CN113485354B - Heterogeneous multi-robot positioning and controlling method based on orchard map - Google Patents
Heterogeneous multi-robot positioning and controlling method based on orchard map Download PDFInfo
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- CN113485354B CN113485354B CN202110840772.6A CN202110840772A CN113485354B CN 113485354 B CN113485354 B CN 113485354B CN 202110840772 A CN202110840772 A CN 202110840772A CN 113485354 B CN113485354 B CN 113485354B
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- G05D1/02—Control of position or course in two dimensions
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a heterogeneous multi-robot positioning and controlling method based on an orchard mapThe preparation method specifically comprises the following steps: the robot builds a complete orchard map, converts all the center points of the fruit trees in the orchard map into GNSS absolute coordinate values [ tree ] through GNSS coordinate system conversion i _gnss_x,tree i _gnss_y]The method comprises the steps of carrying out a first treatment on the surface of the The pilot robot can estimate the nearest fruit tree coordinate [ tree ] in the range according to the angle and the relative distance of radar scanning n _gnss_x,tree n _gnss_y]The real coordinates [ tree ] of each fruit tree in the orchard map i _gnss_x,tree i _gnss_y]In contrast, when the distance is d min And finally, estimating the accurate positions and the heading of the multiple robots in the orchard in advance through the GNSS real coordinates of the fruit trees, and completing the inter-row operation and the turning operation of the ground. According to the invention, on the basis of the collaborative operation of the pilot-following heterogeneous robots, the operation positions of the robots in the orchard are accurately positioned by utilizing the advantages of the orchard map and different navigation modes of the robots, so that the collaborative operation of the robots in the orchard is realized.
Description
Technical Field
The invention belongs to the field of orchard machinery, and particularly relates to an heterogeneous multi-robot autonomous navigation control method based on an orchard map.
Background
With more and more orchards adopting intensive planting and management modes, single-machine operation cannot meet the requirements of seasonal production of the orchards, and multi-machine operation becomes a necessary trend. However, the existing orchard robots are different in manufacturer, the accuracy of sensors and controllers equipped by the robots are different, the autonomous navigation modes of the robots are different, and it is difficult to construct the heterogeneous robots into a multi-robot crowd. And purchase new sensor or robot, increased manufacturing cost again, be unfavorable for the maintenance.
At present, the research of cooperative positioning and control of heterogeneous multi-robots is mostly carried out in a GNSS-free indoor environment, the positions of the opposite sides are mutually observed through relative positioning sensors on the mobile robots, then the sensor information of the robots is fused through a particle filtering or extended Kalman filtering algorithm, the positions and directions of the next moment of the robots are estimated in advance, and finally the cooperative operation of the heterogeneous multi-robots according to fixed formations is realized. In an orchard environment, the robot cannot directly observe the positions of other robots through the relative positioning sensor due to the occlusion of fruit trees, the cooperative operation needs to be completed by depending on GNSS absolute information, the orchard robot is provided with GNSS sensors with different precision, accurate positioning is difficult to obtain during the operation between fruit tree rows, the cooperative operation cannot be completed, and the problems of positioning precision and incapability of cooperative control exist.
