Structure, the first end are connected to by the connection structure on the support column, and the connection structure can be in the described first driving
The rail rods is driven to move in a circle around the axis of the support column under the driving of part.
The support column is vertically arranged in farm in one of the embodiments, the rail rods and the support column
Substantially vertical connection.
The farm tool can be in the parallel branch of driving lower edge of second actuator in one of the embodiments,
The relatively described rail rods of strut axis direction are for linear motion.
The rail system includes connecting rod in one of the embodiments, and the rail rods include and the first end
Opposite second end, the connecting rod are connected between the support column and the second end.
A kind of farm robot, including rail system and the farm tool being movably set on the rail system, institute
Rail system is stated as rail system described above.
The farm tool is the planting machinery hand for carrying out proportion of crop planting in one of the embodiments,.
The farm robot includes storage unit, computing unit and control unit, institute in one of the embodiments,
Storage unit is stated for prestoring on the plantation radius of each plantation circumference and each plantation circumference between adjacent two crops
Plantation spacing, the computing unit be used for according to the farm tool be currently located plantation circumference plantation radius and described kind
It plants distance computation and obtains rotational angle of the farm tool in currently plantation circumference, described control unit is used to control the rail
Road bar is rotated with the rotational angle on currently plantation circumference around the support column.
The farm robot includes image identification unit in one of the embodiments, and described image recognition unit is used
In identifying whether current planting area can plant, described control unit is used for when current planting area can not plant described in control
Rail rods drive the farm tool to turn to next planting area around the support column.
The farm robot includes judging unit in one of the embodiments, and the judging unit is used to judge institute
State whether farm tool has been completed currently to plant the plantation work of circumference, described control unit is used for when the farm tool is complete
It is moved on next plantation circumference along the rail rods into the farm tool is controlled during the plantation work for currently planting circumference.
A kind of farm robot control method, includes the following steps：
Obtain rotational angle of the farm tool in currently plantation circumference；
Identify whether current planting area can plant；
When current planting area can plant, the farm tool is controlled to plant and after the completion of plantation with the rotation
Angular turn is to next planting area；
Judge whether the farm tool has been completed currently to plant the plantation work of circumference；
When the farm tool has been completed currently to plant the plantation work of circumference, the farm tool is controlled along the rail
Road bar is moved on next plantation circumference.
Identify that the whether plantable step of current planting area further includes in one of the embodiments,：
When current planting area can not plant, the farm tool is controlled to turn to next kind with the rotational angle
Growing area domain.
Rail system of the present invention is set using polar form, and rail rods are set to above farm and common with support column
Polar coordinate system is formed, simple in structure, space availability ratio is high and causes farm edge that need not set guide rail, convenient for farm user freedom
Into.Secondly, rail rods are located above farm, and soil or rock is avoided to enter, and are conducive to protect farm robot.
Description of the drawings
Fig. 1 is the structure diagram of farm robot of the present invention；
Fig. 2 is the module map of robot middle orbit system in farm shown in Fig. 1；
Fig. 3 is the polar coordinates schematic diagram of rail system shown in Fig. 2；And
Fig. 4 is the flow chart of farm robot control method shown in Fig. 1.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " including one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please refer to Fig. 1, in present pre-ferred embodiments, farm robot includes rail system 10 and is set to rail system
Farm tool 20 on 10.Rail system 10 includes support column 11, rail rods 13, the first actuator (not shown) and the second drive
Moving part (not shown), rail rods 13 are connect with support column 11, and farm tool 20 is set in rail rods 13.Rail rods 13 can be
Axis under the driving of one actuator around support column 11 circles, and is established by pole of its tie point with support column 11
Polar coordinate system.Second actuator is used to that farm tool 20 to be driven to move along rail rods 13 to closer or far from 11 direction of support column,
Corresponding farm work is carried out to be moved to corresponding position.In this embodiment, farm machine artificially carries out farm plantation
Equipment, farm tool 20 are the manipulator for carrying out proportion of crop planting.Meanwhile first actuator and the second actuator be motor.It can
To understand ground, in some other embodiment, farm robot can be used for the operations such as applied fertilizer, watered, corresponding field service
Tool 20 can be the tool of operation of being applied fertilizer or watered, and be not construed as limiting herein.
