CN115617050B - Automatic flower dotting method, robot, electronic equipment and storage medium - Google Patents
Automatic flower dotting method, robot, electronic equipment and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application relates to the technical field of robot control, and particularly provides an automatic flower dotting method, a robot, electronic equipment and a storage medium, wherein the method comprises the following steps: controlling the self-moving trolley to move at a preset first speed according to a preset route, and continuously analyzing the image information to detect whether pineapples exist in the image information; when pineapples exist in the image information, the self-moving trolley is controlled to move at a preset second speed according to a preset route, distance information between the mechanical arm and the pineapple flower centers is obtained according to the image information, and the first speed is higher than the second speed; when the distance information is smaller than or equal to a preset first threshold value, the self-moving trolley is controlled to stop moving and the mechanical arm is controlled to drive the spray head to move until the spray head is positioned right above the pineapple flower center, and the first threshold value is smaller than or equal to the maximum extension length of the mechanical arm; controlling the liquid medicine spraying component to spray liquid medicine; the method can simultaneously give consideration to the dotting effect and the dotting efficiency.
Description
Technical Field
The application relates to the technical field of robot control, in particular to an automatic flower dotting method, a robot, electronic equipment and a storage medium.
Background
In the prior art, a mobile robot is generally used for dotting, and the work flow is as follows: the mobile robot moves at a fixed speed according to a pre-planned route, whether plants to be spotted exist in the images or not is continuously analyzed in the moving process, after the plants to be spotted are identified, the mobile robot continuously analyzes the distance from the mechanical arm to the plants to be spotted according to the images, and when the distance is smaller than a preset value, the mobile robot stops moving and drives the spray head to move right above the plants to be spotted through the mechanical arm so as to perform spotting on the plants to be spotted. The existing mobile robot moves at a fixed speed, whether a plant to be spotted and the distance from an analysis mechanical arm to the plant to be spotted exist in an analysis image have delay performance, if the moving speed of the mobile robot is high, the situation that the mobile robot stops moving after passing through the plant to be spotted can occur, and at the moment, the mechanical arm can not drive a spray head to treat the plant to be spotted due to the fact that the distance from the mechanical arm to the plant to be spotted is long, so that the spotting effect of the mobile robot is influenced; if mobile robot's translation rate is slower, mobile robot can stop near treating the flower plant of ordering, and the arm can drive the shower nozzle and just treating the flower plant of ordering this moment, but because mobile robot's translation rate is slow, consequently mobile robot's the flower efficiency of ordering is low, also the current mobile robot can't compromise the flower effect of ordering simultaneously and flower efficiency.
In view of the above problems, no effective technical solution exists at present.
Disclosure of Invention
An object of the present application is to provide an automatic flower-spotting method, a robot, an electronic device, and a storage medium, which can simultaneously consider flower-spotting effect and flower-spotting efficiency.
In a first aspect, the application provides an automatic flower-dropping method, which is applied to an automatic flower-dropping robot, wherein the automatic flower-dropping robot comprises a self-moving trolley, a liquid medicine spraying assembly, a mechanical arm and a camera, the liquid medicine spraying assembly is installed on the self-moving trolley, the liquid medicine spraying assembly comprises a spray head, the mechanical arm is installed at the bottom of the self-moving trolley, the spray head is installed at the tail end of the mechanical arm, the mechanical arm is used for driving the spray head to move, the camera is arranged at the rear side of the bottom of the self-moving trolley in a forward tilting mode, the camera is used for collecting image information, and the automatic flower-dropping method comprises the following steps:
controlling the self-moving trolley to move at a preset first speed according to a preset route, and continuously analyzing the image information to detect whether pineapples exist in the image information;
when the pineapples exist in the image information, the self-moving trolley is controlled to move at a preset second speed according to a preset route, distance information between the mechanical arm and the pineapple flower center is obtained according to the image information, and the first speed is higher than the second speed;
when the distance information is smaller than or equal to a preset first threshold value, the self-moving trolley is controlled to stop moving and the mechanical arm is controlled to drive the spray head to move until the spray head is positioned right above the pineapple flower center, and the first threshold value is smaller than or equal to the maximum extension length of the mechanical arm;
the liquid medicine spraying component is controlled to spray liquid medicine.
According to the automatic flower dotting method, when no pineapple exists in image information, the automatic flower dotting robot moves according to the preset route at the first speed, when the pineapple exists in the image information, the automatic flower dotting robot moves according to the preset route at the second speed, and the automatic flower dotting robot stops moving when the distance information from the mechanical arm to the center of the pineapple flower is smaller than or equal to the first threshold value.
Optionally, when the distance information is less than or equal to a preset first threshold, the step of controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move until the spray head is positioned right above the center of the pineapple flower comprises:
when the distance information is smaller than or equal to a preset first threshold value, the self-moving trolley is controlled to stop moving and the mechanical arm is controlled to drive the spray head to move until the spray head is positioned right above the pineapple flower center and the distance information is smaller than or equal to a preset second threshold value.
Optionally, the step of controlling the liquid medicine spraying assembly to spray the liquid medicine comprises:
analyzing the size information of the pineapple flower heart according to the image information;
acquiring corresponding liquid medicine dosage information according to the size information;
and controlling the liquid medicine spraying assembly to spray liquid medicine with corresponding dosage according to the liquid medicine dosage information.
