CN114128461A - Control method of plug seedling transplanting robot and plug seedling transplanting robot - Google Patents
Control method of plug seedling transplanting robot and plug seedling transplanting robot Download PDFInfo
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Abstract
The application provides a control method of a plug seedling transplanting robot and the plug seedling transplanting robot, which are used for efficiently completing plug seedling transplanting work and can avoid the problem that abnormal conditions such as untimely plug seedling transplanting work or omission of the plug seedling transplanting work can cause that the growth management of seedlings cannot reach a preset target to a certain extent.
Description
Technical Field
The application relates to the field of robots, in particular to a control method of a plug seedling transplanting robot and the plug seedling transplanting robot.
Background
In a seedling growing scene, an intelligent management system is introduced, which is a great development trend, so that the production efficiency can be further improved.
In the intelligent management work, usually, relevant sensors are deployed in a seedling transplanting field, the field environment is monitored in real time, and commands are issued to relevant equipment through the application of the internet of things technology so as to achieve closed loop control, the field environment is adjusted to a preset environment condition, and therefore the intelligent management work has the characteristics of stable output and high controllability for the seedling work.
In the existing research process of related technologies, the inventor of the present application finds that the existing intelligent management system deployed in the seedling transplantation field occasionally generates abnormal management conditions, which causes the problem that the growth condition of seedlings fails to reach the preset target due to abnormal or inferior environmental conditions.
Disclosure of Invention
The application provides a control method of a plug seedling transplanting robot and the plug seedling transplanting robot, which are used for efficiently completing plug seedling transplanting work and can avoid the problem that abnormal conditions such as untimely plug seedling transplanting work or omission of the plug seedling transplanting work can cause that the growth management of seedlings cannot reach a preset target to a certain extent.
In a first aspect, the application provides a control method of a plug seedling transplanting robot, the method is applied to the plug seedling transplanting robot, the plug seedling transplanting robot comprises an autonomous moving unit and a plug seedling grabbing and placing unit, the autonomous moving unit comprises a tracking camera device and a moving chassis, the plug seedling grabbing and placing unit comprises a positioning camera device, a steering engine and a mechanical arm, and the method comprises the following steps:
shooting a first image from the current view field by a tracking camera device, and identifying a path from the first image, wherein the path is an entity path planned on the floor of a seedling transplanting field;
determining a deviation angle and a deviation amount by the tracking camera device on the basis of the posture and the path of the tracking camera device, and transmitting the deviation angle and the deviation amount to the mobile chassis;
correcting the driving posture according to the offset angle and the offset amount in the process that the movable chassis drives along the path so as to keep driving along the path;
when the plug seedling transplanting robot reaches the first plug seedling position, the positioning camera device shoots a second image from the current visual field, and identifies the pose of the target plug seedling pot from the second image and transmits the pose to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the pose of the target plug seedling pot;
the mechanical arm grabs the target plug seedling pot according to the pose of the target plug seedling pot;
when the plug seedling transplanting robot reaches a second plug seedling position, the positioning camera device shoots a third image from the current visual field, and the second plug seedling position is identified from the third image and is transmitted to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the second plug seedling position;
and placing the target plug seedling pot at a second plug seedling position by the mechanical arm to complete the transplanting of the target plug seedling pot.
With reference to the first aspect of the present application, in a first possible implementation manner of the first aspect of the present application, the determining, by a tracking camera, an offset angle and an offset amount on the basis of a posture and a path of the tracking camera includes:
the tracking camera device detects the offset angle and the offset by combining a preset Hough transform algorithm on the basis of the self posture and the path.
With reference to the first aspect of the present application, in a second possible implementation manner of the first aspect of the present application, the method further includes:
if the tracking camera device identifies that the path has a left-turning guide line, a right-turning guide line or a T-shaped guide line from the first image, the tracking camera device transmits a turning signal corresponding to the identified left-turning guide line, right-turning guide line or T-shaped guide line to a main controller of the plug seedling transplanting robot;
and the main controller of the plug seedling transplanting robot determines a corresponding turning control instruction according to the stored previous turning signal, the currently received turning signal and the pre-planned driving path, and transmits the corresponding turning control instruction to the mobile chassis.
