CN116673960A

CN116673960A - Robot control method, robot control device, robot and nonvolatile storage medium

Info

Publication number: CN116673960A
Application number: CN202310821525.0A
Authority: CN
Inventors: 苏海峰; 宋佳音; 蔡扬
Original assignee: Seven Seas Shenzhen Technology Co ltd
Current assignee: Seven Seas Shenzhen Technology Co ltd
Priority date: 2023-07-05
Filing date: 2023-07-05
Publication date: 2023-09-01

Abstract

The invention provides a control method and device of a robot, the robot and a nonvolatile storage medium, wherein the control method of the robot comprises the following steps: acquiring the distribution information of planting rows of a target farmland, and determining the target track width of the robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot; acquiring an initial wheel tread width of the robot before planting operation, and comparing the initial wheel tread width of the robot with a target wheel tread width of the robot; and adjusting the running state of the robot according to the comparison result of the initial track width of the robot and the target track width of the robot. By the technical scheme provided by the invention, the technical problem that the robot in the prior art often damages plants when carrying out agricultural operation can be solved.

Description

Robot control method, robot control device, robot and nonvolatile storage medium

Technical Field

The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling a robot, and a nonvolatile storage medium.

Background

At present, in order to facilitate agricultural operation, a plurality of different types of agricultural operation robots exist in the prior art, and specifically include robots capable of realizing different operation effects, such as a fertilization robot, a weeding robot, a picking robot and the like. When these robots are used for agricultural operations, they are generally required to be laid down on the planting lines to be operated, and to perform the corresponding agricultural operations on the corresponding planting lines.

However, there will be situations where the plots of the farmland to be worked are different in size, the crops are different, the planting habits are different, etc. for different farmlands to be worked, these differences will result in different distribution of the planting rows of the farmlands to be worked. For a fixed track robot, the robot can only move forward according to the fixed track and can perform agricultural operations. Therefore, when the fixed wheel track is just matched with the tractor-ploughing paths on two sides of the planting row to be operated, the agricultural operation can be smoothly carried out; when the fixed wheel track is not matched with the machine ploughing ways on the two sides of the planting row to be operated, the agricultural robot can directly roll on part of plants at the planting row in the agricultural operation process, and irreversible damage is caused to the plants. In addition, when the agricultural robot rolls to plant, the normal running of the agricultural robot is often influenced to a certain extent due to the condition of plants of the plant row, so that the smooth running of the agricultural robot is not facilitated, and the protection of the agricultural robot is also not facilitated.

Disclosure of Invention

The invention mainly aims to provide a control method and device of a robot, the robot and a nonvolatile storage medium, so as to solve the technical problem that the robot in the prior art often damages plants when carrying out agricultural operation.

In order to achieve the above object, according to one aspect of the present invention, there is provided a control method of a robot, comprising:

acquiring the distribution information of planting rows of a target farmland, and determining the target track width of the robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot;

acquiring an initial wheel tread width of the robot before planting operation, and comparing the initial wheel tread width of the robot with a target wheel tread width of the robot;

and adjusting the running state of the robot according to the comparison result of the initial track width of the robot and the target track width of the robot.

Further, obtaining distribution information of planting rows of the target farmland, and determining a target track width of the robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot, wherein the method comprises the following steps:

acquiring the number of planting rows in a target farmland;

Under the condition that the planting behavior in the target farmland is one row, determining a planting behavior operation row in the target farmland, identifying machine-ploughing channels at two sides of the operation row as two operation machine-ploughing channels of the target farmland, and determining the target track width of the robot according to the two operation machine-ploughing channels and the maximum track width;

under the condition of multiple rows of planting behaviors in a target farmland, one or more preset planting rows are selected as operation rows according to the maximum track width, machine-ploughing lanes on two sides of the operation rows are identified as two operation machine-ploughing lanes of the target farmland, and the target track width of the robot is determined according to the two operation machine-ploughing lanes.

Further, determining a target track width of the robot based on the maximum track widths of the two work machine tilling lanes and the robot, comprising:

respectively fitting two working machine ploughs of a target farmland into two target working lines, and determining the distance between the two target working lines;

and taking the distance between the two item mark lines as the target track width of the robot when the distance between the two item mark lines is smaller than or equal to the maximum track width.

Further, after obtaining the number of planting rows in the target farmland, the method further comprises:

Under the condition that planting behaviors of the target farmland are multiple, obtaining the distance between the machine cultivation channels, determining two working machine cultivation channels of the target farmland from the machine cultivation channels according to the distance between the machine cultivation channels and the maximum wheel tread width, and determining the target wheel tread width of the robot according to the two working machine cultivation channels, wherein the distance between the two working machine cultivation channels is smaller than or equal to the maximum wheel tread width.

Further, obtaining a spacing between the tractor-ploughing tracks includes:

fitting the tractor-ploughing paths of the target farmland into working lines respectively, obtaining the intervals among the working lines, and taking the intervals among the working lines as the intervals among the tractor-ploughing paths;

two working machine tracks of a target farmland are determined from the machine tracks according to the distance between the machine tracks and the maximum track width, and the two working machine tracks comprise:

comparing the distance between the machine-cultivated tracks with the maximum wheel tread width, and taking any two machine-cultivated tracks with the distance between the machine-cultivated tracks smaller than or equal to the maximum wheel tread width as two working machine-cultivated tracks.

Further, according to a comparison result of the initial track width of the robot and the target track width of the robot, adjusting the running state of the robot includes:

When the difference value between the initial track width and the target track width of the robot is within a preset error range, controlling the robot to run along two working machine ploughing paths of a target farmland;

when the difference value between the initial track width and the target track width of the robot exceeds a preset error range, the track width of the robot is adjusted so that the robot can run along two working machine ploughways of the target farmland.