Optionally, the automatic flower-ordering robot stores information about actual flower-ordering quantity, and the automatic flower-ordering method further includes:
after the self-moving trolley finishes moving a preset route or after the self-moving trolley finishes moving a local path every time, if the actual number information of the dotted pineapples is less than the actual number information of the pineapples, generating predicted position information of the pineapples without being dotted according to historical point flower data;
generating a return route according to the predicted position information;
controlling the self-moving trolley to move at a first speed according to a return route;
and when the distance between the self-moving trolley and the predicted position information is smaller than or equal to a preset third threshold value, controlling the self-moving trolley to move at a preset third speed according to the return route, wherein the second speed is larger than or equal to the third speed.
Optionally, the liquid medicine spraying assembly further comprises a medicine storage box, the spray head is connected with the medicine storage box through a liquid conveying pipe, and the step of moving the self-moving trolley at a preset first speed according to a preset route and continuously analyzing the image information to detect whether pineapples exist in the image information further comprises the steps of:
acquiring the total dosage information of the predicted liquid medicine according to the actual total amount information and the preset predicted size information of the pineapple flower heart;
and adding the liquid medicine corresponding to the predicted total liquid medicine dosage information into the medicine storage box according to the predicted total liquid medicine dosage information.
Optionally, the automatic flower-lighting method further comprises the steps of:
after the liquid medicine spraying assembly is controlled to spray liquid medicine, the self-moving trolley is controlled to continuously move at a first speed according to a preset route.
In a second aspect, the present application also provides an automatic flower-spotting robot, comprising:
a self-moving trolley;
the liquid medicine spraying assembly is arranged on the self-moving trolley and comprises a spray head;
the mechanical arm is arranged at the bottom of the self-moving trolley, the spray head is arranged at the tail end of the mechanical arm, and the mechanical arm is used for driving the spray head to move;
the camera is obliquely arranged on the rear side of the bottom of the self-moving trolley in a forward tilting manner and is used for acquiring image information;
the controller is electrically connected with the self-moving trolley, the liquid medicine spraying assembly, the mechanical arm and the camera, and is used for controlling the self-moving trolley to move at a preset first speed according to a preset route and continuously analyzing image information to detect whether pineapples exist in the image information, controlling the self-moving trolley to move at a preset second speed according to the preset route when the pineapples exist in the image information, acquiring distance information between the mechanical arm and a pineapple flower center according to the image information, wherein the first speed is greater than the second speed, and controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move when the distance information is smaller than or equal to a preset first threshold value until the spray head is positioned right above the pineapple flower center, the first threshold value is smaller than or equal to the maximum extension length of the mechanical arm, and controlling the liquid medicine spraying assembly to spray liquid medicine.
The application provides an automatic flower dotting robot, move according to presetting the route with first speed when there is not the pineapple in image information, move according to presetting the route with the second speed when there is the pineapple in image information, and stop moving when the distance information of arm to pineapple flower heart is less than or equal to first threshold value, because this robot can slowly be close to the pineapple when detecting to have the pineapple in image information, therefore this robot can avoid appearing effectively and moving at the automatic flower dotting robot when stopping moving because the arm is far away and can't drive the condition that the shower nozzle just is to the pineapple flower heart to the arm, and because this robot moves with first speed when there is not the pineapple in image information, and first speed is greater than the second speed, therefore this robot gives consideration to the flower dotting effect and the flower efficiency of automatic flower dotting robot simultaneously.
Optionally, the controller stores actual dot quantity information, the controller is further configured to generate predicted position information of pineapples without being dotted according to historical dot data after the self-moving trolley completes movement of a preset route or after the self-moving trolley completes movement of a local path each time, the controller is further configured to generate a return route according to the predicted position information, the controller is further configured to control the self-moving trolley to move according to the return route at a first speed, the controller is further configured to control the self-moving trolley to move according to the return route at a preset third speed when a distance between the self-moving trolley and the predicted position information is less than or equal to a preset third threshold, and the second speed is greater than or equal to the third speed.
In a third aspect, the present application further provides an electronic device, comprising a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are executed.
In a fourth aspect, the present application further provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method as provided in the first aspect.
As can be seen from the above, according to the automatic flower dotting method, the robot, the electronic device, and the storage medium provided by the present application, when no pineapple exists in the image information, the robot moves according to the preset route at the first speed, when a pineapple exists in the image information, the robot moves according to the preset route at the second speed, and stops moving when the distance information from the mechanical arm to the center of the pineapple flower is less than or equal to the first threshold value.
Drawings
Fig. 1 is a flowchart of an automatic flower-lighting method according to an embodiment of the present disclosure.