Disclosure of Invention
In order to solve the problems that the heterogeneous multi-robot GNSS sensors in the orchard environment have different precision and the positioning and control of the robots are difficult to realize. The robot network is provided with more than 3 heterogeneous robots, and the GNSS sensors equipped by each robot have different precision, wherein each robot has different autonomous navigation modes in an orchard, the piloting robot depends on radar navigation, and the following robots depend on GNSS navigation, but cannot realize accurate movement when constructing multiple robots. The invention provides a heterogeneous multi-robot positioning and controlling method based on an orchard map, which adopts the following technical scheme:
the heterogeneous multi-robot positioning and controlling method based on the orchard map is characterized by comprising the following steps of:
the pilot robot walks in the fruit tree row by remote control of a person, firstly constructs a complete orchard map, and converts all fruit tree center points in the orchard map into GNSS absolute coordinate values [ tree ] i _gnss_x,tree i _gnss_y]The method comprises the steps of carrying out a first treatment on the surface of the The pilot robot can estimate the nearest fruit tree coordinate [ tree ] in the range according to the angle and the relative distance of radar scanning n _gnss_x,tree n _gnss_y]Through (1) and each fruit tree coordinate [ tree ] in the orchard map i _gnss_x,tree i _gnss_y]In contrast, when d min When the coordinate approaches 0, obtaining GNSS real coordinates of the fruit trees;
further, the nearest real coordinate [ tree ] of the fruit tree to the robot i _gnss_x,tree i _gnss_y]The judgment calculation formula of (2) is as follows:
estimating a reference navigation line equation and a lower navigation line equation of autonomous navigation of the pilot robot and the following robots 1 and 2 according to the required true coordinates of the fruit trees, the row spacing r_s and the plant spacing p_sIdeal position coordinate of robot at one moment [ X ] 1 ,Y 1 ]，[X_f 1 ,Y_f 1 ]，[X_f 2 ,Y_f 2 ]；
Further, the ideal position coordinates [ X ] of the piloting robot 1 ,Y 1 ]The calculation formula is as follows:
further, the specific calculation formula of the reference navigation line of the piloting robot is as follows:
A j ＝tree i+1 _gnss_y-tree i _gnss_y
B j ＝tree i _gnss_x-tree i+1 _gnss_x
C j ＝(tree i+1 _gnss_x-tree i _gnss_y)-(tree i _gnss_x-tree i+1 _gnss_y) (3)
A 1 X i +B 1 Y i +C 1 ＝0 (4)
further, the ideal position coordinates [ x_f ] of the robot 1 are followed 1 ,Y_f 1 ]The calculation formula is as follows:
further, the ideal position coordinates [ x_f ] of the following robot 2 2 ,Y_f 2 ]The calculation formula is as follows:
further, bringing the ideal position coordinates of the closer tree of the following robot 2 into formula (3) yields the reference navigation line of the following robot 2:
A 2 X i +B 2 Y i +C 2 ＝0 (7)
and finally, calculating the transverse deviation and the course deviation from the ideal and actual position coordinates to the reference navigation line by each robot, and enabling each robot to reach the ideal position by adjusting the advancing angular speed and the advancing linear speed of each robot in real time so as to finish the inter-row operation.
When the pilot robot starts to turn clockwise by 90 degrees, the pilot robot starts to turn the ground, the pilot robot calculates the ideal position coordinates of the reference navigation line 1 and the next moment according to the true coordinates of the fruit tree, the position coordinates and the reference navigation line 1 are sent to the following robots 1 and 2 through communication, the following robots 1 and 2 judge the validity of the ideal position coordinates, calculate the transverse deviation and the course deviation of the ideal position coordinates and the actual position coordinates to the reference navigation line, and the ground operation is finished by adjusting the advancing angular speed and the linear speed of each robot in real time to reach the ideal position.
The invention has the beneficial effects that: in an orchard operation environment, GNSS real coordinates of fruit tree coordinates closest to the robot are identified by utilizing the constructed orchard map and relative position conversion, accurate positions and heading of the multiple robots in the orchard are estimated in advance through the GNSS real coordinates of the fruit tree, operation precision can be improved, walking paths of the robots can be planned in real time, and finally collaborative operation of the heterogeneous multiple robots in the orchard according to fixed formations is realized.
Drawings
The invention is further described with reference to the drawings and the detailed description of the embodiments:
FIG. 1 is a schematic diagram of a heterogeneous multi-robot positioning and control method based on an orchard map of the present invention;
FIG. 2 is a simplified interline queue control diagram of the heterogeneous multi-robot positioning and control method based on an orchard map of the present invention;
FIG. 3 is a flow chart of inter-row queue control for the heterogeneous multi-robot positioning and control method based on an orchard map of the present invention;
FIG. 4 is a schematic diagram of a head-of-ground turn queue control for the heterogeneous multi-robot positioning and control method based on an orchard map of the present invention;
fig. 5 is a flow chart of the control of the turning of the ground of the heterogeneous multi-robot positioning and controlling method based on the orchard map of the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, a pilot robot walks in a fruit tree row by a remote control of a person, and the 3D radar scans and records the orchard to construct a complete orchard map; converting all fruit tree center points in the orchard map into GNSS absolute coordinate values through the built GNSS base station; selecting a fruit tree point closest to the navigation robot according to the angle of radar scanning, and comparing the fruit tree point with all fruit tree center points in an orchard map to obtain GNSS accurate coordinates of the fruit tree point closest to the fruit tree point, so as to determine the current absolute coordinates of the navigation robot; according to the scanned central point of the fruit tree, a reference navigation line for autonomous navigation of the pilot robot and an ideal position of the pilot robot at the next moment are formed; calculating the lateral deviation from the pilot robot to the reference pilot line, and adjusting the lateral deviation and the course of the pilot robot reaching the ideal position in real time; transmitting the ideal position of the following robot to the following robots 1 and 2 by referring to the GNSS coordinates of the tree; the following robots 1 and 2 adjust the actual positions of the following robots in real time according to the ideal positions sent by the pilot robots.