Further, adjusting the track width of the robot includes:

acquiring a real-time rotation angle of a rotating arm of the robot;

acquiring the width of a driving running part on a rotating arm, the length of a robot in a first direction and the length of the rotating arm, and calculating a target rotating angle of the rotating arm according to the width of the driving running part, the length of the robot in the first direction, the length of the rotating arm and the target track width;

controlling the rotation of the rotating arm according to the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm so as to adjust the track width of the robot to the target track width;

wherein the first direction is perpendicular to the forward direction of the robot.

Further, the control of the rotation of the rotating arm according to the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm includes:

PID operation is carried out on the real-time rotation angle of the rotating arm and the error between the target rotation angles of the rotating arm, the rotation speed of the driving running part is obtained, and the driving running part is controlled to rotate according to the obtained rotation speed of the driving running part so as to drive the rotating arm to rotate;

and monitoring the real-time rotation angle of the rotating arm, and controlling the driving running part to stop driving the rotating arm when the real-time rotation angle of the rotating arm reaches the target rotation angle of the rotating arm.

According to another aspect of the present invention, there is provided a control device of a robot, including:

the first acquisition module is used for acquiring the distribution information of the planting rows of the target farmland, and determining the target track width of the robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot;

the second acquisition module is used for acquiring the initial track width of the robot before the planting row operation and comparing the initial track width of the robot with the target track width of the robot;

and the adjusting module is used for adjusting the running state of the robot according to the comparison result of the initial track width of the robot and the target track width of the robot.

According to another aspect of the present invention, there is provided a robot including:

The device comprises a chassis and a rotating device, wherein the rotating device is arranged on the chassis;

the rotating arm, one end of which is connected with the turning device;

the driving running part is connected with the other end of the rotating arm, so that the rotating arm is driven to rotate by the driving running part to adjust the running state of the robot;

and one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the control method of the robot provided above.

According to another aspect of the present application, there is provided a non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of controlling a robot provided above.

By applying the technical scheme of the application, the target track width of the robot can be conveniently determined according to the distribution information of the tractor track of the target farmland and the maximum track width of the robot, and the running state of the robot is adaptively adjusted according to the comparison result of the target track width and the current track width, so that the robot can avoid planting rows as far as possible, and the robot can run in the tractor beside the planting rows as far as possible, so that the damage to plants in the running process and the agricultural operation process of the robot is avoided, and the plants are protected. In addition, the scheme of the application also avoids the influence of plants of the planting row on the normal running of the agricultural robot when the robot enters the planting, avoids the scratch of part of special plants on the robot, can effectively ensure the normal and smooth running of the robot, and is beneficial to the protection of the robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 shows a flow diagram of a control method of a robot according to an embodiment of the present application;

fig. 2 shows a flow diagram of another control method of a robot according to an embodiment of the present application;

FIG. 3 is a schematic view showing distribution of a tractor-ploughing road of a farmland according to an embodiment of the present application;

FIG. 4 is a schematic diagram showing the distribution of the tractor-ploughing paths of another farmland according to an embodiment of the application;

fig. 5 shows a schematic view of a rotation angle of a rotation arm of a robot according to an embodiment of the present application;

fig. 6 is a schematic view showing the structure of a control device of a robot according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

10. a target farmland; 11. a machine tillage path; 20. a chassis; 30. a rotating arm; 40. a driving wheel;

2001. a first acquisition module; 2002. a second acquisition module; 2003. and an adjustment module.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In the drawings provided by the embodiment of the application, fig. 1 and fig. 2 are schematic flow diagrams of a control method of a robot provided by the embodiment of the application, and fig. 3 and fig. 4 are schematic distribution diagrams of a tractor of a farmland provided by the embodiment of the application.

Specifically, as shown in fig. 3 and 4, the different distribution of the machine-cultivated tracks 11 of the target farmland 10 operated by the robot of the present application is that the machine-cultivated tracks 11 in the target farmland 10 in fig. 3 are uniformly distributed, and the distribution of the machine-cultivated tracks 11 in the target farmland 10 in fig. 4 is not uniform. The robot of the present application can perform an operation in a target farmland 10 having evenly distributed machine-ploughing paths 11, or in a target farmland 10 having unevenly distributed machine-ploughing paths 11.

As shown in fig. 1, an embodiment of the present application provides a control method of a robot, including:

step 1001: and acquiring the distribution information of the planting rows of the target farmland 10, and determining the target track width of the robot according to the distribution information of the planting rows of the target farmland 10 and the maximum track width of the robot.

Step 1002: and acquiring the initial track width of the robot before the planting row operation, and comparing the initial track width of the robot with the target track width of the robot.

Step 1003: and adjusting the running state of the robot according to the comparison result of the initial track width of the robot and the target track width of the robot.

Note that, the robot in the present embodiment may be a robot for performing agricultural operations, and specific agricultural operations include, but are not limited to: and (3) agricultural operations such as fertilization, picking, weeding, pesticide spraying and the like. The target track width of the robot is determined according to the distribution information of the planting rows of the target farmland 10 and the maximum track width of the robot, so that the robot can conveniently cover the planting rows with larger area as much as possible in the agricultural operation process, the planting rows with larger area can be conveniently and effectively covered, and the agricultural operation efficiency of the target farmland 10 can be conveniently and effectively improved.

The distribution information of the planting rows can be obtained through machine vision. Specifically, an image or video stream of the target farmland is obtained through machine vision, and analysis is performed on the image or video stream of the target farmland to obtain distribution information of planting rows.

The target farmland 10 herein may be understood as a farmland to be worked. The planting rows of the target farmland 10 may be understood as an area where agricultural work (which may include plants) is planted in the farmland to be worked, and the planting rows in the target farmland 10 may be one or more rows, and may be specifically distributed in combination with the work plots of the target farmland 10, the planting habits of the agricultural work, and the like. Distribution information for the rows of the target farmland 10 includes, but is not limited to: the number of planting rows, the distribution position of various planting rows, the width of planting rows, etc.