Fig. 2 is a schematic control structure diagram of an automatic flower-spotting robot provided in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an automatic flower-dropping robot according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Reference numerals: 1. a self-moving trolley; 2. a liquid medicine spraying assembly; 21. a spray head; 22. a medicine storage box; 23. a drug pump; 24. a drug delivery tube; 3. a mechanical arm; 4. a camera; 5. a controller; 601. a processor; 602. a memory; 603. a communication bus.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In a first aspect, the application provides an automatic flower-dropping method, which is applied to an automatic flower-dropping robot, the automatic flower-dropping robot comprises a self-moving trolley 1, a liquid medicine spraying component 2, a mechanical arm 3 and a camera 4, the liquid medicine spraying component 2 is installed on the self-moving trolley 1, the liquid medicine spraying component 2 comprises a spray head 21, the mechanical arm 3 is installed at the bottom of the self-moving trolley 1, the spray head 21 is installed at the tail end of the mechanical arm 3, the mechanical arm 3 is used for driving the spray head 21 to move, the camera 4 is forwards inclined and arranged at the rear side of the bottom of the self-moving trolley 1, the camera 4 is used for collecting image information, and the automatic flower-dropping method comprises the following steps:
s1, controlling a self-moving trolley 1 to move at a preset first speed according to a preset route, and continuously analyzing image information to detect whether pineapples exist in the image information;
s2, when pineapples exist in the image information, the self-moving trolley 1 is controlled to move at a preset second speed according to a preset route, distance information between the mechanical arm 3 and the pineapple flower centers is obtained according to the image information, and the first speed is larger than the second speed;
s3, when the distance information is smaller than or equal to a preset first threshold value, controlling the self-moving trolley 1 to stop moving and controlling the mechanical arm 3 to drive the spray head 21 to move until the spray head 21 is positioned right above the pineapple flower center, wherein the first threshold value is smaller than or equal to the maximum extension length of the mechanical arm 3;
and S4, controlling the liquid medicine spraying component 2 to spray liquid medicine.
Wherein, one side of the self-moving trolley 1 in the linear advancing direction is the front side of the self-moving trolley 1, and one side of the self-moving trolley 1 in the linear retreating direction is the rear side of the self-moving trolley 1. Because the robot arm is installed in 1 bottom from travelling car, and the pineapple flower heart can pass through from travelling car 1 below, consequently need be higher than pineapple flower heart top from travelling car 1's bottom, can be AGV dolly or the dolly that can move according to predetermineeing the route such as independently travelling car from travelling car 1, specifically, include a plurality of wheels from travelling car 1, a plurality of wheels set up respectively on the left side and the right side from travelling car 1. The liquid medicine spraying assembly 2 comprises a medicine storage box 22, a medicine pump 23 and a spray head 21, wherein the medicine storage box 22 is used for storing liquid medicine needed to be used when flowers are ordered, the spray head 21 is connected with the medicine storage box 22 through a medicine conveying pipe 24, the medicine pump 23 is arranged on the medicine conveying pipe 24, and the medicine pump 23 can drive the liquid medicine in the medicine storage box 22 to flow towards the spray head 21 in a one-way mode so as to spray the liquid medicine from the spray head 21. The mechanical arm 3 is installed at the bottom of the self-moving trolley 1, the spray head 21 of the liquid medicine spraying assembly 2 is installed at the tail end of the mechanical arm 3, and the mechanical arm 3 can be a rectangular coordinate type mechanical arm, a polar coordinate type mechanical arm or a multi-joint type mechanical arm and the like which can drive the spray head 21 to move in multiple degrees of freedom. The camera 4 may be a RGB camera, a depth camera, an area-array camera, or the like, or a visual sensor, which can acquire image information, and since step S2 requires acquiring information of the distance between the robot arm 3 and the center of the pineapple flower from the image information, that is, the camera 4 requires acquiring image information including the robot arm 3, the camera 4 needs to be disposed forward at the rear side from the bottom of the mobile cart 1. It will be appreciated that, since the camera 4 is arranged obliquely at the bottom of the self-moving trolley 1, there will be at most one pineapple located in front and not dotted in the image information at the same time.
The first speed of step S1 is a preset value, and those skilled in the art can change the first speed according to actual needs. The preset route in the step S1 is a route preset or automatically generated according to the distribution of the map and the pineapples, the self-moving trolley 1 moves all pineapples needing to be subjected to the flower dotting operation in the pineapple land according to the preset route, and the pineapple flower core passes through the bottom of the self-moving trolley 1 (namely the pineapple flower core passes through the wheels on the two sides). The method comprises the following steps that S1, the self-moving trolley 1 is controlled to move at a first speed according to a preset route, in addition, the image information is continuously analyzed by utilizing the existing target recognition algorithm in the moving process, and whether the pineapples without the flower dots exist in the image information or not is detected, namely, whether the pineapples without the flower dots exist in front of the automatic flower-dotting robot or not is detected.
The second speed of step S2 is a preset value smaller than the first speed, and those skilled in the art can change the size of the second speed according to actual needs. When the pineapples are detected to exist in the image information, the self-moving trolley 1 is controlled to move at a second speed according to a preset route in the step S2, the image information is analyzed continuously by using an existing target recognition algorithm and an existing distance detection algorithm in the moving process, so that the distance information between the mechanical arm 3 and the pineapple flower center is obtained, and the distance information is the distance from the base of the mechanical arm 3 to the pineapple flower center. Since the first speed is greater than the second speed, the step S1 corresponds to controlling the automatic flower-spotting robot to move at a faster speed, and the step S2 corresponds to controlling the automatic flower-spotting robot to decelerate and move at a slower speed when the pineapple exists in the image information, so that the automatic robot slowly approaches the center of the pineapple flower. It will be appreciated that the self-moving trolley 1 moves at a first speed according to a preset path when no pineapples are present in the image information.