Specifically, support column 11 is vertically arranged in farm, is used to support rail rods 13.Rail rods 13 are vertically connected at branch
On dagger 11, and including first end 131, the second end 132 opposite with first end 131.Wherein, first end 131 and support column 11
Connection, second end 132 is in hanging setting.Farm tool 20 can under the driving of the second actuator 11 axis direction of parallel support bars
Relative orbit bar 13 is for linear motion, to carry out elevating movement, carries out feeding or blowing.
First end 131 is circumferentially rotationally arranged at support column around the axis of support column 11 in one of the embodiments,
On 11.At this point, support column 11 remains fixed, rail rods 13 circle under the action of the first actuator around support column 11.
In wherein another embodiment, rail rods 13 include the connection structure (not shown) being set in first end 131,
First end 131 is connected to by connection structure on support column 11, and connection structure can be in the driving lower band dynamic rail road of the first actuator
Bar 13 moves in a circle around the axis of support column 11.Wherein, connection structure can be to be set in 13 first end 131 of rail rods to be used for
The sleeve or support column 11 being sheathed on support column 11 include the fixed section being fixedly installed in soil and are connect with fixed section
And the rotational segment that section rotates in a circumferential direction around own axes can be relatively fixed, the first end 131 of rail rods 13 by rotational segment, (tie by connection
Structure) axis of opposite support column 11 moves in a circle.
In a further embodiment, can be by enclosing to set to form circular guideway in the region for needing to plant, support column 11 can be slided
It is set on guide rail, and can be circled under the driving of the first actuator along guide rail dynamicly；Or omit support column 11 directly
It connects one end of rail rods 13 being slidably disposed on guide rail and also may be used, it is only necessary to realize rail rods 13 to be a little fixed in farm
Point circles, and is not limited thereto.
Further, rail system 10 includes connecting rod 17, connecting rod 17 be connected to support column 11 and second end 132 it
Between, for further supporting simultaneously stable orbit system 10.
Further, Fig. 2 is please referred to, farm robot includes storage unit 30, computing unit 40, image identification unit
50th, judging unit 60 and control unit 70.
Specifically, storage unit 30 is used to prestore adjacent on the plantation radius and each plantation circumference of each plantation circumference
Plantation spacing between two crops.Specifically, farm user can need the farming planted according on each plantation circumference
The type of object presets the plantation spacing between adjacent two crops on each plantation circumference；It and can also be according to adjacent
The type for the crops planted is needed to determine the plantation radius of each plantation circumference on two plantation circumference, and is stored.
For example, when planting estimated the first plant of plantation on circumference for upper one kind, needed to set adjacent two plants according to the growth of the plant
Plantation spacing between object；When second of the plant planted on currently plantation circumference will not influence each other with the first plant,
The spacing between circumference can be planted by two be set as relatively narrow；And work as and influence each other between the third plant and second of plant
When, the spacing that can be planted third between circumference and second plantation circumference is set as wider.It that is, can basis
Current plantation circumference is with the adjacent growth for planting the crops planted on circumference it needs to be determined that the plantation of each plantation circumference
Radius.
In this embodiment, the plantation spacing between adjacent two crops is air line distance between the two.It can
To understand ground, in some other embodiment, plantation spacing can also be roughly equivalent to adjacent two crops and plant circle at place
The arc length in week, is not limited thereto.
Computing unit 40 is used to be currently located the plantation radius r of plantation circumference according to farm tool and plantation distance computation obtains
To farm tool in the rotational angle a for currently planting circumference.Control unit 70 is used to that rail rods 13 to be controlled with rotational angle a to work as
It is rotated on preceding plantation circumference around support column 11, to carry out plantation work.In this embodiment, farm tool is planted currently
Plantation radius on circumference is the polar diameter r on polar coordinates where it, and it is on its place polar coordinates to be correspondingly rotated angle a
Polar angle.
For identifying whether current planting area can plant, control unit 70 is used to plant currently image identification unit 50
It controls rail rods 13 that farm tool is driven to turn to next planting area around support column 11 when region can not plant, and controls single
Member 70 is additionally operable to when current planting area can plant, and control farm tool is planted and the control rail rods after the completion of plantation
13 drive farm tools turn to next planting area around support column 11.In this embodiment, image identification unit 50
For the camera being set in the robot of farm, for shooting current planting area image after the completion of the plantation of farm tool and identifying
Whether current planting area is arable soil.