The initial track width of the robot is the track width of the robot before the robot performs the work on the target farmland 10. The target track width of the robot is a track width adapted to the agricultural operation of the robot, which is determined based on the distribution information of the planting rows of the target farmland 10 and the maximum track width of the robot. The track width of the robot is the distance between the driving running parts of the robot. Specifically, the driving traveling portion may be a structure capable of allowing the robot to travel, such as a driving wheel or a driving crawler, and the driving traveling portion may be a structure of the driving wheel as shown in fig. 5. Further, the operating conditions of the robot include, but are not limited to, adjusting an initial track width of the robot, adjusting a traveling condition of the robot, and the like.

When the driving traveling section is the driving wheel 40, the track width of the robot means a pitch width between the two driving wheels 40 on the front side of the robot or a pitch width between the two driving wheels 40 on the rear side of the robot. Specifically, the width between the two drive wheels 40 may refer to the width of the space between the outside of one drive wheel 40 (the outside of one drive wheel 40 may refer to the side of the drive wheel 40 away from the other drive wheel 40) and the outside of the other drive wheel 40 (the outside of the other drive wheel 40 may refer to the side of the drive wheel 40 away from the one drive wheel 40).

Alternatively, the width between the two driving wheels 40 may also refer to the width of the space between the inside of one driving wheel 40 (the inside of one driving wheel 40 may refer to the side of the driving wheel 40 that is adjacent to the other driving wheel 40) and the inside of the other driving wheel 40 (the inside of the other driving wheel 40 may refer to the side of the driving wheel 40 that is adjacent to the one driving wheel 40).

Alternatively, the width between two drive wheels 40 may also refer to the width of the gap between the centerline of one drive wheel 40 and the centerline of the other drive wheel 40. The adaptive adjustment can be specifically performed according to actual needs, and the embodiment of the application is not limited to this.

The front and rear driving wheels 40 are changed according to the traveling direction of the robot, and when the traveling direction of the robot is changed, the front driving wheel 40 of the robot and the rear driving wheel 40 of the robot are changed accordingly.

When the driving traveling part is a driving track, the track width of the robot refers to the space width between two driving tracks located at both sides of the robot. In particular, the pitch width between two drive tracks may refer to the pitch width between the outside of one drive track (the outside of one drive track may refer to the side of the drive track that is remote from the other drive track) and the outside of the other drive track (the outside of the other drive track may refer to the side of the drive track that is remote from the one drive track). Specifically, the number of the driving tracks can be two or four or six or eight, and the driving tracks are uniformly distributed on two sides of the robot.

By adopting the control method provided by the implementation, the control method can conveniently and adaptively determine the target track width of the robot according to the distribution information of the tractor channels 11 of the target farmland 10 and the maximum track width of the robot, and adaptively adjust the running state of the robot according to the comparison result of the target track width and the current track width. Therefore, in the advancing process or the agricultural operation process of the robot, the robot can avoid the planting rows as much as possible, and the robot can operate in the machine ploughing beside the planting rows as much as possible, so that the damage to plants caused by the robot in the operation process and the agricultural operation process is avoided, and the plants are effectively protected.

In addition, the scheme of the application can also effectively avoid the influence of plants of the planting row on the normal running of the agricultural robot when the robot enters the planting, avoid the scratch of partial special plants on the robot, and also avoid the great influence on the running stability of the robot caused by the rolling condition of the plants of the planting row, thereby effectively ensuring the normal and smooth running of the robot in the running process or the agricultural operation process and being beneficial to the protection of the robot.

Specifically, in one embodiment, obtaining distribution information of planting rows of the target farmland 10, determining a target track width of the robot according to the distribution information of the planting rows of the target farmland 10 and a maximum track width of the robot, includes: acquiring the number of planting rows in the target farmland 10; in the case of a row of planting behaviors in the target farmland 10, determining a planting behavior working row in the target farmland 10, identifying the machine-cultivated lanes 11 on both sides of the working row as two working machine-cultivated lanes 11 of the target farmland 10, and determining a target track width of the robot according to the two working machine-cultivated lanes 11; in the case of a plurality of planting rows in the target farmland 10, a preset one or a plurality of planting rows are selected as working rows according to the maximum track width of the robot, the machine-cultivated lanes 11 on both sides of the working rows are identified as two working machine-cultivated lanes 11 of the target farmland 10, and the target track width of the robot is determined according to the two working machine-cultivated lanes 11. Like this, can be convenient for confirm two operation machine ploughs 11 of target farmland 10 according to the line number of the planting line of target farmland 10 fast to confirm the target track width of robot according to two operation machine ploughs 11, like this, be convenient for improve the accuracy of the target track width of robot, so that make the robot move on two operation machine ploughs 11 better, avoid the robot to surpass two operation machine ploughs 11 operation, thereby avoid the damage to the plant more, also be convenient for the robot more smooth and easy operation.

Specifically, selecting a preset one or more planting rows as the operation row may be understood as determining whether the robot selects a preset certain planting row or a preset plurality of planting rows to perform the current agricultural operation according to the maximum operation width of the robot. After the robot completes the agricultural operation on the preset one or more planting rows, the robot may select the agricultural operation corresponding to another preset one or more planting rows among the remaining planting rows, and so on, so as to complete the agricultural operation on the whole target farmland 10.

The motor road 11 in the present application is understood to be a rural road including a rural road, a village group road, and a field road, in which motor vehicles and agricultural machinery can pass below the country. Preferably, the tractor-ploughing path 11 in the present application is understood to be a farmland or a field road on which no crop is planted on both sides of a planted row during the agricultural operation of the robot, so that the robot does not damage the agricultural crop while driving in the tractor-ploughing path 11, and can effectively protect the agricultural crop. The two working machine tracks 11 in the present application can understand two machine tracks 11 which can be selected to travel forward when the robot performs the corresponding agricultural work.