The first threshold value in the step S3 is a preset value, and since the mechanical arm 3 is required to drive the spray head 21 to move after the moving trolley 1 stops moving, the spray head 21 is directly opposite to the center of the pineapple flower, and the moving distance of the mechanical arm 3 is limited by the structure of the mechanical arm 3, the first threshold value is required to be less than or equal to the maximum extension length of the mechanical arm 3, so as to ensure that the mechanical arm 3 can drive the spray head 21 to move right above the center of the pineapple flower. Since the mechanical arm 3 can drive the spray head 21 to move to the position right above the center of the pineapple flower when the distance information is less than or equal to the first threshold, the step S3 controls the self-moving trolley 1 to stop moving and controls the drive spray head 21 to move to the position right above the center of the pineapple flower. After the mechanical arm 3 drives the spray head 21 to move to a position right above the pineapple heart, step S4 controls the liquid medicine spraying assembly 2 to spray liquid medicine so as to perform flower dotting operation on the pineapple heart. Specifically, step S4 controls the medicine pump 23 to drive the liquid medicine in the medicine box 22 to flow unidirectionally toward the head 21 to spray the liquid medicine.
The working principle of the embodiment is as follows: when the pineapples do not exist in the image information, the self-moving trolley 1 is controlled to move at a first speed according to a preset route; when pineapples exist in the image information, the self-moving trolley 1 is controlled to move at a second speed according to a preset route, and the moving is stopped when the distance information from the mechanical arm 3 to the center of the pineapple flower is smaller than or equal to a first threshold value, because the first speed is larger than the second speed, the method is equivalent to controlling the automatic flower-spotting robot to slowly approach the pineapples when the pineapples are detected, even if the distance information from the mechanical arm 3 to the center of the pineapple flower is acquired to have the postponement property, the method can not drive the spray head 21 to be over against the center of the pineapple flower due to the fact that the distance from the mechanical arm 3 to the center of the pineapple flower is far when the automatic flower-spotting robot is controlled to stop moving, the flower-spotting effect of the automatic flower-spotting robot is effectively improved, and because when no pineapple exists in the center of the image information, the method can control the automatic flower-spotting robot to move at the first speed, the method can reduce the time required by moving from the center of the current pineapple flower to the center of the next pineapple flower, and accordingly effectively improve the flower-spotting efficiency of the automatic flower-spotting robot. The embodiment is equivalent to the mode that the automatic flower-dropping robot is controlled to move rapidly when the pineapple is not detected and to move slowly when the pineapple is detected, so that the automatic flower-dropping robot can simultaneously take the flower-dropping effect and the flower-dropping efficiency into consideration.
According to the automatic flower dotting method provided by the application, when pineapples do not exist in image information, the automatic flower dotting robot moves according to the preset route at the first speed, when the pineapples exist in the image information, the automatic flower dotting robot moves according to the preset route at the second speed, the automatic flower dotting robot stops moving when the distance information from the mechanical arm 3 to the center of the pineapple flower is smaller than or equal to the first threshold value, and when the pineapples exist in the image information, the automatic flower dotting robot can be effectively prevented from approaching the pineapples slowly, the situation that the spray head 21 cannot be driven to face the center of the pineapple flower due to the fact that the distance from the mechanical arm 3 to the center of the pineapple flower is long when the automatic flower dotting robot stops moving can be effectively avoided, and the automatic flower dotting robot moves at the first speed when the pineapples do not exist in the image information, and the first speed is larger than the second speed, so that the flower dotting effect and the flower dotting efficiency of the automatic flower dotting robot can be simultaneously considered.
In some embodiments, step S3 comprises:
s31, when the distance information is smaller than or equal to a preset first threshold value, the self-moving trolley 1 is controlled to stop moving, and the mechanical arm 3 is controlled to drive the spray head 21 to move until the spray head 21 is positioned right above the pineapple flower center and the distance information is smaller than or equal to a preset second threshold value.
The second threshold is a preset value, and the second threshold is a distance (namely, a distance required to be kept between the spray head 21 and the center of the pineapple flower) required to be kept between the tail end of the mechanical arm 3 and the center of the pineapple flower when the pineapple flower is spotted. It should be understood that, since the first threshold value is equal to or less than the maximum extension length of the robot arm 3 and the second threshold value represents the distance to be maintained between the end of the robot arm 3 and the center of the pineapple flower, the self-moving cart 1 can be controlled to stop moving when the distance information is equal to or less than the value obtained by adding the first threshold value and the second threshold value.
The liquid medicine spraying assembly 2 of the above embodiment sprays a fixed amount of liquid medicine when spraying liquid medicine, the size of the center of the pineapple flower is positively correlated with the amount of liquid medicine required for the dotting operation, and the sizes of different centers of the pineapple flower are different, so that there may occur a situation that the liquid medicine is wasted because the size of the center of the pineapple flower is large, the amount of liquid medicine sprayed by the liquid medicine spraying assembly 2 is smaller than the amount of liquid medicine required for the dot effect, or because the size of the center of the pineapple flower is small, and the amount of liquid medicine sprayed by the liquid medicine spraying assembly 2 is larger than the amount of liquid medicine required for the dot effect.