With reference to the first aspect of the present application, in a third possible implementation manner of the first aspect of the present application, the autonomous moving unit and the plug seedling grabbing and placing unit are controlled by a main controller of the plug seedling transplanting robot.
With reference to the third possible implementation manner of the first aspect of the present application, in a fourth possible implementation manner of the first aspect of the present application, the method further includes:
a main controller of the plug seedling transplanting robot receives a transplanting task sent by control Equipment or User Equipment (UE), wherein the transplanting task is marked with a pre-planned driving path, a first plug seedling position and a second plug seedling position;
the plug seedling transplanting robot controls the running state of the mobile chassis by combining the running path, the first plug seedling position and the second plug seedling position.
With reference to the third possible implementation manner of the first aspect of the present application, in a fifth possible implementation manner of the first aspect of the present application, the method further includes:
a main controller of the plug seedling transplanting robot receives a transplanting task sent by control equipment or UE, and the transplanting task is marked with a first plug seedling position and a second plug seedling position;
the main controller of the plug seedling transplanting robot plans a driving path according to the first plug seedling position, the second plug seedling position and a map formed by entity paths planned on the floor of a seedling transplanting scene;
the plug seedling transplanting robot controls the running state of the mobile chassis by combining the running path, the first plug seedling position and the second plug seedling position.
With reference to the first aspect of the present application, in a sixth possible implementation manner of the first aspect of the present application, a camera of the tracking camera is disposed at a position right in front of the moving chassis in the moving direction.
With reference to the first aspect of the present application, in a seventh possible implementation manner of the first aspect of the present application, a camera of the positioning camera device is disposed at a terminal position of the mechanical arm.
In a second aspect, the application provides a plug seedling transplanting robot, and plug seedling transplanting robot includes that autonomic mobile unit and plug seedling are grabbed and are put the unit, autonomic mobile unit includes tracking camera device and removal chassis, plug seedling is grabbed and is put the unit and include location camera device, steering wheel and arm, and plug seedling transplanting robot carries out this application first aspect or the method that any kind of possible implementation of this application first aspect provided.
In a third aspect, the present application provides a computer-readable storage medium storing a plurality of instructions, which are suitable for being loaded by a processor to perform the method provided in the first aspect of the present application or any one of the possible implementation manners of the first aspect of the present application.
From the above, the present application has the following advantageous effects:
aiming at the plug seedling transplanting work, the control method is provided on the basis of introducing the plug seedling transplanting robot, the plug seedling transplanting robot can independently complete the running work between plug seedling positions through the autonomous moving unit, the grabbing and placing of the plug seedling pot are accurately completed through the plug seedling grabbing and placing unit, the automatic transplanting operation of the target plug seedling pot is efficiently completed, and the problem that the growth management of seedlings cannot reach the preset target due to the fact that abnormal conditions such as untimely plug seedling transplanting work or omission can be avoided to a certain extent.
In addition, to the traveling of plug seedling transplanting robot, this application has specifically planned the configuration entity route on the floor in seedling transplanting place, compares in virtual route, carries out the guide and the correction of route of traveling through this entity route, has the characteristics of high accuracy, and to the plug seedling pot that the seedling transplanting place is less, comparatively intensive, also can realize more efficient transplanting efficiency under the characteristics of high accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a plug seedling transplanting robot according to the present application;
FIG. 2 is a schematic diagram of a scenario of entity paths according to the present application;
fig. 3 is a schematic circuit structure diagram of the plug seedling transplanting robot.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus. The naming or numbering of the steps appearing in the present application does not mean that the steps in the method flow have to be executed in the chronological/logical order indicated by the naming or numbering, and the named or numbered process steps may be executed in a modified order depending on the technical purpose to be achieved, as long as the same or similar technical effects are achieved.