Specifically, determining the target track width of the robot from the two work machine lanes 11 includes: respectively fitting two working machine ploughs 11 of the target farmland 10 into two target working lines, and determining the distance between the two target working lines; and taking the distance between the two item mark lines as the target track width of the robot when the distance between the two item mark lines is smaller than or equal to the maximum track width. By adopting the method, the target track width of the robot can be conveniently and rapidly and accurately acquired, the track width of the robot can be conveniently and subsequently adjusted adaptively according to the target track width of the robot, and the track width of the robot can be conveniently adapted to the conditions of the two-item mark machine tillage 11.

It should be noted that, when the distance between the two mark lines is greater than the maximum track width, it is determined that the robot cannot currently travel on the corresponding two tractor tracks. Due to the different distribution of the planting rows of the target farmland 10, the machine-ploughing path 11 may not necessarily extend in a regular straight-line extending direction. The two-item marking line in the present application is not limited to a straight line, but may be a curved line or a bending line, and the two-item marking line may change adaptively according to the shape change of the two-item marking machine farm 11. Preferably, the two standard working lines can be respectively corresponding to the working lines of the two standard machine ploughing channels 11 at the middle position close to the width of the machine ploughing channel 11, so that the running stability and the running safety of the robot can be ensured as much as possible.

Specifically, in the present application, "two working machine lanes 11 of the target farmland 10 are respectively fitted into two target working lines" may be understood as that images of the two working machine lanes 11 are acquired by using an image acquisition device of a robot, the images of the two working machine lanes 11 are respectively subjected to image processing, and the two working machine lanes 11 are respectively fitted into two target working lines according to the result of the image processing.

In another embodiment, after the number of planting rows in the target farmland 10 is obtained, the control method includes: in the case of a plurality of rows of planting behaviors of the target farmland 10, a distance between the machine tracks of the target farmland 10 is obtained, two working machine tracks of the target farmland 10 are determined from the machine tracks according to the distance between the machine tracks and the maximum track width, and a target track width of the robot is determined according to the two working machine tracks, wherein the distance between the two working machine tracks is smaller than or equal to the maximum track width. Like this, can be convenient for confirm two operation machine ploughs 11 of target farmland 10 according to the line number of the planting line of target farmland 10 fast to confirm the target track width of robot according to two operation machine ploughs 11, like this, be convenient for improve the accuracy of the target track width of robot, so that make the robot move on two operation machine ploughs 11 better, avoid the robot to surpass two operation machine ploughs 11 operation, thereby avoid the damage to the plant more, also be convenient for the robot more smooth and easy operation.

Specifically, the term "obtaining the distance between the individual machine-cultivated tracks in the target farmland 10" is understood to mean that there are 4 machine-cultivated tracks in the target farmland 10: when the first machine is used, the second machine is used, the third machine is used and the fourth machine is used, the distance between the first machine and the second machine, the distance between the first machine and the third machine, the distance between the first machine and the fourth machine, the distance between the second machine and the third machine, the distance between the second machine and the fourth machine and the distance between the third machine and the fourth machine are needed to be obtained. The order of obtaining the distances between the different machine-cultivated roads may be any order as long as the distance between each machine-cultivated road in the target farmland 10 and the remaining machine-cultivated roads in the target farmland 10 can be obtained.

Illustratively, the spacing between the first, second, third, and fourth machine-cultivated tracks may be obtained in two ways.

The first way is: the target image including the first, second, third, and fourth machine-cultivated tracks may be acquired by an image recognition algorithm, or the point cloud information including the first, second, third, and fourth machine-cultivated tracks may be acquired by a corresponding lidar. And identifying a pitch between the first and second machine-cultivated tracks, a pitch between the first and third machine-cultivated tracks, a pitch between the first and fourth machine-cultivated tracks, a pitch between the second and third machine-cultivated tracks, a pitch between the second and fourth machine-cultivated tracks, and a pitch between the third and fourth machine-cultivated tracks, respectively, based on the target image or the point cloud information.

The second way is: the target image including the 4 machine-cultivated tracks can be acquired through an image recognition algorithm, or the point cloud information including the 4 machine-cultivated tracks can be acquired through a laser radar. Then, a first interval between the first machine tillage channel and the second machine tillage channel, a second interval between the first machine tillage channel and the third machine tillage channel and a third interval between the first machine tillage channel and the fourth machine tillage channel are identified based on the target image or the point cloud information, then the interval between the third machine tillage channel and the fourth machine tillage channel is determined by utilizing the difference value of the third interval and the second interval, the interval between the second machine tillage channel and the third machine tillage channel is determined by utilizing the difference value of the third interval and the first interval, and the interval between the second machine tillage channel and the fourth machine tillage channel is determined by utilizing the difference value of the third interval and the first interval.

Thus, the distance between the individual machine-cultivated roads in the target farmland 10 can be accurately and flexibly obtained.

It should be noted that the foregoing examples merely provide some possible implementation manners, and do not represent that the control method of the robot provided in the embodiment of the present application can only obtain the spacing between the machine-cultivated tracks in the target farmland 10 in the manner of the foregoing examples, and for the embodiment of the present application, the spacing between the machine-cultivated tracks can be determined in any possible manner, which is not limited in the embodiment of the present application.

Specifically, "obtain the interval between each machine-operated road 11 of the target farmland 10," determine two operation machine-operated roads of the target farmland 10 from each machine-operated road 11 according to the interval between each machine-operated road 11 and the maximum wheel tread width, "can be convenient for quickly obtaining the interval condition between each machine-operated road in the target farmland, and determine two operation machine-operated roads 11 of the two target farmland 10 according to the one-to-one comparison adaptation condition area between the interval condition between any machine-operated road 11 and the maximum operation width of the robot, thereby being convenient for more accurately determining two operation machine-operated roads 11 of the target farmland 10 according to the distribution condition of each planting row of the target farmland 10.