To address this technical issue, in some embodiments, step S4 includes:
s41, analyzing the size information of the pineapple flower heart according to the image information;
s42, acquiring corresponding liquid medicine dosage information according to the size information;
s43, controlling the liquid medicine spraying assembly 2 to spray liquid medicine with corresponding dosage according to the liquid medicine dosage information.
Step S41 analyzes the image information by using the existing target recognition algorithm and image analysis algorithm to recognize the pineapple flower center in the image information and obtain the size information of the pineapple flower center, wherein the size information can reflect the size of the pineapple flower center. Step S42 may obtain corresponding medical fluid dosage information from a pre-constructed medical fluid dosage database according to the size information, where at least two kinds of correlated data, i.e., the size information of the pineapple heart and the corresponding medical fluid dosage information, are stored in the medical fluid dosage database. Step S42 may further substitute the size information into a preset function to obtain corresponding medical fluid dosage information, where an independent variable of the preset function is the size information and a dependent variable of the preset function is the medical fluid dosage information. Step S43 controls the liquid medicine spraying assembly 2 to spray the liquid medicine with the corresponding dosage according to the liquid medicine dosage information. Because this embodiment can control liquid medicine according to the size information control liquid medicine that the pineapple flower heart sprayed subassembly 2 sprayed corresponding dose and spray the liquid medicine, therefore this embodiment can avoid effectively appearing because pineapple flower heart size is great, and the liquid medicine volume that the liquid medicine sprayed subassembly 2 spun is less than its required liquid medicine volume and influences some flower effect or because pineapple flower heart size is less, the liquid medicine volume that the liquid medicine sprayed subassembly 2 spun is greater than its required liquid medicine volume and leads to the extravagant condition of liquid medicine.
In some embodiments, the automatic flower-lighting robot stores the information of the actual flower-lighting quantity, and the automatic flower-lighting method further includes step S5:
s51, after the self-moving trolley 1 finishes moving a preset route or after the self-moving trolley 1 finishes moving a local path every time, if the actual flower-dotting quantity information is smaller than the actual quantity information of the pineapples, generating predicted position information of the pineapples without flower dotting according to historical flower-dotting data;
s52, generating a return route according to the predicted position information;
s53, controlling the self-moving trolley 1 to move at a first speed according to a return route;
and S54, when the distance between the self-moving trolley 1 and the predicted position information is smaller than or equal to a preset third threshold value, controlling the self-moving trolley 1 to move at a preset third speed according to a return route, wherein the second speed is larger than or equal to the third speed.
The actual number of the dotting operation in step S51 is the number of times that the automatic dotting robot controls the liquid medicine spraying assembly 2 to spray the liquid medicine, the actual number of the dotting operation can reflect how many times the automatic dotting robot finishes the dotting operation, the initial value of the actual number of the dotting operation is 0, and 1 is added to the actual number of the dotting operation each time the automatic dotting robot finishes the dotting operation. The local route in step S51 is any one of a plurality of sections of routes after dividing the preset route into a plurality of sections of routes, for example, the preset route is divided by rows or columns, and the local route is any one of a plurality of rows or a plurality of columns. If the actual number information of the pineapple is compared with the actual number information of the pineapples after the moving trolley 1 finishes moving the preset route in the step S51, the actual number information of the step S51 is the total number of the pineapples in the pineapple area; if the actual number information of the pineapple is compared with the actual number information of the pineapple after the automatic trolley finishes the movement of the local route, the actual number information of the step S51 is the total number of the pineapple in the local route. In step S51, if the actual flower-spotting number information is equal to the actual number information of the pineapples, no pineapple is subjected to flower-spotting operation; if the actual flower-spotting number information is smaller than the actual number information of the pineapples, the pineapple flower-spotting operation is not performed on the pineapples, and at this time, the pineapples without flower-spotting need to be returned to perform the flower-spotting operation on the pineapples. The historical dotting data can be a plurality of positions corresponding to the automatic dotting robot when the automatic dotting robot performs multiple dotting operations, and the historical dotting data can also be a plurality of times corresponding to the automatic dotting robot when the automatic dotting robot performs multiple dotting operations. The working principle of the step S51 of generating the predicted position information of the pineapple without dotting flowers according to the historical dotting flower data is as follows: the pineapple is planted in the pineapple field at equal intervals, so that the actual distance between two adjacent pineapple flower centers is a known value, and the actual time required for moving to the adjacent pineapple flower centers is also a known value, the distance between the two adjacent pineapple flower centers or the time for moving to the adjacent pineapple flower centers is calculated according to historical dot data, if the difference between the calculated distance and the actual distance is greater than a preset fourth threshold value or the difference between the calculated time and the actual time is greater than a preset fifth threshold value, the pineapple flower centers which are not dotted are considered to exist between the two pineapple flower centers, and the pineapple flower centers which are not dotted are located near the middle point of the two pineapple flower centers or the position to which the self-moving trolley moves in half of the calculated time, namely the middle point of the two pineapple flower centers or the position to which the self-moving trolley moves in half of the calculated time are predicted position information. The fourth threshold is a preset value, the fourth threshold is an allowable error between the calculated distance and the actual distance, the fifth threshold is a preset value, and the fifth threshold is an allowable error between the calculated time and the actual time.