The division of the modules presented in this application is a logical division, and in practical applications, there may be another division, for example, multiple modules may be combined or integrated into another system, or some features may be omitted, or not executed, and in addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, and the indirect coupling or communication connection between the modules may be in an electrical or other similar form, which is not limited in this application. The modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present disclosure.
The control method of the plug seedling transplanting robot is specifically directly applied to the plug seedling transplanting robot, namely, the control method of the plug seedling transplanting robot is realized based on hardware conditions of the plug seedling transplanting robot.
The plug seedling transplanting robot mainly comprises an autonomous moving unit and a plug seedling grabbing and placing unit in the aspect of hardware.
In one aspect, an autonomous mobile unit may include a tracking camera and a mobile chassis;
on the other hand, the plug seedling grabbing and placing unit can comprise a positioning camera device, a steering engine and a mechanical arm.
Under the above hardware conditions, referring to fig. 1, fig. 1 shows a schematic flow chart of the control method for the plug seedling transplanting robot according to the present application, and the control method for the plug seedling transplanting robot according to the present application may specifically include the following steps S101 to S109:
s101, shooting a first image from a current view by a tracking camera device, and identifying a path from the first image, wherein the path is an entity path planned on a floor of a seedling transplanting field;
it can be understood that the tracking camera device not only has a camera-based camera function, but also has a certain data processing capability, so that the captured image is subjected to image recognition to recognize a path in the field of view.
Since the route related by the present application, including the route planned by the driving route, is proposed based on the physical route, the route recognized from the image has the characteristic of small data processing difficulty or data processing scale, and the image recognition purpose can be realized at low cost.
In general, the image processing may be implemented by a neural network model mounted on the vehicle, and the neural network model may be obtained by training an initial model with a sample image labeled with a recognition result.
The entity path related by the application is planned on the floor of a seedling transplanting field, for example, the planning work of the entity path can be completed through the processes of laying, printing, painting, pasting and the like, and the entity path has obvious image characteristics for a tracking camera device and can be easily captured.
S102, determining a deviation angle and a deviation amount on the basis of the posture and the path of the tracking camera device, and transmitting the deviation angle and the deviation amount to a mobile chassis;
it can be understood that the tracking camera device can judge whether the current running state of the robot deviates or not by virtue of the data processing capacity on the basis of carrying out image recognition by virtue of the data processing capacity.
Specifically, the plug seedling transplanting robot of the present application travels along a physical route, and therefore, when a route in the current field of view is recognized by an image, a deviation angle and a deviation amount can be determined according to a deviation degree between a self-posture (a posture of a specific self-structure) and the route (which is linear), and both of them can be used as a traveling posture correction of a moving chassis in charge of traveling which is another part of the autonomous moving unit.
It can be seen that a data transfer path exists between the tracking camera and the controller of the mobile chassis.
Step S103, correcting the driving posture according to the offset angle and the offset amount during the process that the mobile chassis drives along the path so as to keep driving along the path;
it can be understood that, in the present application, the mobile chassis, which has a traveling capability, can travel through the robot traveling structures such as the tracks and the wheels configured for the plug seedling transplanting robot, and the specific traveling mode is not specifically limited herein.
The movable chassis has the walking capability and can also play a role in bearing other parts of the plug seedling transplanting robot as the chassis.
It is understood that, in step S101 to step S103, the plug seedling transplanting robot is generally in a moving state, so that the moving state of the plug seedling transplanting robot can be corrected by combining the camera function and the image recognition function of the tracking camera device.
The correction is specifically realized by the offset angle and the offset amount processed by the tracking imaging device.
In consideration of the fact that the mobile chassis has low or no data processing capacity, the preset mobile chassis can directly use parameters of the offset angle and the offset as input parameters and convert the parameters into correction quantities of the driving posture of the mobile chassis through corresponding numerical conversion, and the simplest mobile chassis correction quantities are the offset angle and the offset.