In the present embodiment, acquiring the spacing between the individual tilling paths 11 includes: the machine-cultivated tracks 11 of the target farmland 10 are fitted to the working lines, the intervals between the working lines are obtained, and the intervals between the working lines are used as the intervals between the machine-cultivated tracks. Two working machine tracks of a target farmland are determined from the machine tracks according to the distance between the machine tracks 11 and the maximum track width, and the two working machine tracks comprise: comparing the distance between the machine-cultivated tracks with the maximum wheel tread width, and taking any two machine-cultivated tracks with the distance between the machine-cultivated tracks smaller than or equal to the maximum wheel tread width as two working machine-cultivated tracks. By adopting the method, the target track width of the robot can be conveniently and rapidly acquired according to the distribution of planting rows of the whole farmland and the adaptation condition of the maximum track width of the robot, the track width of the robot can be conveniently and adaptively adjusted according to the target track width of the robot, and the track width of the robot can be conveniently and better adapted to the conditions of two working machine ploughing paths 11.

Specifically, in the case of multiple rows of planting activity, the number of machine tracks 11 in the target farmland 10 will also correspond to greater than 2. In the present application, "fitting all the tractor-ploughing paths 11 of the target farmland 10 to a plurality of working lines" is understood to mean that the robot image acquisition device is used to acquire the tractor-ploughing images of the target farmland, respectively perform image processing on the tractor-ploughing images of the target farmland, and respectively fit the tractor-ploughing paths 11 of the target farmland to a plurality of target working lines according to the result of the image processing.

Specifically, according to a comparison result of an initial track width of the robot and a target track width of the robot, adjusting an operation state of the robot includes: when the difference value between the initial track width and the target track width of the robot is within a preset error range, controlling the robot to run along the two working machine ploughing paths 11 of the target farmland 10; when the difference value between the initial track width and the target track width of the robot exceeds a preset error range, the track width of the robot is adjusted so that the robot can run along two working machine ploughways of the target farmland.

In addition, when the difference between the width of the initial track and the width of the target track of the robot exceeds a preset error range, and the difference between the width of the track of the robot and the width of the target track cannot be regulated within the preset error range, the robot is controlled to stop running. Specifically, the robot can also be enabled to send a prompt signal so as to facilitate the corresponding follow-up operation of the staff or the control system. The alert signal may include, but is not limited to, a light signal, a sound signal, and the like in various forms. Correspondingly, a wireless signal transmission module can be arranged on the robot, so that a prompt signal can be sent to terminal equipment or a control system used by a technician through the wireless signal transmission module. Specifically, the wireless signal transmission module may include a WIFI module, a bluetooth, an infrared, and other transmission modules.

By adopting the method, when the difference value between the initial track width and the target track width of the robot is within the preset error range, the track width of the robot meets the operation within the preset error range of the target track width, so that the robot can be controlled to run along two working machine ploughs 11 corresponding to the target track width; when the initial track width of the robot exceeds the target track width by a preset error range, the track width of the robot cannot meet the running requirement on the two working machine cultivation paths 11 corresponding to the target track width, and the track width of the robot is correspondingly required to be adaptively adjusted by combining according to the track width adjusting range of the robot and the condition of the target track width so that the robot can smoothly pass through the two working machine cultivation paths 11 corresponding to the target track width. Therefore, the method can be convenient for accurately judging whether the robot can pass through the two working machine ploughways 11 corresponding to the target track width, and can be convenient for adaptively adjusting the track width of the robot under the condition that the robot cannot pass smoothly.

The preset error range is determined according to the width of the driving travel unit of the robot and the widths of the corresponding two work implement lanes 11, and allows the robot to have a certain small deviation from the target line.

As shown in fig. 3, specifically, the target track width of the robot may be determined according to the uniform distribution of the tractor tracks 11 of the target farmland 10, including: when the distribution of the machine-cultivated tracks 11 of the target farmland 10 is uniform, acquiring two adjacent machine-cultivated tracks 11 of the target farmland 10 as two working machine-cultivated tracks 11, fitting the two working machine-cultivated tracks 11 into two adjacent working lines respectively, and taking the distance between the two adjacent working lines as the distance L between the two working machine-cultivated tracks 11; the target track width b of the robot is obtained from the distance L between the two work machine tracks 11. Wherein b=nl, n is an integer greater than or equal to 1. By adopting the method, the target track width can be conveniently and quickly determined, the driving wheels 40 of the robot are effectively ensured to be kept to run in the tractor-ploughing path 11 of the target farmland 10, the rolling of the driving wheels 40 of the robot on plants is avoided, and the robot can smoothly pass through narrower field or field roads.

Specifically, the value of n is determined according to the planting row distribution information of the robot and the maximum track width of the robot. By adopting the method, the robot can work under the condition of being in the track width as large as possible, the agricultural work coverage area of the robot is improved, and the agricultural operation efficiency is further improved. In addition, the adjustment range of the robot can be prevented from exceeding the maximum track width of the robot.

As shown in fig. 4, specifically, when the distribution of the machine tracks 11 of the target farmland 10 is uneven, two target travel machine tracks 11 in the target farmland 10 are acquired, the two work travel machine tracks 11 are fitted into two work straight lines, and the distance between the two work straight lines is taken as the target track width b of the robot. With such a method, it is possible to facilitate accurate acquisition of the target track width so that the driving wheel 40 of the robot can travel within the target travel machine road 11, avoiding exceeding the travel range of the target travel machine road 11.

In the present embodiment, the control of the rotation of the rotating arm 30 according to the difference between the target rotation angle γ and the current rotation angle β includes: inputting the current rotation angle beta and the target rotation angle gamma into a PID algorithm, calculating a target rotation speed of the driving wheel 40 on the rotating arm 30 according to a difference value between the target rotation angle gamma and the current rotation angle beta by using the PID algorithm, and enabling the driving wheel 40 on the rotating arm 30 to rotate at the target rotation speed; the target rotation angle γ is sent to a motion controller of the robot, and the rotation angle of the rotating arm 30 is monitored by the motion controller. With such a method, the accuracy of the rotation angle adjustment of the rotating arm 30 can be further improved so that the rotating arm 30 can smoothly rotate to the target rotation angle γ.