Step S52 generates a return route according to the predicted position information, for example, if it is detected that there is a pineapple flower heart without flower dotting after the moving of any row or any column in the preset route is completed from the moving vehicle 1, the return route is a route in which the current position of the automatic flower dotting robot moves to the predicted position information, and for example, if it is detected that there is a pineapple flower heart without flower dotting after the moving vehicle 1 completes the preset route, the return route is a route including a row or a column corresponding to the predicted position information and a route from the row or the column to the predicted position information.
Step S53, which corresponds to controlling the automatic spotting robot to approach the position where the predicted position information is located quickly, controls the self-moving cart 1 to move at the first speed according to the return route. The third threshold of step S54 is a preset value, and those skilled in the art can change the size of the third threshold according to actual needs. When the distance between the self-moving trolley 1 and the predicted position information is less than or equal to the third threshold, the self-moving trolley 1 approaches the position where the predicted position information is located, and at this time, the self-moving trolley 1 needs to be controlled to advance at a slower speed to identify the pineapple flower heart without flower dotting (namely, the self-moving trolley 1 moves according to a return route at a preset third speed, and the second speed is greater than or equal to the third speed). Since too fast a moving speed of the self-moving vehicle 1 may cause the image information collected by the image information not to include the pineapple heart, thereby causing the pineapple heart not dotted, when the distance between the self-moving vehicle 1 and the predicted position information is less than or equal to the third threshold, the self-moving vehicle 1 preferably moves at a speed less than the second speed (i.e., the second speed is preferably greater than the third speed). It will be appreciated that the reason for the presence of an unrotten pineapple heart may be: because the pineapple heart is shielded by the pineapple leaves, the pineapple heart may not be included in the image information due to the angle of the camera 4 for collecting the image information, so that the automatic flower-spotting robot cannot identify the pineapple heart according to the image information, and therefore, in order to avoid the situation, the automatic flower-spotting robot preferably performs turning operation first and then moves according to a return route, so that the angle of the camera 4 for collecting the image information is opposite to the angle of the camera 4 for collecting the image information in the process of moving the self-moving trolley 1 according to the preset route. According to the embodiment, whether the pineapple without the dotting exists is judged according to the actual dotting quantity information and the actual quantity information of the pineapples, if the pineapple without the dotting exists, the position of the pineapple without the dotting is predicted and the pineapple without the dotting is moved to the position nearby, so that the dotting operation is carried out on the pineapple without the dotting, and therefore the situation that the pineapple heart without the dotting exists due to the fact that the pineapple heart is not recognized in the moving process of the automatic dotting robot can be effectively avoided.
In some embodiments, the liquid medicine spraying assembly 2 further includes a medicine box 22, the spray head 21 is connected to the medicine box 22 through a liquid conveying pipe, and before the step S1, the method further includes the steps of:
acquiring the total predicted liquid medicine dosage information according to the actual total amount information and the preset predicted size information of the pineapple flower heart;
the liquid medicine corresponding to the predicted total liquid medicine dose information is added to the medicine box 22 based on the predicted total liquid medicine dose information.
The actual total amount information is the total amount of pineapple flower centers needing to be subjected to flower dotting operation, the predicted size information is a preset value, and the predicted size information represents the size of the pineapple flower centers needing to be subjected to flower dotting operation. In this embodiment, the information on the predicted total amount of the liquid medicine is acquired from the information on the actual total amount and the information on the predicted size, and the liquid medicine corresponding to the information on the predicted total amount of the liquid medicine is added to the medicine box 22 based on the information on the predicted total amount of the liquid medicine, so that the frequent addition of the liquid medicine to the medicine box 22 due to the shortage of the liquid medicine in the medicine box 22 is effectively reduced. In the above embodiments, the dosage of the liquid medicine sprayed by the liquid medicine spraying assembly is adjusted according to the size information of the pineapple flower heart, and in order to avoid the liquid medicine in the medicine storage tank from being used up in advance, in some preferred embodiments, the liquid medicine residual amount information is obtained according to the predicted total liquid medicine dosage information, and the liquid medicine corresponding to the liquid medicine residual amount information is added into the medicine storage tank 22 according to the liquid medicine residual amount information, wherein the liquid medicine residual amount information is 8% -15% of the predicted total liquid medicine dosage information.
In some embodiments, the automatic flower-lighting method further comprises the steps of:
after the liquid medicine spraying component 2 is controlled to spray liquid medicine, the self-moving trolley 1 is controlled to continuously move at a first speed according to a preset route.
In some embodiments, the process of obtaining the preset route is:
and planning a preset route according to the pineapple map information collected in advance and a preset planning strategy.