S104, when the plug seedling transplanting robot reaches the first plug seedling position, the positioning camera device shoots a second image from the current visual field, and the pose of the target plug seedling pot is identified from the second image and is transmitted to a steering engine;
when the autonomous moving unit prompts the plug seedling transplanting robot to reach the first plug seedling position, the driving state of the autonomous moving unit can be stopped, and the plug seedling grabbing and placing unit grabs the target plug seedling pot at the first plug seedling position.
Similar to the tracking camera device, the plug seedling grabbing and placing unit can also realize the positioning and posture correction items in the process of grabbing the target plug seedling pot through the positioning camera device.
Specifically, whether the plug seedling pot exists or not can be identified from the image shot from the current visual field, if yes, the identified pose can be output, or the pose can be continuously identified and output, and the pose of the plug seedling pot can be understood as the specific spatial position of the plug seedling pot and can be used for grabbing the target plug seedling pot.
It can be seen that a data transmission channel exists between the positioning camera device and the controller of the steering engine chassis.
S105, rotating the mechanical arm to a posture matched with the posture of the target plug seedling pot by using a steering engine;
it understands easily that this application is at the steering wheel of plug seedling transplanting robot configuration for the arm in the unit is grabbed in rotatory plug seedling, and the degree of freedom of cooperation arm itself further enlarges the scope of grabbing of arm under the unchangeable condition in plug seedling transplanting robot position, makes its gesture and the position appearance phase-match of target plug seedling basin, can make things convenient for the arm to grab target plug seedling basin.
S106, grabbing the target plug seedling pot by the mechanical arm according to the pose of the target plug seedling pot;
the position and posture of the target plug seedling pot can provide specific positioning information for the mechanical arm in addition to the posture of the mechanical arm rotated by the steering engine, so that the mechanical arm can accurately grab the target plug seedling pot.
It can be understood that, similar to the above-mentioned operations of the tracking camera and the moving chassis, the operations of the positioning camera, the steering engine and the mechanical arm are also performed dynamically, that is, the above-mentioned steps S101 to S106 are performed dynamically and repeatedly corresponding to the walking of the plug seedling transplanting robot and the grabbing of the target plug seedling pot, so as to achieve the control effects of accurate driving and accurate grabbing.
And when the mechanical arm grabs the target plug seedling pot, the work task at the first plug seedling position is completed, and the transplanting task of the target plug seedling pot can be continuously expanded, namely, the autonomous mobile unit is similar to the plug seedling transplanting robot in the first plug seedling position for transplanting, and the plug seedling transplanting robot is promoted to reach the second plug seedling position for transplanting.
S107, when the plug seedling transplanting robot reaches a second plug seedling position, the positioning camera device shoots a third image from the current view, and the second plug seedling position is identified from the third image and is transmitted to the steering engine;
when the autonomous mobile unit prompts the plug seedling transplanting robot to reach the second plug seedling position, the driving state of the autonomous mobile unit can be stopped, and the plug seedling grabbing and placing unit completes the placement of the target plug seedling pot at the second plug seedling position.
Similar to grabbing a target plug seedling pot at the first plug seedling position, the positioning camera device shoots images from the current visual field, identifies the specific second plug seedling position for placing the target plug seedling pot, and realizes positioning and posture correction items in the process of placing the target plug seedling pot.
Step S108, the steering engine rotates the mechanical arm to a posture matched with the second plug seedling position;
at the moment, the steering engine can rotate the mechanical arm in the plug seedling grabbing and placing unit, the degree of freedom of the mechanical arm is matched, the placing range of the mechanical arm is further enlarged under the condition that the position of the plug seedling transplanting robot is not changed, the posture of the mechanical arm is matched with the posture of placing the target plug seedling pot in the second plug seedling position, and the mechanical arm can be conveniently used for placing the target plug seedling pot.
And step S109, placing the target plug seedling pot at the second plug seedling position by the mechanical arm, and completing transplanting of the target plug seedling pot.