Specifically, the robot includes a turning device and a chassis 20, the turning device is disposed on the chassis 20, and one end of a turning arm 30 away from a driving wheel 40 is connected to the turning device; the control method further comprises the following steps: when the motion controller monitors that the angle detected by the encoder in the swing device is the target rotation angle γ, the driving of the driving wheel 40 is stopped, and the rotation of the rotating arm 30 is brake-locked by the brake in the swing device. By adopting the method, the rotating arm 30 can be conveniently locked at the target rotating angle gamma, so that the stability of the wheel track in the running process is conveniently ensured, and the wheel track in the running process is prevented from being changed.

Specifically, the working machine farm road 11 can be identified by the identification sensor, and the target track width b can be calculated according to the selected path, specifically as follows: when the robot works in a farmland and the distances between adjacent machine-ploughing paths 11 are equal, identifying the positions of the target machine-ploughing paths 11 through the identification sensor, fitting the identified machine-ploughing paths 11 into straight lines, and calculating the distance between the adjacent straight lines, namely the distance L between the adjacent machine-ploughing paths 11, wherein the distance is the minimum wheel distance for the robot to work; the target track width b of the robot is calculated according to the operable area of the robot and the maximum track which can be stretched by the robot, and is a multiple of the distance L between adjacent machine-ploughing paths 11, namely nL. When the robot works in a farmland, the position of the target tractor-ploughing road 11 is identified through the identification sensor, the identified tractor-ploughing road 11 is fitted into a straight line, and the distance between adjacent straight lines is calculated, namely the distance L between the adjacent tractor-ploughing roads 11 is the minimum track width of the robot capable of working at the moment; when the intervals between the machine ploughing paths 11 are inconsistent, two working machine ploughing paths 11 are selected according to the maximum working width of the robot and the maximum wheel tread which can be stretched by the robot, namely, two working straight lines are selected, and the interval between the two selected working straight lines is calculated to obtain the target wheel tread width b of the robot.

As shown in fig. 2, in the present embodiment, adjusting the track width of the robot includes:

step 1004: acquiring a real-time rotation angle of the rotating arm 30 of the robot;

step 1005: acquiring the width of a driving running part on the rotating arm 30, the length of the robot in the first direction and the length of the rotating arm 30, and calculating a target rotation angle of the rotating arm 30 according to the width of the driving running part, the length of the robot in the first direction, the length of the rotating arm 30 and the target tread width;

step 1006: the rotation of the rotating arm 30 is controlled according to the real-time rotation angle of the rotating arm 30 and the target rotation angle of the rotating arm 30 to adjust the track width of the robot to the target track width.

By adopting the method, the content of the method for adjusting the specific wheel tread width can be conveniently further refined, the wheel tread width of the robot is adjusted by adjusting the rotation angle of the rotating arm 30 of the robot, and the adjusting method is simple and convenient to operate and realize. The robot herein may be primarily a thumbwheel robot.

Wherein the real-time rotation angle of the rotating arm 30 of the robot is beta; the length of the robot in the first direction is a, the length of the rotating arm 30 is c, the target track width b corresponds to the calculation formula: γ=arcsin (b-a)/(2 c). In this way, the rotation of the rotating arm 30 can be controlled conveniently according to the difference between the target rotation angle gamma and the current rotation angle beta, so as to adjust the track width of the robot, and improve the accuracy of the adjustment. The rotating arm 30 in this embodiment may also be referred to as a large arm. As shown in fig. 5, when the robot has a rectangular structure and the forward direction of the robot is perpendicular to the length direction of the robot, the length of the robot in the first direction is the length a of the robot.

As shown in fig. 5, the robot in the present embodiment may have a rectangular structure, a parallelogram structure, a circular structure, or other structures such as a special-shaped robot structure, as long as the robot can realize the functions of running and agricultural work. When the robot has a rectangular structure and the forward direction of the robot is perpendicular to the longitudinal direction of the robot, as shown in fig. 5, the length of the robot in the first direction is the length a of the robot, the width of the driving traveling portion may be understood as the width of the driving wheel 40 or the driving track, and the length c of the rotating arm 30 may be understood as the distance between both ends along the length extending direction of the rotating arm 30.

In the case of a track-type robot, the adjustment of the track width of the track-type robot can be achieved by adjusting the distance between the tracks on both sides perpendicular to the forward direction of the track-type robot. Specifically, corresponding driving structures may be provided, and the crawler belts on both sides perpendicular to the forward direction of the robot are pushed to move in the forward direction perpendicular to the robot by the driving structures, so that the crawler belts on both sides are close to or far from each other.

In the case of a foot robot, the distance between the feet of both sides perpendicular to the forward direction of the robot can be adjusted to achieve adjustment of the track width of the foot robot. Specifically, corresponding driving structures can be arranged, and feet on two sides perpendicular to the advancing direction of the robot are pushed to move along the advancing direction perpendicular to the robot by the driving structures so as to enable the feet on the two sides to be close to or far away from each other; or the foot can be driven by the driving structure to rotate so as to adjust the track width of the robot.

It should be noted that, the real-time rotation angle of the rotating arm 30 may be fixed for a certain period of time, and the real-time rotation angle of the rotating arm 30 may also change according to the change of time. The real-time rotation angle of the rotating arm 30 is understood to be an angle between the rotating arm 30 and a preset reference direction at the present moment, and the real-time rotation angle may be changed with time. The target rotation angle of the rotating arm 30 refers to an included angle between a position of the rotating arm 30 corresponding to the target track of the robot and a preset reference direction, the target rotation angle of the rotating arm 30 changes the target track of the robot randomly, and when the target track of the robot is determined, the target rotation angle of the corresponding rotating arm 30 is also determined.