Judging unit 60 is used to judge whether farm tool has been completed currently to plant the plantation work of circumference, control unit 70
Control field service's tool is moved to next along rail rods 13 during for having completed the plantation work of current plantation circumference when farm tool
It plants on circumference.Specifically, judging unit 60 is used to judge the rotational angle that farm tool has rotated on currently plantation circumference
Whether it is greater than or equal to 360 degree, when the rotational angle rotated is greater than or equal to 360 degree, shows that farm tool has completed one
The plantation of circle, the control farm tool of control unit 70, which is moved on next plantation circumference, to be started to plant；When the angle of rotation rotated
When degree is less than 360 degree, show that farm tool not yet completes the plantation of a circle, control unit 70 controls farm tool to continue to rotate
Angle is rotated and carries out plantation work.
In the farm machine of the present invention, polar shape is used for providing the rail system 10 of track for farm tool 20
Formula is set, and rail rods 13 are set to above farm and polar coordinate system is collectively formed with support column 11, simple in structure, space availability ratio
High and cause farm edge that need not set guide rail, convenient for farm, user is freely accessible to.Secondly, rail rods 13 are located above farm,
Soil or rock is avoided to enter, is conducive to protect farm robot.
The present invention also provides a kind of control methods of farm robot, include the following steps：
S110：Obtain rotational angle of the farm tool in currently plantation circumference.Specifically, it is currently located according to farm tool
It plants the plantation radius r of circumference and plantation distance computation obtains rotational angle a of the farm tool in currently plantation circumference.In this tool
In body embodiment, plantation radius of the farm tool on currently plantation circumference is the polar diameter r where it on polar coordinates, accordingly
Rotational angle a is the polar angle on polar coordinates where it
S120：Identify whether current planting area can plant, if so, performing step S130；If it is not, perform step S140.
In this embodiment, image identification unit 50 is the camera in the robot of farm, for being planted in farm tool
Current planting area image is shot after the completion and identifies whether current planting area is arable soil.
S130：Control farm tool plants and turns to next planting area after the completion of plantation with rotational angle.
S140：Control farm tool turns to next planting area with rotational angle.
S150：Judge whether farm tool has been completed currently to plant the plantation work of circumference, if so, performing step S160；
If it is not, continue to execute step S120.Specifically, the rotational angle rotated on currently plantation circumference by judging farm tool
Whether it is greater than or equal to 360 degree, when the rotational angle rotated is greater than or equal to 360 degree, shows that farm tool has completed one
The plantation of circle；When the rotational angle rotated is less than 360 degree, show that farm tool not yet completes the plantation of a circle, field service
Tool will continue to be rotated with rotational angle and carry out plantation work.
S160：When farm, tool has been completed currently to plant the plantation work of circumference, control farm tool is moved to next
It plants on circumference, to carry out the plantation work of next plantation circumference.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (13)
1. a kind of rail system, for coordinating with farm tool, it is characterised in that：Including support column, rail rods, the first actuator
And second actuator, the rail rods are connect with the support column, the farm tool is set in the rail rods；It is described
Rail rods can be around the support column under the driving of first actuator axis circle, and with itself and the support
The tie point of column establishes polar coordinate system for pole, second actuator for drive the farm tool along the rail rods to
It is moved closer or far from the support column direction.
2. rail system as described in claim 1, it is characterised in that：The rail rods include first end, the first end around
The axis of the support column is circumferentially rotationally arranged on the support column.
3. rail system as described in claim 1, it is characterised in that：The rail rods include first end and are set to described the
Connection structure on one end, the first end are connected to by the connection structure on the support column, and the connection structure can
The rail rods is driven to move in a circle around the axis of the support column under the driving of first actuator.
4. such as claim 1-3 any one of them rail systems, it is characterised in that：The support column is vertically arranged at farm
It is interior, rail rods connection substantially vertical with the support column.
5. rail system as claimed in claim 4, it is characterised in that：The farm tool can be in the drive of second actuator
The parallel relatively described rail rods of supporting rod axis direction of dynamic lower edge are for linear motion.
6. rail system as described in claim 1, it is characterised in that：The rail system includes connecting rod, the rail rods
Including the second end opposite with the first end, the connecting rod is connected between the support column and the second end.
7. a kind of farm robot, it is characterised in that：Including rail system and the farm being movably set on the rail system
Tool, the rail system are the claims 1-6 any one of them rail systems.