When the mechanical arm places the target plug seedling-raising pot at the second plug seedling-raising position, the target plug seedling-raising pot is grabbed from the first plug seedling-raising position, moved to the second plug seedling-raising position and placed, and the transplanting work of the target plug seedling-raising pot is completed.
It can be seen from the embodiment shown in fig. 1 that, aiming at the plug seedling transplanting work, the application provides a control method of the plug seedling transplanting robot on the basis of introducing the plug seedling transplanting robot, the plug seedling transplanting robot can independently complete the driving work between plug seedling positions through the autonomous moving unit, and accurately complete the grabbing and placing of a plug seedling pot through the plug seedling grabbing and placing unit, so that the automatic transplanting operation of a target plug seedling pot is efficiently completed, and the problem that the growth management of seedlings cannot reach the preset target due to the fact that the plug seedling transplanting work is untimely or abnormal conditions such as omission can be avoided to a certain extent.
In addition, to the traveling of plug seedling transplanting robot, this application has specifically planned the configuration entity route on the floor in seedling transplanting place, compares in virtual route, carries out the guide and the correction of route of traveling through this entity route, has the characteristics of high accuracy, and to the plug seedling pot that the seedling transplanting place is less, comparatively intensive, also can realize more efficient transplanting efficiency under the characteristics of high accuracy.
In addition, on the basis of the content, the control method of the plug seedling transplanting robot further has a plurality of optimization schemes in practical application.
In a practical implementation, the tracking camera may specifically detect the offset angle and the offset amount by combining a preconfigured hough transform algorithm based on the posture and the path of the tracking camera.
It can be understood that the autonomous tracking motion of the autonomous moving unit mainly depends on the real-time identification of the path under the moving chassis by the tracking camera device, and in order to ensure that the moving chassis does not deviate from the path, the hough transform algorithm (method) can be used for detecting whether the robot deviates in the moving process.
Specifically, the central axis of the identified path may represent a path, the central axis may be compared with the central axis of the image, and the offset amount and the offset angle of the central axis may be calculated.
As another practical implementation manner, the camera of the tracking camera device may be specifically disposed at a position right ahead of the moving chassis in the moving direction, and is matched with the moving state of the plug seedling transplanting robot, so that the path and the central axis thereof are more completely and clearly presented in the image, and thus, the offset and the offset angle of the path and the central axis thereof are calculated by comparing the central axis with the central axis of the image, and the calculation scale is smaller, that is, not only the accuracy is high, but also the calculation efficiency is fast.
Similarly, the camera of the positioning camera device can be specifically arranged at the tail end of the mechanical arm and is matched with the motion state of the mechanical arm, the plug seedling pot is more complete and clear in image presentation, and therefore the calculation scale is smaller for identifying whether the plug seedling pot and the pose of the plug seedling pot exist, namely, the precision is high and the calculation efficiency is high. Wherein, the end position is easy to understand, namely the mechanical arm is close to the end position of the plug seedling raising pot, but not the mechanical arm is assembled at the connecting position of the plug seedling raising robot body.
And the tracking camera device judges the current running state of the moving chassis according to the offset angle and the offset amount, and transmits the information to the controller of the moving chassis, if the offset amount and the offset angle are larger than the set error range, whether the moving chassis is left-handed or right-handed is judged by judging the positive and negative of the offset angle, and the controller of the moving chassis can adjust the motion posture of the moving chassis according to the offset angle and the offset amount, so that the moving chassis can run correctly according to the guide line.
Furthermore, a turning part can also exist on the planned path on the floor of the seedling transplanting field. When the moving chassis drives to a turn, three images can be mainly appeared in the visual field of the tracking camera, such as a scene diagram of the physical path of the application shown in fig. 2.
When the tracking camera device identifies a left-turning guide line, a right-turning guide line or a T-shaped guide line (including the combination of the left guide line and the right guide line), the tracking camera device can guide the moving chassis to make corresponding turning.