Specifically, the preset reference direction may be selected as a direction in which the rotating arm 30 rotates to any certain angle, and preferably, when the chassis of the robot is of a rectangular structure, the preset reference direction may be selected as a direction in which the rotating arm 30 rotates to be parallel to a direction parallel to a width direction or a length direction of the chassis 20 or an extending direction or other directions of the rotating arm 30 corresponding to a last resting angle of the rotating arm 30 before the wheel tread width is adjusted. As shown in fig. 5, preferably, when the direction in which the rotating arm 30 rotates to be parallel to the width direction of the chassis 20 is selected as the preset reference direction, it may also be understood that the real-time rotation angle of the rotating arm 30 when the rotating arm 30 is in the direction parallel to the width direction of the chassis 20 corresponds to 0, and the real-time rotation angle of the rotating arm 30 refers to an angle between a position where the rotating arm 30 is located in real time and a direction in which the rotating arm 30 is parallel to the width direction of the chassis 20. The target rotation angle of the rotating arm 30 refers to an angle between a position of the rotating arm 30 corresponding to the target track of the robot and a direction of the rotating arm 30 parallel to the width direction of the chassis 20, and the target rotation angle of the rotating arm 30 is often a fixed value calculated according to the related parameter.

In the present embodiment, the control of the rotation of the rotating arm 30 according to the real-time rotation angle of the rotating arm 30 and the target rotation angle of the rotating arm 30 includes: the rotation speed of the driving traveling section on the rotating arm 30 is determined based on the real-time rotation angle of the rotating arm 30 and the target rotation angle of the rotating arm 30. By adopting the method, the rotation speed of the driving running part on the rotating arm 30 can be conveniently controlled, so that the real-time rotation angle can be conveniently and finally moved to the target rotation angle, and the track width can be conveniently adjusted to the target track width, so that the smooth adjustment of the target track width can be finally realized.

Specifically, determining the rotation speed of the driving traveling section on the rotating arm 30 according to the real-time rotation angle of the rotating arm 30 and the target rotation angle of the rotating arm 30 includes: performing PID operation on the real-time rotation angle of the rotating arm 30 and the error between the target rotation angle of the rotating arm 30 to obtain the rotation speed of the driving running part, and controlling the driving running part to rotate according to the obtained rotation speed of the driving running part so as to drive the rotating arm 30 to rotate; the real-time rotation angle of the rotating arm 30 is monitored, and the driving traveling section is controlled to stop driving of the rotating arm 30 when the real-time rotation angle of the rotating arm 30 reaches the target rotation angle of the rotating arm 30.

Specifically, the real-time rotation angle δ of the rotating arm 30 and the target rotation angle γ of the rotating arm 30 are both input to a PID algorithm, and the rotation speed of the driving traveling section is calculated by the PID algorithm from the error of the real-time rotation angle δ of the rotating arm 30 and the target rotation angle γ of the rotating arm 30; the real-time rotation angle delta of the rotating arm 30 is monitored, and when the real-time rotation angle delta of the rotating arm 30 reaches the target rotation angle gamma of the rotating arm 30, the driving traveling section is controlled to stop driving the rotating arm 30. By adopting the method, the rotating speed of the driving running part can be correspondingly controlled according to the monitoring of the real-time rotating angle, the control logic is simple and reliable, the driving running part can conveniently drive the rotating arm 30 to rotate to the target rotating angle, and the driving running part can conveniently adjust to the target track width.

The PID algorithm is a control algorithm that combines three links of a proportion (P), an integral (I), and a derivative (D) of a deviation in process control, and is capable of performing correction control based on feedback output from a control object, and is capable of performing correction based on a quota or a standard when a deviation between an actual measurement and a planned measurement is detected.

In this embodiment, after controlling the driving traveling section to stop driving the rotating arm 30, the method further includes: the rotating arm 30 is brake-locked to maintain the track width of the robot at the target track width. By adopting the method, the track width of the robot can be conveniently and stably maintained at the target track width, and the track width of the robot is prevented from changing in the running process, so that the robot can stably run at the target track width, and the stability and safety of the robot in the running process are effectively ensured.

Specifically, knowing the real-time rotation angle δ of the current rotating arm 30 and the target rotation angle γ corresponding to the target track, the real-time rotation angle δ and the target rotation angle γ are input to the PID algorithm, so as to perform proportional, integral and differential operations according to the error between the target rotating arm 30 angle γ and the actual rotating arm 30 angle δ by the PID algorithm, so as to calculate the rotation speed of the output driving wheel 40, and finally control the driving wheel 40 to reach the target position by the PID algorithm. That is, when the motion controller monitors that the rotation angle of the rotating arm 30 fed back by the encoder in real time is γ, the driving wheel 40 is no longer driven, and at the same time, the controller of the motion robot controls the electromagnetic brake in the slewing device to be electrified so as to lock and brake the rotating arm 30 through the brake. Thus, when the rotating arm 30 rotates to the target rotation angle γ, it is in the locked state.

Correspondingly, the robot in the present embodiment includes a turning device and a chassis 20, the turning device is disposed on the chassis 20, and one end of the turning arm 30 far away from the driving wheel 40 is connected with the turning device. When the driving wheel 40 drives the rotating arm 30 to rotate to the target rotation angle, the driving of the driving wheel 40 is stopped, and the rotation of the rotating arm 30 is braked and locked by a brake in the slewing device, so that the stability of the rotating arm 30 in the running process is effectively ensured.

As shown in fig. 6, the present invention provides a control device of a robot, which includes a first acquisition module 2001, a second acquisition module 2002, and an adjustment module 2003. The first acquisition module 2001 is configured to acquire distribution information of planting rows of the target farmland 10, and determine a target track width of the robot according to the distribution information of the planting rows of the target farmland 10 and a maximum track width of the robot. The second acquisition module 2002 is used for acquiring the initial track width of the robot before the planting row works, and comparing the initial track width of the robot with the target track width of the robot. The adjustment module 2003 is configured to adjust an operation state of the robot according to a comparison result of the initial track width of the robot and the target track width of the robot.