As shown in FIG. 2, the pilot robot, the following robot 1 and the following robot 2 are arranged in a straight line in the inter-row operation, and all fruit tree coordinates in the apple orchard are used in the tree i _gnss_x,tree i _gnss_y]Indicating the position coordinates [ X ] of the GNSS carried by the robot i ,Y i ]Relative coordinates scanned by the 3D radar, and the estimated fruit tree coordinates are used by the tree n _gnss_x,tree n _gnss_y]Unified representation; the pilot robot takes itself as the center, and takes the pilot robot at the angle of [270 DEG, 360 DEG ]]、[0°,90°]And [90 °,180 ]]In the scanning range of the nearest distance, the tree 1 coordinate [ X ] estimated by the piloting robot i +Δx 1 ,Y i +Δy 1 ]Tree 2 coordinates [ X i +Δx 2 ,Y i ++Δy 2 ]Tree 3 coordinates [ X i +Δx 3 ,Y i ++Δy 3 ]Is brought into the formula (1) [ tree ] n _gnss _ x,tree n_ gnss _ y]With some fruit tree coordinates i _gnss_x,tree i _gnss_y]In contrast, when d min Approaching 0, the actual position coordinate [ tree ] of the tree 1 is obtained 1 _gnss_x,tree 1 _gnss_y]Actual position coordinates of tree 2 2 _gnss_x,tree 2 _gnss_y]Actual position coordinates of tree 3 3 _gnss_x,tree 3 _gnss_y]；
Then according to the actual position coordinate of tree 2, adding it with row spacing r_s and plant spacing p_s to obtain estimated position coordinate [ tree ] of tree 4 2 _gnss_x+r_s,tree n _gnss_y+p_s]Estimated position coordinates of tree 5 2 _gnss_x+r_s,tree n _gnss_y]Is brought into the formula (1) [ tree ] n _gnss_x,tree n _gnss_y]With some fruit tree coordinates i _gnss_x,tree i _gnss_y]In contrast, when d min Approaching 0, the actual position coordinates of the tree 4 and 5 are obtained as [ tree ] 4 _gnss_x,tree 4 _gnss_y]，[tree 5 _gnss_x,tree 5 _gnss_y]；
Obtaining the ideal position [ X ] of the piloting robot, the following robot 1 and the following robot 2 at the next moment through the actual position coordinates of the tree and (2), (4) and (5) 1 ,Y 1 ]，[X_f 1 ,Y_f 1 ]，[X_f 2 ,Y_f 2 ]；
Meanwhile, a linear equation of the reference navigation line 1 is obtained through 3 according to the actual position coordinates of the tree 1 and the tree 2
A 1 X i +B 1 Y i +C 1 ＝0 (4)
The actual position coordinates of the brought-in tree 4, 5 result in the linear equation of the reference navigation line 2:
A 2 X i +B 2 Y i +C 2 ＝0 (7)
obtaining the accurate actual position [ X ] of the pilot robot 1 through the method (8) i ,Y i ]Will be ideal position [ X 1 ,Y 1 ]The distance of the lead-in formula (9) is obtained S, the ideal position and the lateral distances d_l and d of the actual position of the piloting robot are obtained by formulas (10) and (11), and the piloting machine is obtained by formulas (12), (13) and (14)The lateral deviation delta d of the current position, the ideal position and the reference navigation line 1 of the person, heading to the ideal position, heading deviation:
[X i ,Y i ]＝[tree 2 _gnss_x-Δx 2 ,tree 2 _gnss_y-Δy 2 ] (8)
Δd＝d_l-d (12)
Heading_error＝Heading i -current_yaw (14)
by (15) and following the actual position of the robot 1 [ X_f ] i1 ,Y_f i1 ]And the ideal position [ X_f ] 1 ,Y_f 1 ]S1, equations (16), (17) and the actual position [ X_f ] of the following robot 1 i1 ,Y_f i1 ]Ideal position [ X_f 1 ,Y_f 1 ]The lateral distance from the reference navigation line 1 is d1, d_l1; equations (18), (19), (13) follow the lateral deviation Δd1, heading1, heading deviation of the ideal position of the robot 1 from the actual position;
Δd1＝d_l1-d1 (18)