In order to realize the processing of turning for high efficiency, this application still provides the implementation that is suitable for the practicality, and is specific:
if the tracking camera device identifies that the path has a left-turning guide line, a right-turning guide line or a T-shaped guide line from the first image, the tracking camera device transmits a turning signal corresponding to the identified left-turning guide line, right-turning guide line or T-shaped guide line to a main controller of the plug seedling transplanting robot;
and the main controller of the plug seedling transplanting robot determines a corresponding turning control instruction according to the stored previous turning signal, the currently received turning signal and the pre-planned driving path, and transmits the corresponding turning control instruction to the mobile chassis.
It can be understood that, in the present application, in the preconfigured driving route, the turning signals of each turning position included in the driving route can be marked, and when a left-turning guide line, a right-turning guide line or a T-shaped guide line is recognized during driving, a turning signal is generated, and in combination with the latest turning signal (last historical turning signal), the target turning signal corresponding to the current turning position is determined from the turning signals of each turning position included in the driving route, and a turning control command is generated according to the corresponding turning position, so as to prompt the mobile chassis to turn.
Under this setting, compare in the current position of real-time supervision plug seedling transplanting robot and confirm the direction of turning, obviously, turn according to the turn signal of each turn position that contains in the route of going in proper order through going the in-process, not only data processing is comparatively simple to still have the characteristics of high stability.
And in the turning process, the tracking camera device can continuously guide the moving chassis to accurately travel along the identified track.
Furthermore, as can be seen from the above-mentioned description of the turning process, in the present application, the plug seedling transplanting robot may further be configured with a main controller for processing data processing such as comparison turning signals, and correspondingly, both the autonomous moving unit and the plug seedling grasping and placing unit may be controlled by the main controller of the plug seedling transplanting robot, that is, a certain degree of autonomous operation of both the autonomous moving unit and the plug seedling grasping and placing unit is performed under centralized control of the main controller of the plug seedling transplanting robot.
For further understanding of the present application, reference may also be made to the following illustrative hardware configuration.
In this application, tracking camera device specifically can be machine vision module, for example, OpenMV machine vision module, and is similar, location camera device also can be OpenMV machine vision module, the main control chip on removal chassis then can adopt STM32F103 model chip, steering engine controller can adopt STM32F103 model chip, the steering engine can adopt TBS2701 model steering engine, the controller of arm can adopt STM32F103 model chip, the main control unit of plug seedling transplanting robot can adopt STM32F429 model chip.
Specifically, the adopted hardware components and the connection relationship between the hardware components can be understood by combining a circuit structure schematic diagram of the plug seedling transplanting robot shown in fig. 3.
In addition, returning to the control part of the plug seedling transplanting robot, the trigger of the plug seedling transplanting task can be configured in the controller in advance, so that the timed plug seedling transplanting task can be realized, and further, the plug seedling transplanting task can be updated in real time.
Compared with the method that the plug seedling transplanting tasks are written into the plug seedling transplanting robot based on the data transmission line, the plug seedling transplanting tasks can be distributed to the plug seedling transplanting robot in a wireless communication mode, so that the plug seedling transplanting tasks are more conveniently issued in real time, and the processing cost required by the plug seedling transplanting tasks is simplified and updated.
It can be understood that, for Wireless communication, the plug seedling transplanting robot further needs to be configured with a Wireless communication module, for example, a Wireless communication module of the type such as bluetooth, Wireless Fidelity (Wi-Fi), ZigBee (ZigBee), and thus, Wireless transmission of signals can be performed based on the Wireless communication mode of the type such as bluetooth, Wi-Fi, ZigBee, and the like.
In addition, on the basis of updating the plug seedling transplanting task based on wireless communication, the method can be mainly divided into two updating modes, specifically as follows:
first one
A main controller of the plug seedling transplanting robot receives a transplanting task sent by control equipment or UE, and the transplanting task is marked with a pre-planned driving path, a first plug seedling position and a second plug seedling position;
the plug seedling transplanting robot controls the running state of the mobile chassis by combining the running path, the first plug seedling position and the second plug seedling position.