After the pineapples are planted, the number of the pineapples in the pineapple land and the number of rows and columns of the pineapples in the pineapple land are fixed values, so that pineapple map information can be collected in advance in a manual, semi-automatic or full-automatic mode, and the pineapple map information comprises the total number of the pineapples, the number of rows of the pineapples and the number of columns of the pineapples. The route planning strategy is a preset value, and the route planning strategy can reflect the flower dotting mode of the automatic flower dotting robot, for example, the route planning strategy can be row-based flower dotting, and for example, the route planning strategy can be column-based flower dotting.
As can be seen from the above, according to the automatic flower dotting method provided by the application, when no pineapple exists in the image information, the automatic flower dotting robot moves according to the preset route at the first speed, when the pineapple exists in the image information, the automatic flower dotting robot moves according to the preset route at the second speed, and stops moving when the distance information from the mechanical arm 3 to the center of the pineapple flower is smaller than or equal to the first threshold value.
In a second aspect, the present application also provides an automatic flower-spotting robot, comprising:
a self-moving trolley 1;
the liquid medicine spraying component 2 is arranged on the self-moving trolley 1 and comprises a spray head 21;
the mechanical arm 3 is arranged at the bottom of the self-moving trolley 1, the spray head 21 is arranged at the tail end of the mechanical arm 3, and the mechanical arm 3 is used for driving the spray head 21 to move;
the camera 4 is arranged at the rear side of the bottom of the self-moving trolley 1 in a forward inclining mode and is used for collecting image information;
the controller 5 is electrically connected with the self-moving trolley 1, the liquid medicine spraying component 2, the mechanical arm 3 and the camera 4, and is used for controlling the self-moving trolley 1 to move at a preset first speed according to a preset route, continuously analyzing image information to detect whether pineapples exist in the image information, controlling the self-moving trolley 1 to move at a preset second speed according to the preset route when pineapples exist in the image information, obtaining distance information between the mechanical arm 3 and the pineapple flower centers according to the image information, wherein the first speed is larger than the second speed, controlling the self-moving trolley 1 to stop moving and controlling the mechanical arm 3 to drive the spray head 21 to move when the distance information is smaller than or equal to a preset first threshold value until the spray head 21 is positioned right above the pineapple flower centers, the first threshold value is smaller than or equal to the maximum extending length of the mechanical arm 3, and controlling the liquid medicine spraying component 2 to spray liquid medicine.
The execution principle of the controller of the automatic flower-dropping robot provided by the embodiment of the present application is the same as the working principle of the automatic flower-dropping robot provided by the first aspect, and will not be discussed in detail here.
In some embodiments, the controller 5 stores actual floriation quantity information, the controller 5 is further configured to generate predicted location information of pineapples not being floriated based on historical floriation data after the self-moving trolley 1 completes a preset route or after the self-moving trolley 1 completes each local path movement, if the actual floriation quantity information is less than the actual quantity information of pineapples, the controller 5 is further configured to generate a return route based on the predicted location information, the controller 5 is further configured to control the self-moving trolley 1 to move according to the return route at a first speed, and the controller 5 is further configured to control the self-moving trolley 1 to move according to the return route at a preset third speed when a distance between the self-moving trolley 1 and the predicted location information is less than or equal to a preset third threshold, and the second speed is greater than or equal to the third speed.
Therefore, the robot can effectively avoid the situation that the spray head 21 cannot be driven to be directly opposite to the center of the pineapple due to the fact that the distance between the mechanical arm 3 and the center of the pineapple is far when the robot stops moving, and can simultaneously take account of the flower dotting effect and the flower dotting efficiency of the automatic flower dotting robot because the robot moves at the first speed when the pineapple does not exist in the image information and the first speed is greater than the second speed.
In a third aspect, referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the present application provides an electronic device including: the processor 601 and the memory 602, the processor 601 and the memory 602 are interconnected and communicate with each other through a communication bus 603 and/or other form of connection mechanism (not shown), the memory 602 stores computer-readable instructions executable by the processor 601, and when the electronic device is operated, the processor 601 executes the computer-readable instructions to perform the method in any optional implementation manner of the embodiment to realize the following functions: controlling the self-moving trolley 1 to move at a preset first speed according to a preset route, and continuously analyzing image information to detect whether pineapples exist in the image information; when the pineapples exist in the image information, the self-moving trolley 1 is controlled to move at a preset second speed according to a preset route, distance information between the mechanical arm 3 and the pineapple flower centers is obtained according to the image information, and the first speed is higher than the second speed; when the distance information is less than or equal to a preset first threshold value, the self-moving trolley 1 is controlled to stop moving, and the mechanical arm 3 is controlled to drive the spray head 21 to move until the spray head 21 is positioned right above the pineapple flower center, wherein the first threshold value is less than or equal to the maximum extension length of the mechanical arm 3; the liquid medicine spraying component 2 is controlled to spray liquid medicine.