by (20) and following the actual position of the robot 2 [ X_f ] i2 ,Y_f i2 ]Ideal position [ X_f 2 ，Y_f 2 ]S2 is obtained by the following equations (21), (22) and the ideal position of the following robot 2
And the actual position [ X_f ] i2 ,Y_f i2 ]The transverse distance from the reference navigation line 2 is d_l2 and d, and the transverse deviation delta d2, the Heading reading 2 and the Heading deviation between the ideal position of the following robot 2 and the actual position are obtained through formulas (23), (24) and (13);
Δd2＝d_l2-d2 (23)
as shown in fig. 3, the piloting robot, the following robot 1 and the following robot 2 are arranged in a line-shaped array for operation, the piloting robot extracts an orchard map containing the absolute position of the trunk center, and starts radar navigation, absolute coordinates of the tree 1, the tree 2 and the tree 3 in the nearest scanning ranges of [270 degrees, 360 degrees ], [0 degrees ] and [90 degrees, 180 degrees ] of the piloting robot 1 are obtained through judgment of (1), and meanwhile, the pose of the piloting robot advancing at the next moment is obtained according to the actual trunk coordinates of [270 degrees, 360 degrees ], [0 degrees, 90 degrees ], and the ideal position coordinates of the following robot 1 and the following robot 2 at the next moment and the coordinates of the tree 2-tree 5 are sent to the following robots 1 and 2; judging whether the current course deviation is in a set range, adjusting the angular speed of the robot when the current course deviation is out of the range, otherwise continuously judging whether the current transverse deviation is in the set range, if not, adjusting the angular speed and the linear speed at the same time, otherwise, adjusting the linear speed only;
after the following robot 1 receives the tree 2, the tree 3 and the ideal position coordinates at the next moment, respectively calculating a linear equation of the reference navigation line 1, a transverse distance d_l1, a transverse distance d1, a linear distance S1, a transverse deviation delta d1 and a Heading reading; the method comprises the steps of judging whether current course deviation is in a set range or not, adjusting the angular speed of the robot when the current course deviation is out of the range, otherwise continuously judging whether the current transverse deviation is in the set range, if not, adjusting the angular speed and the linear speed at the same time, otherwise, only adjusting the linear speed; until the pilot robot reaches the ground, and starts to turn right angle, the following robot 1 stops moving, and waits for the ground turning operation command.
After the following robot 2 receives the tree 4, the tree 5 and the ideal position coordinates at the next moment, respectively calculating a linear equation of the reference navigation line 2, a transverse distance d_l2, a transverse distance d2, a linear distance S2, a transverse deviation delta d2 and a Heading Heading1; the method comprises the steps of judging whether current course deviation is in a set range or not, adjusting the angular speed of the robot when the current course deviation is out of the range, otherwise continuously judging whether the current transverse deviation is in the set range, if not, adjusting the angular speed and the linear speed at the same time, otherwise, only adjusting the linear speed; until the following robot 2 reaches a point parallel to the following machine 1, the following robot 2 stops moving, and waits for an earth turning operation command.
