CN108214451B - Farm robot and control method thereof - Google Patents
Farm robot and control method thereof Download PDFInfo
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- CN108214451B CN108214451B CN201611148307.1A CN201611148307A CN108214451B CN 108214451 B CN108214451 B CN 108214451B CN 201611148307 A CN201611148307 A CN 201611148307A CN 108214451 B CN108214451 B CN 108214451B
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- planting
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- farm tool
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- 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
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- 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
The farm robot and the control method thereof adopt polar coordinate arrangement, the rail rod is arranged above the farm and forms a polar coordinate system together with the support column, the structure is simple, the space utilization rate is high, and the edge of the farm is not required to be provided with a guide rail, so that a farm user can conveniently and freely enter the farm. Secondly, the track pole is located the farm top, avoids soil or rock to get into, is favorable to protecting farm robot.
Description
Technical Field
The invention relates to a farm planting tool, in particular to a farm robot and a control method thereof.
Background
In current intelligent farm planting systems, guide rails for movement of farm robots are arranged around a farm in the form of cartesian coordinate systems. In which the Y "rail" must be placed longitudinally at the edge of the farm, however, due to its proximity to the soil in the farm, soil or rocks can easily enter the rail, causing the farm robot to be damaged or to stop moving when passing by. Secondly, the farm users must cross the rail to gain access to the interior of the farm, taking up space, and making the Y "rail" an obstacle to access by the farm users. In addition, the drive system disposed above the guide rail is exposed to the outside of the air and is easily damaged.
Disclosure of Invention
In view of this, it is necessary to provide a farm robot which has a simple structure and a high space utilization rate and is advantageous for protecting the farm robot.
It is further necessary to provide a control method of the farm robot.
A farm robot control method, comprising the steps of:
acquiring a rotation angle of a farm tool on the current planting circumference;
identifying whether the current planting area can be planted or not;
when the current planting area can be planted, controlling the farm tool to plant and rotating to the next planting area by the rotation angle after planting is finished;
judging whether the farm tool completes the planting work of the current planting circumference;
when the farm tool has completed planting work for the current planting circle, controlling the farm tool to move along the track rod to the next planting circle.
In one embodiment, the step of identifying whether the current planting area is plantable further comprises:
and when the current planting area can not be planted, controlling the farm tool to rotate to the next planting area by the rotation angle.
In one embodiment, before the step of obtaining the rotation angle of the farm tool at the current planting circumference, the method further comprises:
calculating to obtain the rotation angle of the farm tool on the current planting circumference according to the planting radius of the current planting circumference of the farm tool and the planting distance;
the planting radiuses of various planting circles and the planting distance between two adjacent crops on each planting circle are stored in advance.
In one embodiment, the pre-storing of the planting radius of each planting circle and the planting distance between two adjacent crops on each planting circle specifically includes:
a farm user presets a planting distance between two adjacent crops on each planting circumference according to the variety of the crops to be planted on each planting circumference; and the planting radius of each planting circle can be determined according to the types of crops to be planted on the two adjacent planting circles, and the crops can be stored.
In one embodiment, the step of identifying whether the current planting area is plantable comprises:
and after the farm tools are planted, shooting the current planting area image and identifying whether the current planting area is suitable for planting soil.
In one embodiment, the step of determining whether the farm tool has completed the planting work for the current planting circle comprises:
if the rotating angle of the farm tool on the current planting circumference is greater than or equal to 360 degrees, indicating that the farm tool completes one circle of planting, controlling the farm tool to move to the next planting circumference to start planting;
and if the rotating angle of the farm tool on the current planting circumference is less than 360 degrees, which indicates that the farm tool does not finish planting for one circle, controlling the farm tool to continue rotating at the rotating angle and performing planting work.
In one embodiment, the farm tool is a planting robot for planting crops.
A farm robot comprises a rail system, a farm tool arranged on the rail system and a control unit, wherein the control unit executes the control method to control the rail system and the farm tool to execute planting work.