Second kind
A main controller of the plug seedling transplanting robot receives a transplanting task sent by control equipment or UE, and the transplanting task is marked with a first plug seedling position and a second plug seedling position;
the main controller of the plug seedling transplanting robot plans a driving path according to the first plug seedling position, the second plug seedling position and a map formed by entity paths planned on the floor of a seedling transplanting scene;
the plug seedling transplanting robot controls the running state of the mobile chassis by combining the running path, the first plug seedling position and the second plug seedling position.
The UE related to the present application may specifically be a user terminal device of a smart phone, a tablet computer, a notebook computer, a Personal Digital Assistant (PDA), or the like.
Obviously, the execution of the plug seedling transplanting task cannot leave the determination of the first plug seedling position (corresponding to the grabbing of the plug seedling pot) and the determination of the second plug seedling position (corresponding to the placing of the plug seedling pot), and the driving path planning of the two plug seedling positions can be directly written when the plug seedling transplanting task is issued and updated to the plug seedling transplanting robot, or can be obtained by the autonomous planning of the plug seedling transplanting robot.
The method has the advantages that the entity path is adopted, the driving path planning is high in simplicity and simple and convenient to process, and efficient and accurate automatic plug seedling and transplanting processing is achieved.
This application still provides a plug seedling transplanting robot from the hardware architecture angle, and plug seedling transplanting robot includes that autonomic mobile unit and plug seedling are grown seedlings and are grabbed and put the unit, autonomic mobile unit includes tracking camera device and removal chassis, plug seedling is grabbed and is put the unit and include location camera device, steering wheel and arm, and plug seedling transplanting robot specifically can realize following function:
shooting a first image from the current view field by a tracking camera device, and identifying a path from the first image, wherein the path is an entity path planned on the floor of a seedling transplanting field;
determining a deviation angle and a deviation amount by the tracking camera device on the basis of the posture and the path of the tracking camera device, and transmitting the deviation angle and the deviation amount to the mobile chassis;
correcting the driving posture according to the offset angle and the offset amount in the process that the movable chassis drives along the path so as to keep driving along the path;
when the plug seedling transplanting robot reaches the first plug seedling position, the positioning camera device shoots a second image from the current visual field, and identifies the pose of the target plug seedling pot from the second image and transmits the pose to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the pose of the target plug seedling pot;
the mechanical arm grabs the target plug seedling pot according to the pose of the target plug seedling pot;
when the plug seedling transplanting robot reaches a second plug seedling position, the positioning camera device shoots a third image from the current visual field, and the second plug seedling position is identified from the third image and is transmitted to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the second plug seedling position;
and placing the target plug seedling pot at a second plug seedling position by the mechanical arm to complete the transplanting of the target plug seedling pot.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the plug seedling transplanting robot and the corresponding components thereof described above may refer to the description of the control method of the plug seedling transplanting robot in the corresponding embodiment shown in fig. 1, and are not described herein again in detail.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
For this reason, the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps of the control method for the plug seedling transplanting robot in the embodiment corresponding to fig. 1 in the present application, and specific operations may refer to the description of the control method for the plug seedling transplanting robot in the embodiment corresponding to fig. 1, and are not described herein again.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps of the control method of the plug seedling transplanting robot in the embodiment corresponding to fig. 1, the beneficial effects that can be achieved by the control method of the plug seedling transplanting robot in the embodiment corresponding to fig. 1 can be achieved, and the detailed description is omitted here.