As shown in fig. 4, the equation of the reference navigation line 1 is obtained from the coordinates of the tree 1, 2 and equations (1), (2), (5), and the navigation robot proceeds throughContinuously generating ideal position coordinates [ X ] of the pilot point 1 at the next moment 1 ,Y 1 ]And transmitting the coordinates of the next moment of the navigation robot to the following robots 1 and 2; wherein the following robot 1 waits until the pilot robot runs to the ideal position point of the 3 rd time, the following robot 1 reaches the point of the 1 st time issued by the pilot robot, and stops moving after 90 degrees of clockwise steering; the following robot 2 waits for the following robot 1 to reach the ideal position point of the 3 rd time issued by the pilot robot, the following robot 2 reaches the point of the 2 nd time issued by the pilot robot, and the movement is stopped after 90-degree clockwise steering; when the piloting robot reaches the 5 th ideal position coordinate, stopping movement after turning 90 degrees clockwise, at the moment, the following robot 1 starts to travel to the 4 th ideal position coordinate point and stops movement after turning 90 degrees clockwise, and the following robot 2 can travel to the 3 rd ideal position coordinate point and stops movement after turning 90 degrees clockwise; when all three robots reach the target point, the ground turning operation is finished.
As shown in fig. 5, when the pilot robot reaches the turning point of the ground to start turning clockwise by 90 degrees, the multi-robot ground turning operation starts, and the pilot robot determines [270 °,360 ° according to formula (1)]、[0°,90°]And [90 °,180 ]]The true coordinate values of the tree 1, the tree 2 and the tree 3 in the nearest range are calculated to calculate the current position of the piloting robot and the ideal position coordinate [ X ] of the piloting robot at the next moment 1 ，Y 1 ]Judging whether the current course deviation is within a set range or not, and adjusting the angular speed of the robot when the current course deviation is out of the range, otherwise, continuously judging whether the current course deviation is within the set range or not, if not, adjusting the angular speed and the linear speed at the same time, otherwise, only adjusting the linear speed; meanwhile, the pilot robot transmits the calculated ideal position at the next moment to the following robots 1 and 2 when advancing to the ideal position each time;
when the pilot robot sends the 3 rd position point, the following robot 1 executes forward to the 1 st position point sent by the pilot robot and starts to turn clockwise by 90 degrees, after the movement is finished, the forward is continued according to the ideal position sent by the pilot robot, whether the current course deviation is within a set range is judged in the forward process, when the current course deviation is out of the range, the angular speed of the robot is adjusted, otherwise, whether the current transverse deviation is within the set range is continuously judged, if the current course deviation is not within the set range, the angular speed and the linear speed are simultaneously adjusted, otherwise, only the linear speed is adjusted until the 4 th ideal position point sent by the pilot robot is reached, and 90-degree clockwise steering is started;
when the following robot 1 reaches the 3 rd position point, the following robot 2 performs forward movement to the position point sent by the 2 nd pilot robot, starts 90-degree clockwise turning, after finishing the movement, continues forward movement according to the ideal position sent by the pilot robot, judges whether the current course deviation is within a set range in the forward movement process, adjusts the angular velocity of the robot when the current course deviation is out of the range, otherwise continues judging whether the current transverse deviation is within the set range, if not, simultaneously adjusts the angular velocity and the linear velocity, otherwise only adjusts the linear velocity until reaching the 3 rd ideal position point sent by the pilot robot, starts 90-degree clockwise turning, if yes, ends the ground turning operation, otherwise continues to adjust.
The above description of the structure and working principle of the present invention is given by way of specific embodiments, the present invention is not limited to the above embodiments, and any modifications, substitutions and improvements made within the spirit and principle of the present invention are included in the scope of the present invention according to the above description.