In one embodiment, the farm robot comprises a storage unit and a computing unit, the rail system comprises a support column, a rail rod, a first driving element and a second driving element, the rail rod is connected with the support column, and the farm tool is arranged on the rail rod; the track rod can make circular motion around the axis of the support column under the driving of the first driving piece, a polar coordinate system is established by taking the connection point of the track rod and the support column as a pole, and the second driving piece is used for driving the farm tool to move towards or away from the support column along the track rod;
the storage unit is used for pre-storing the planting radius of each planting circumference and the planting distance between two adjacent crops on each planting circumference, the calculation unit is used for calculating the rotating angle of the farm tool on the current planting circumference according to the planting radius of the current planting circumference of the farm tool and the planting distance, and the control unit is used for controlling the track rod to rotate around the support column on the current planting circumference according to the rotating angle.
In one embodiment, the farm robot comprises an image recognition unit for recognizing whether the current planting area is plantable, and the control unit is adapted to control the rail bar to drive the farm tool to rotate around the support column to the next planting area when the current planting area is not plantable.
In one embodiment, the farm robot includes a determination unit configured to determine whether the farm tool has completed the planting work of the current planting circle, and the control unit is configured to control the farm tool to move along the rail pole to the next planting circle when the farm tool has completed the planting work of the current planting circle.
The invention adopts a polar coordinate mode, the track rod is arranged above the farm and forms a polar coordinate system together with the support column, the structure is simple, the space utilization rate is high, and the edge of the farm is not required to be provided with a guide rail, so that a farm user can conveniently and freely enter the farm. Secondly, the track pole is located the farm top, avoids soil or rock to get into, is favorable to protecting farm robot.
Drawings
Fig. 1 is a schematic structural view of a farm robot according to the present invention;
fig. 2 is a block diagram of the rail system in the farm robot shown in fig. 1;
FIG. 3 is a schematic polar diagram of the rail system of FIG. 2; and
fig. 4 is a flowchart of a farm robot control method shown in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, in the preferred embodiment of the present invention, the farm robot includes a rail system 10 and a farm tool 20 disposed on the rail system 10. The rail system 10 comprises a support column 11, a rail rod 13, a first driving member (not shown) and a second driving member (not shown), the rail rod 13 is connected to the support column 11, and the farm tool 20 is disposed on the rail rod 13. The track rod 13 can make a circular motion around the axis of the supporting column 11 under the driving of the first driving member, and establishes a polar coordinate system with the connection point of the track rod and the supporting column 11 as a pole. The second drive member is used for driving the farm tools 20 to move along the track rod 13 in a direction towards or away from the support column 11 so as to move to the corresponding position for corresponding farm work. In this embodiment, the farm robot is an apparatus for performing farm planting, and the farm tool 20 is a manipulator for performing crop planting. Meanwhile, the first driving member and the second driving member are motors. It will be appreciated that in other embodiments, the farm robots may be used to perform operations such as fertilizing, watering, etc., and the corresponding farm tools 20 may be tools for performing operations such as fertilizing or watering, without limitation.
Specifically, the support columns 11 are vertically provided in the farm for supporting the rail bars 13. The track rod 13 is vertically connected to the support column 11 and includes a first end 131 and a second end 132 opposite to the first end 131. The first end 131 is connected to the supporting pillar 11, and the second end 132 is suspended. The farm tool 20 can be driven by the second driving piece to move linearly relative to the track rod 13 in parallel with the axial direction of the support rod 11 so as to carry out lifting movement and material taking or discharging.
In one embodiment, the first end 131 is circumferentially rotatably disposed on the support post 11 about an axis of the support post 11. At this time, the supporting column 11 is kept fixed, and the track rod 13 is moved circularly around the supporting column 11 by the first driving member.
In another embodiment, the track rod 13 includes a connecting structure (not shown) disposed on the first end 131, the first end 131 is connected to the supporting column 11 through the connecting structure, and the connecting structure can drive the track rod 13 to move circularly around the axis of the supporting column 11 under the driving of the first driving member. Wherein, the connection structure can be a sleeve which is arranged on the first end 131 of the track rod 13 and is used for being sleeved on the support column 11, or the support column 11 comprises a fixed section which is fixedly arranged in the soil and a rotating section which is connected with the fixed section and can rotate around the axis of the support column 11 in the circumferential direction relative to the fixed section, and the first end 131 of the track rod 13 does circular motion relative to the axis of the support column 11 through the rotating section (connection structure).
In another embodiment, a circular guide rail can be formed by enclosing an area to be planted, and the support column 11 can be slidably arranged on the guide rail and can make a circular motion along the guide rail under the driving of the first driving piece; or, the support column 11 may be omitted, and one end of the track rod 13 may be slidably disposed on the guide rail, and only the track rod 13 needs to make a circular motion with a point in the farm as a fixed point, which is not limited herein.