8. farm robot as claimed in claim 7, it is characterised in that：The farm tool is for carrying out proportion of crop planting
Planting machinery hand.
9. farm robot as claimed in claim 7, it is characterised in that：The farm robot includes storage unit, calculates
Unit and control unit, the storage unit are used to prestore the plantation radius of each plantation circumference and each plantation circumference
Plantation spacing between adjacent two crops, the computing unit are used to be currently located plantation circumference according to the farm tool
Plantation radius and it is described plantation distance computation obtain the farm tool currently plantation circumference rotational angle, the control
Unit is used to that the rail rods to be controlled to rotate around the support column on currently plantation circumference with the rotational angle.
10. farm robot as claimed in claim 9, it is characterised in that：The farm robot includes image identification unit,
For identifying whether current planting area can plant, described control unit is used in current planting area described image recognition unit
Control the rail rods that the farm tool is driven to turn to next planting area around the support column when can not plant.
11. farm robot as claimed in claim 9, it is characterised in that：The farm robot includes judging unit, described
Judging unit is used to judge whether the farm tool has been completed currently to plant the plantation work of circumference, and described control unit is used for
The farm tool is controlled to be moved along the rail rods when the farm tool has been completed and currently planted the plantation work of circumference
To next plantation circumference.
12. a kind of farm robot control method, it is characterised in that：Include the following steps：
Obtain rotational angle of the farm tool in currently plantation circumference；
Identify whether current planting area can plant；
When current planting area can plant, the farm tool is controlled to plant and after the completion of plantation with the rotational angle
Turn to next planting area；
Judge whether the farm tool has been completed currently to plant the plantation work of circumference；
When the farm tool has been completed currently to plant the plantation work of circumference, the farm tool is controlled to be moved to lower one kind
It plants on circumference.
13. farm robot control method as claimed in claim 12, it is characterised in that：Identify that current planting area whether may be used
The step of plantation, further includes：
When current planting area can not plant, the farm tool is controlled to turn to next growing area with the rotational angle
Domain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148307.1A CN108214451B (en) | 2016-12-13 | 2016-12-13 | Farm robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611148307.1A CN108214451B (en) | 2016-12-13 | 2016-12-13 | Farm robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108214451A true CN108214451A (en) | 2018-06-29 |
| CN108214451B CN108214451B (en) | 2021-04-06 |
Family
ID=62638897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611148307.1A Active CN108214451B (en) | 2016-12-13 | 2016-12-13 | Farm robot and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093594A (en) * | 2018-10-19 | 2018-12-28 | 斯图加特航空自动化（青岛）有限公司 | Annular planer-type robot moving system |
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| JPH07328971A (en) * | 1994-06-08 | 1995-12-19 | Toshiba Corp | Manipulator with tv camera |
| US20100135752A1 (en) * | 2008-12-02 | 2010-06-03 | Shinichi Imai | Robot device and control method thereof |
| US20130325182A1 (en) * | 2012-05-31 | 2013-12-05 | Northrop Grumman Systems Corporation | Robotic arm module |
| CN105353100A (en) * | 2015-11-13 | 2016-02-24 | 重庆国农环境科技股份有限公司 | Polar coordinate type brasenia schreberi water field water quality monitoring control mechanism |
| CN205284757U (en) * | 2016-01-08 | 2016-06-08 | 南通职业大学 | Indoor multipurpose removes spouts medicine robot |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328971A (en) * | 1994-06-08 | 1995-12-19 | Toshiba Corp | Manipulator with tv camera |
| US20100135752A1 (en) * | 2008-12-02 | 2010-06-03 | Shinichi Imai | Robot device and control method thereof |
| US20130325182A1 (en) * | 2012-05-31 | 2013-12-05 | Northrop Grumman Systems Corporation | Robotic arm module |
| CN105353100A (en) * | 2015-11-13 | 2016-02-24 | 重庆国农环境科技股份有限公司 | Polar coordinate type brasenia schreberi water field water quality monitoring control mechanism |
| CN205284757U (en) * | 2016-01-08 | 2016-06-08 | 南通职业大学 | Indoor multipurpose removes spouts medicine robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109093594A (en) * | 2018-10-19 | 2018-12-28 | 斯图加特航空自动化（青岛）有限公司 | Annular planer-type robot moving system |
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| Publication number | Publication date |
|---|---|
| CN108214451B (en) | 2021-04-06 |
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