Claims (2)
1. The heterogeneous multi-robot positioning and controlling method based on the orchard map is characterized by comprising the following steps:
(1) The pilot robot walks in the fruit tree row by remote control of a person, firstly constructs a complete orchard map, and converts all fruit tree center points in the orchard map into GNSS absolute coordinate values [ tree ] i _gnss_x,tree i _gnss_y]The method comprises the steps of carrying out a first treatment on the surface of the The pilot robot can estimate the nearest fruit tree coordinate [ tree ] in the range according to the angle and the relative distance of radar scanning n _gnss_x,tree n _gnss_y]Through type(1) With the coordinates of fruit trees in the orchard map i _gnss_x,tree i _gnss_y]In contrast, when d min When the coordinate approaches 0, obtaining GNSS real coordinates of the fruit trees;
the calculation formula for judging the true coordinates of the nearest fruit tree to the robot is as follows:
(2) And then according to the required true coordinates of the fruit tree 1 _gnss_x,tree 1 _gnss_y]、[tree 2 _gnss_x,tree 2 _gnss_y]、[tree 4 _gnss_x,tree 4 _gnss_y]Estimating a reference navigation line equation for autonomous navigation of the pilot robot and the following robots 1 and 2 and ideal position coordinates [ X ] of the robots at the next moment by using the row spacing r_s and the plant spacing p_s 1 ,Y 1 ]，[X_f 1 ,Y_f 1 ]，[X_f 2 ,Y_f 2 ]；
The calculation formula of the ideal position coordinates of the robot is as follows:
wherein [ tree ] 1 _gnss_x,tree 1 _gnss_y]Is a piloting robot [270 DEG, 360 DEG ]]The nearest true coordinates of fruit tree 1 2 _gnss_x,tree 2 _gnss_y]Is a piloting robot [0 degree, 90 degree ]]The nearest true coordinates of fruit tree 2 4 _gnss_x,tree 4 _gnss_y]To follow the robot [270 DEG, 360 DEG ]]The nearest real coordinates of the fruit tree 4;
(3) Calculating the transverse deviation and the course deviation from the ideal and actual position coordinates to the reference navigation line by each robot respectively, and enabling each robot to reach the ideal position by adjusting the advancing angular speed and the advancing linear speed of each robot in real time so as to finish the inter-row operation;
the calculation formula of the robot reference navigation route is as follows:
A j ＝tree i+1 _gnss_y-tree i _gnss_y
B j ＝tree i _gnss_x-tree i+1 _gnss_x
C j ＝(tree i+1 _gnss_x-tree i _gnss_y)-(tree i _gnss_x-tree i+1 _gnss_y) (3)
A 1 X i +B 1 Y i +C 1 ＝0 (4)
A 2 X i +B 2 Y i +C 2 ＝0 (7)
wherein A is i B i C i The equation (4) is the equation of the pilot robot and the reference pilot line 1 of the following robot 1, and the equation (7) is the equation of the reference pilot line 2 of the following robot 2 and the reference pilot line 2 of the following robot 2.
2. The heterogeneous multi-robot positioning and controlling method based on an orchard map according to claim 1, wherein the method is characterized by comprising the following steps:
(1) Obtaining an equation of a reference navigation line 1 according to the coordinates of the fruit trees 1 and 2 and the formulas (1), (2) and (5), and continuously generating ideal position coordinates [ X ] of the pilot point 1 at the next moment through the formula (2) along with the progress of the pilot robot 1 ,Y 1 ]And transmitting the coordinates of the next moment of the navigation robot to the following robots 1 and 2;
(2) The following robot 1 waits until the pilot robot runs to the ideal position point of the 3 rd time, the following robot 1 reaches the point of the 1 st time issued by the pilot robot, and the movement is stopped after 90 degrees of clockwise steering;
(3) The following robot 2 waits for the following robot 1 to reach the ideal position point of the 3 rd time issued by the pilot robot, the following robot 2 reaches the point of the 2 nd time issued by the pilot robot, and the movement is stopped after 90-degree clockwise steering;
(4) When the piloting robot reaches the 5 th ideal position coordinate, stopping movement after turning 90 degrees clockwise, at the moment, the following robot 1 starts to travel to the 4 th ideal position coordinate point and stops movement after turning 90 degrees clockwise, and the following robot 2 can travel to the 3 rd ideal position coordinate point and stops movement after turning 90 degrees clockwise; when all three robots reach the target point, the ground turning operation is finished.
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| CN212683969U (en) * | 2020-06-11 | 2021-03-12 | 西北农林科技大学 | Orchard multi-robot physical model |
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| WO2020253316A1 (en) * | 2019-06-18 | 2020-12-24 | 中国科学院上海微系统与信息技术研究所 | Navigation and following system for mobile robot, and navigation and following control method |
| CN212683969U (en) * | 2020-06-11 | 2021-03-12 | 西北农林科技大学 | Orchard multi-robot physical model |
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