Further, track system 10 includes a connecting rod 17, connecting rod 17 being connected between support post 11 and second end 132 for further supporting and stabilizing track system 10.
Further, referring to fig. 2, the farm robot includes a storage unit 30, a calculation unit 40, an image recognition unit 50, a judgment unit 60, and a control unit 70.
Specifically, the storage unit 30 is configured to store the planting radius of each planting circle and the planting distance between two adjacent crops on each planting circle in advance. Specifically, a farm user can preset a planting distance between two adjacent crops on each planting circumference according to the variety of the crops to be planted on each planting circumference; and the planting radius of each planting circle can be determined according to the types of crops to be planted on the two adjacent planting circles, and the crops can be stored. For example, when a first plant is expected to be planted on the last planting circle, the planting distance between two adjacent plants is set according to the growth requirement of the plant; when the second plant planted on the current planting circumference does not influence the first plant, the distance between the two planting circumferences can be set to be narrower; and when the third plant and the second plant are mutually influenced, the distance between the third planting circle and the second planting circle can be set to be wider. That is, the planting radius of each planting circle can be determined according to the growth needs of crops planted on the current planting circle and the adjacent planting circle.
In this embodiment, the planting distance between two adjacent crops is a straight distance between the two crops. It is understood that in other embodiments, the planting distance may be roughly equal to the arc length of the planting circle of two adjacent crops, and is not limited herein.
The calculation unit 40 is configured to calculate a rotation angle a of the farm tool on the current planting circumference according to the planting radius r and the planting distance of the current planting circumference of the farm tool. The control unit 70 is used for controlling the track rod 13 to rotate around the support column 11 on the current planting circumference by a rotation angle a so as to perform planting work. In this embodiment, the planting radius of the farm tool on the current planting circumference is the polar radius r on the polar coordinate where the farm tool is located, and the corresponding rotation angle a is the polar angle on the polar coordinate where the farm tool is located.
The image recognition unit 50 is used for recognizing whether the current planting area can be planted, the control unit 70 is used for controlling the track rod 13 to drive the farm tool to rotate around the support column 11 to the next planting area when the current planting area cannot be planted, and the control unit 70 is also used for controlling the farm tool to plant and controlling the track rod 13 to drive the farm tool to rotate around the support column 11 to the next planting area after planting is completed when the current planting area can be planted. In this embodiment, the image recognition unit 50 is a camera provided on the farm robot, and is configured to capture an image of the current planting area after the farm tools are planted, and recognize whether the current planting area is soil suitable for planting.
The determination unit 60 is used for determining whether the farm tools have completed the planting work of the current planting circle, and the control unit 70 is used for controlling the farm tools to move along the track rod 13 to the next planting circle when the farm tools have completed the planting work of the current planting circle. Specifically, the judging unit 60 is configured to judge whether the rotating angle of the farm tool on the current planting circle is greater than or equal to 360 degrees, and when the rotating angle is greater than or equal to 360 degrees, it indicates that the farm tool has completed one circle of planting, and the control unit 70 controls the farm tool to move to the next planting circle to start planting; when the rotated rotation angle is less than 360 degrees, indicating that the farm tool has not completed one turn of planting, the control unit 70 controls the farm tool to continue rotating at the rotation angle and performing planting work.
In the farm machine of the invention, the rail system 10 for providing a rail for the farm tool 20 is arranged in a polar coordinate manner, and the rail rod 13 is arranged above the farm and forms a polar coordinate system together with the support column 11, so that the structure is simple, the space utilization rate is high, and the edge of the farm is not required to be provided with a guide rail, and the free access of a farm user is facilitated. Secondly, the rail bar 13 is located above the farm to avoid soil or rock ingress, which is beneficial for protecting farm robots.
The invention also provides a control method of the farm robot, which comprises the following steps:
s110: and acquiring the rotation angle of the farm tool at the current planting circumference. Specifically, the rotation angle a of the farm tool on the current planting circumference is calculated according to the planting radius r and the planting distance of the current planting circumference of the farm tool. In this embodiment, the planting radius of the farm tool on the current planting circumference is the polar radius r on the polar coordinate where the farm tool is located, and the corresponding rotation angle a is the polar angle on the polar coordinate where the farm tool is located
S120: identifying whether the current planting area can be planted, if so, executing step S130; if not, go to step S140. In this embodiment, the image recognition unit 50 is a camera provided on the farm robot, and is configured to capture an image of the current planting area after the farm tools are planted, and recognize whether the current planting area is soil suitable for planting.