The present invention provides a robot, the robot comprising: the vehicle comprises a chassis 20, a turning device, a turning arm 30, a driving running part, and one or more processors and memories, wherein the turning device is installed on the chassis 20, and one end of the turning arm 30 is connected with the turning device so that one end of the turning arm 30 is rotatably arranged on the chassis 20 through the turning device. The other end of the rotating arm 30 is connected to a driving traveling part, and the driving traveling part drives the rotating arm 30 to rotate so as to adjust the running state of the robot. The memory is used for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the control method of the robot provided in any of the embodiments described above. By adopting the method, the rotating arm 30 can be conveniently driven to rotate to the target rotating angle through the control of the driving running part, so that the track width is adjusted to the target track width, the track width of the robot is conveniently matched with the two-item standard working machine tillage 11, the robot can smoothly pass through the two-item standard working machine tillage 11, and the running safety of the robot is ensured.

The present application provides a non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of controlling a robot provided in any of the above embodiments.

The application provides an electronic device, comprising: the robot control system comprises one or more processors and a memory, wherein the memory is used for storing one or more programs, and the one or more processors are enabled to realize the control method of the robot provided in any embodiment when the one or more programs are executed by the one or more processors.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects: the wheel tread of the robot is convenient to adjust, and the technical problems that the plants are crushed and difficult to smoothly pass through narrower field and field roads due to the fact that the wheel tread is constant in width are avoided.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method of a robot, comprising:

acquiring distribution information of planting rows of a target farmland, and determining a target track width of a robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot;

acquiring an initial wheel tread width of the robot before the planting row performs operation, and comparing the initial wheel tread width of the robot with a target wheel tread width of the robot;

2. The method of claim 1, wherein the obtaining the distribution information of the planting rows of the target farmland, and the determining the target track width of the robot according to the distribution information of the planting rows of the target farmland and the maximum track width of the robot, comprises:

Acquiring the number of planting rows in the target farmland;

under the condition that the planting behavior in the target farmland is one row, determining a planting behavior operation row in the target farmland, identifying machine-ploughing lanes at two sides of the operation row as two operation machine-ploughing lanes of the target farmland, and determining a target track width of the robot according to the two operation machine-ploughing lanes and the maximum track width;

under the condition that planting behaviors in the target farmland are multiple, selecting one or more preset planting rows as operation rows according to the maximum track width, identifying machine-cultivated lanes on two sides of the operation rows as two operation machine-cultivated lanes of the target farmland, and determining the target track width of the robot according to the two operation machine-cultivated lanes.

3. The method of claim 2, wherein the determining the target track width of the robot from the maximum track widths of the two work machine lanes and the robot comprises:

respectively fitting two working machine ploughs of the target farmland into two target working lines, and determining the distance between the two target working lines;

and taking the distance between the two target lines as the target track width of the robot under the condition that the distance between the two target lines is smaller than or equal to the maximum track width.

4. The method of claim 2, wherein after the obtaining the number of planting rows in the target field, the method further comprises:

under the condition that planting behaviors of the target farmland are multiple, obtaining the distance between the machine-cultivated tracks, determining two working machine-cultivated tracks of the target farmland from the machine-cultivated tracks according to the distance between the machine-cultivated tracks and the maximum wheel tread width, determining the target wheel tread width of the robot according to the two working machine-cultivated tracks, wherein the distance between the two working machine-cultivated tracks is smaller than or equal to the maximum wheel tread width.

5. The method of claim 4, wherein the obtaining the spacing between the tractor traces comprises:

the determining two working machine tracks of the target farmland from the machine tracks according to the distance between the machine tracks and the maximum track width comprises the following steps:

comparing the distance between the machine-cultivated tracks with the maximum wheel tread width, and taking any two machine-cultivated tracks with the distance between the machine-cultivated tracks smaller than or equal to the maximum wheel tread width as the two working machine-cultivated tracks.

6. The method of claim 2, wherein adjusting the operating state of the robot based on the comparison of the initial tread width of the robot and the target tread width of the robot comprises:

when the difference value between the initial track width of the robot and the target track width is within a preset error range, controlling the robot to run along two working machine ploughs of the target farmland;

when the difference value between the initial track width of the robot and the target track width exceeds the preset error range, the track width of the robot is adjusted so that the robot can run along two working machine ploughways of the target farmland.

7. The method of claim 6, wherein said adjusting the track width of the robot comprises:

acquiring a real-time rotation angle of a rotating arm of the robot;

acquiring the width of a driving running part on the rotating arm, the length of the robot in a first direction and the length of the rotating arm, and calculating a target rotation angle of the rotating arm according to the width of the driving running part, the length of the robot in the first direction, the length of the rotating arm and the target track width;

8. The method of claim 7, wherein said controlling rotation of said rotating arm based on said real-time rotation angle of said rotating arm and said target rotation angle of said rotating arm comprises:

PID operation is carried out on the error between the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm, so that the rotation speed of the driving running part is obtained, and the driving running part is controlled to rotate according to the obtained rotation speed of the driving running part so as to drive the rotating arm to rotate;

9. A control device for a robot, comprising:

The second acquisition module is used for acquiring the initial wheel tread width of the robot before the planting row performs operation and comparing the initial wheel tread width of the robot with the target wheel tread width of the robot;

10. A robot, comprising:

one end of the rotating arm is connected with the rotating device;

the other end of the rotating arm is connected with the driving running part so as to drive the rotating arm to rotate through the driving running part to adjust the running state of the robot;

and one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of controlling a robot of any of claims 1 to 8.

11. A non-volatile storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method of controlling a robot according to any one of claims 1 to 8.