The control method, the control device, the processing device and the computer-readable storage medium of the plug seedling transplanting robot provided by the application are introduced in detail, and a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the above embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. The control method of the plug seedling transplanting robot is characterized in that the method is applied to the plug seedling transplanting robot, the plug seedling transplanting robot comprises an autonomous moving unit and a plug seedling grabbing and placing unit, the autonomous moving unit comprises a tracking camera device and a moving chassis, the plug seedling grabbing and placing unit comprises a positioning camera device, a steering engine and a mechanical arm, and the method comprises the following steps:
the tracking camera device shoots a first image from the current view field and identifies a path from the first image, wherein the path is an entity path planned on the floor of a seedling transplanting field;
the tracking camera device determines an offset angle and an offset on the basis of the posture of the tracking camera device and the path, and transmits the offset angle and the offset to the mobile chassis;
correcting a driving posture according to the offset angle and the offset amount during the process that the mobile chassis drives along the path so as to keep driving along the path;
when the plug seedling transplanting robot reaches the first plug seedling position, the positioning camera device shoots a second image from the current visual field, identifies the pose of a target plug seedling pot from the second image and transmits the pose to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the pose of the target plug seedling pot;
the mechanical arm grabs the target plug seedling pot according to the pose of the target plug seedling pot;
when the plug seedling transplanting robot reaches a second plug seedling position, the positioning camera device shoots a third image from the current visual field, identifies the second plug seedling position from the third image and transmits the second plug seedling position to the steering engine;
the steering engine rotates the mechanical arm to a posture matched with the second plug seedling position;
and the mechanical arm places the target plug seedling pot at the second plug seedling position to complete the transplanting of the target plug seedling pot.
2. The method of claim 1, wherein determining the offset angle and the offset amount based on the pose of the tracking camera and the path comprises:
and the tracking camera device detects the offset angle and the offset by combining a pre-configured Hough transform algorithm on the basis of the self posture and the path.
3. The method of claim 1, further comprising:
if the tracking camera device identifies that the path has a left-turning guide line, a right-turning guide line or a T-shaped guide line from the first image, the tracking camera device transmits a turning signal corresponding to the identified left-turning guide line, the identified right-turning guide line or the identified T-shaped guide line to a main controller of the plug seedling transplanting robot;
and the main controller of the plug seedling transplanting robot determines a corresponding turning control instruction according to the stored previous turning signal, the currently received turning signal and a pre-planned driving path, and transmits the corresponding turning control instruction to the mobile chassis.
4. The method as claimed in claim 1, wherein the autonomous moving unit and the plug seedling pick-and-place unit are work-controlled by a main controller of the plug seedling transplanting robot.
5. The method of claim 4, further comprising:
a main controller of the plug seedling transplanting robot receives a transplanting task sent by control equipment or User Equipment (UE), wherein the transplanting task is marked with a pre-planned driving path, the first plug seedling position and the second plug seedling position;
the plug seedling transplanting robot controls the running state of the mobile moving chassis by combining the running path, the first plug seedling position and the second plug seedling position.
6. The method of claim 4, further comprising:
a main controller of the plug seedling transplanting robot receives a transplanting task sent by control equipment or User Equipment (UE), wherein the transplanting task is marked with the first plug seedling position and the second plug seedling position;
the main controller of the plug seedling transplanting robot plans a driving path according to the first plug seedling position, the second plug seedling position and a map formed by combining entity paths planned on a floor of a seedling transplanting scene;
the plug seedling transplanting robot controls the running state of the mobile moving chassis by combining the running path, the first plug seedling position and the second plug seedling position.
7. The method of claim 1, wherein a camera of the tracking camera is positioned directly in front of the moving chassis in the direction of motion.
8. The method of claim 1, wherein a camera of the positioning camera is disposed at a distal end of the robotic arm.
9. The plug seedling transplanting robot is characterized by comprising an autonomous moving unit and a plug seedling grabbing and placing unit, wherein the autonomous moving unit comprises a tracking camera device and a moving chassis, the plug seedling grabbing and placing unit comprises a positioning camera device, a steering engine and a mechanical arm, and the plug seedling transplanting robot is used for executing the method of any one of claims 1 to 8.
10. A computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the method of any of claims 1 to 8.
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Application publication date: 20220304 |