S130: and controlling the farm tools to plant and rotating to the next planting area by a rotation angle after the planting is finished.
S140: and controlling the farm tool to rotate to the next planting area by a rotation angle.
S150: judging whether the farm tool completes the planting work of the current planting circumference, if so, executing step S160; if not, continue to step S120. Specifically, by judging whether the rotating angle of the farm tool on the current planting circumference is greater than or equal to 360 degrees or not, when the rotating angle is greater than or equal to 360 degrees, the farm tool is shown to complete one circle of planting; when the rotated rotation angle is less than 360 degrees, it indicates that the farm tool has not completed one turn of planting, and the farm tool continues to rotate at the rotation angle and perform planting work.
S160: when the farm tool has completed the planting work of the current planting circle, the farm tool is controlled to move to the next planting circle to perform the planting work of the next planting circle.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A farm robot control method is characterized in that: the method comprises the following steps:
acquiring a rotation angle of a farm tool on the current planting circumference;
identifying whether the current planting area can be planted or not;
when the current planting area can be planted, controlling the farm tool to plant and rotating to the next planting area by the rotation angle after planting is finished;
judging whether the farm tool completes the planting work of the current planting circumference;
when the farm tool has completed planting work for the current planting circle, controlling the farm tool to move to the next planting circle.
2. The farm robot control method according to claim 1, characterized by: the step of identifying whether the current planting area is plantable further comprises:
and when the current planting area can not be planted, controlling the farm tool to rotate to the next planting area by the rotation angle.
3. The farm robot control method according to claim 1, characterized by: the farm tool is a planting manipulator for planting crops.
4. A farm robot, characterized in that: the farm robot comprises a rail system, a farm tool arranged on the rail system, and a control unit, wherein the control unit executes the control method of any one of claims 1 to 3 to control the rail system and the farm tool to execute planting work.
5. The farm robot of claim 4, further comprising: the farm robot comprises a storage unit and a calculation unit, the track system comprises a support column, a track rod, a first driving piece and a second driving piece, the track rod is connected with the support column, and the farm tool is arranged on the track rod; the track rod can make circular motion around the axis of the support column under the driving of the first driving piece, a polar coordinate system is established by taking the connection point of the track rod and the support column as a pole, and the second driving piece is used for driving the farm tool to move towards or away from the support column along the track rod;
the storage unit is used for pre-storing the planting radius of each planting circumference and the planting distance between two adjacent crops on each planting circumference, the calculation unit is used for calculating the rotating angle of the farm tool on the current planting circumference according to the planting radius of the current planting circumference of the farm tool and the planting distance, and the control unit is used for controlling the track rod to rotate around the support column on the current planting circumference according to the rotating angle.
6. The farm robot of claim 5, further comprising: the farm robot comprises an image recognition unit, the image recognition unit is used for recognizing whether the current planting area is plantable or not, and the control unit is used for controlling the track rod to drive the farm tool to rotate around the supporting column to the next planting area when the current planting area is not plantable.
7. The farm robot of claim 6, further comprising: the farm robot comprises a judging unit used for judging whether the farm tool completes the planting work of the current planting circumference or not, and the control unit is used for controlling the farm tool to move to the next planting circumference along the track rod when the farm tool completes the planting work of the current planting circumference.
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 |
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| Publication Number | Publication Date |
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| CN108214451A CN108214451A (en) | 2018-06-29 |
| CN108214451B true CN108214451B (en) | 2021-04-06 |
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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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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328971A (en) * | 1994-06-08 | 1995-12-19 | Toshiba Corp | Manipulator with tv camera |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5339874B2 (en) * | 2008-12-02 | 2013-11-13 | タツモ株式会社 | Robot apparatus and control method thereof |
| US8958916B2 (en) * | 2012-05-31 | 2015-02-17 | Northrop Grumman Systems Corporation | Robotic arm module |
-
2016
- 2016-12-13 CN CN201611148307.1A patent/CN108214451B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328971A (en) * | 1994-06-08 | 1995-12-19 | Toshiba Corp | Manipulator with tv camera |
| 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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| CN108214451A (en) | 2018-06-29 |
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