In a fourth aspect, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program executes the method in any optional implementation manner of the embodiments to implement the following functions: controlling the self-moving trolley 1 to move at a preset first speed according to a preset route, and continuously analyzing the image information to detect whether pineapples exist in the image information; when the pineapples exist in the image information, the self-moving trolley 1 is controlled to move at a preset second speed according to a preset route, distance information between the mechanical arm 3 and the pineapple flower centers is obtained according to the image information, and the first speed is higher than the second speed; when the distance information is less than or equal to a preset first threshold value, the self-moving trolley 1 is controlled to stop moving and the mechanical arm 3 is controlled to drive the spray head 21 to move until the spray head 21 is positioned right above the pineapple flower center, and the first threshold value is less than or equal to the maximum extension length of the mechanical arm 3; the liquid medicine spraying component 2 is controlled to spray liquid medicine. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
As can be seen from the above, according to the automatic flower spotting method, the robot, the electronic device, and the storage medium provided in the present application, when there is no pineapple in the image information, the robot moves according to the preset route at the first speed, when there is a pineapple in the image information, the robot moves according to the preset route at the second speed, and stops moving when the distance information from the robot arm 3 to the center of the pineapple flower is equal to or less than the first threshold value.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one logical functional division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another robot, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may ascend to one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. The automatic flower dotting method is characterized by being applied to an automatic flower dotting robot, wherein the automatic flower dotting robot comprises a self-moving trolley, a liquid medicine spraying assembly, a mechanical arm and a camera, the liquid medicine spraying assembly is installed on the self-moving trolley, the liquid medicine spraying assembly comprises a spray head, the mechanical arm is installed at the bottom of the self-moving trolley, the spray head is installed at the tail end of the mechanical arm, the mechanical arm is used for driving the spray head to move, the camera is arranged at the rear side of the bottom of the self-moving trolley in a forward tilting mode, the camera is used for collecting image information, the automatic flower dotting robot stores actual flower dotting quantity information, and the automatic flower dotting method comprises the following steps:
controlling the self-moving trolley to move at a preset first speed according to a preset route, and continuously analyzing the image information to detect whether pineapples exist in the image information;
when the pineapples exist in the image information, the self-moving trolley is controlled to move at a preset second speed according to the preset route, distance information between the mechanical arm and the pineapple flower centers is obtained according to the image information, and the first speed is higher than the second speed;
when the distance information is smaller than or equal to a preset first threshold value, controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move until the spray head is positioned right above the pineapple flower center, wherein the first threshold value is smaller than or equal to the maximum extension length of the mechanical arm;
controlling the liquid medicine spraying assembly to spray liquid medicine;
the automatic flower dotting method further comprises the following steps: after the self-moving trolley finishes moving the preset route or after the self-moving trolley finishes moving a local path every time, if the actual flower number information is smaller than the actual number information of the pineapples, calculating the distance between adjacent pineapple flower centers or calculating the time for moving to the adjacent pineapple flower centers according to historical flower number data, and if the difference value between the calculated distance and the actual distance is larger than a preset fourth threshold value or the difference value between the calculated time and the actual time is larger than a preset fifth threshold value, taking the middle point of the adjacent pineapple flower centers or the position to which the self-moving trolley moves when half of the calculated time is taken as predicted position information; generating a return route according to the predicted position information; controlling the self-moving trolley to move at the first speed according to the return route; and when the distance between the self-moving trolley and the predicted position information is smaller than or equal to a preset third threshold value, controlling the self-moving trolley to move at a preset third speed according to the return route, wherein the second speed is larger than or equal to the third speed.
2. The automatic flower dotting method according to claim 1, wherein the step of controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move until the spray head is positioned right above the pineapple flower center when the distance information is less than or equal to a preset first threshold value comprises the following steps:
and when the distance information is smaller than or equal to a preset first threshold value, controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move until the spray head is positioned right above the pineapple flower center and the distance information is smaller than or equal to a preset second threshold value.
3. The automatic flower dotting method according to claim 1, wherein the step of controlling the liquid medicine spraying assembly to spray the liquid medicine comprises:
analyzing the size information of the pineapple flower heart according to the image information;
acquiring corresponding liquid medicine dosage information according to the size information;
and controlling the liquid medicine spraying assembly to spray liquid medicine with corresponding dosage according to the liquid medicine dosage information.
4. The automatic flower dotting method according to claim 1, wherein the liquid medicine spraying assembly further comprises a medicine storage box, the spray head is connected with the medicine storage box through a liquid conveying pipe, and the method further comprises the steps of, before the step of controlling the self-moving trolley to move at the preset first speed according to the preset route and continuously analyzing the image information to detect whether pineapples are present in the image information:
acquiring the total dosage information of the predicted liquid medicine according to the actual total amount information and the preset predicted size information of the pineapple flower heart;
and adding the liquid medicine corresponding to the predicted total liquid medicine dose information into the medicine storage box according to the predicted total liquid medicine dose information.
5. The automatic spotting method of claim 1, further comprising the steps of:
and after the liquid medicine spraying assembly is controlled to spray liquid medicine, the self-moving trolley is controlled to continuously move at the first speed according to the preset route.
6. An automatic flower-spotting robot, characterized in that it comprises:
a self-moving trolley;
the liquid medicine spraying assembly is arranged on the self-moving trolley and comprises a spray head;
the mechanical arm is arranged at the bottom of the self-moving trolley, the spray head is arranged at the tail end of the mechanical arm, and the mechanical arm is used for driving the spray head to move;
the camera is obliquely arranged on the rear side of the bottom of the self-moving trolley in a forward tilting manner and is used for acquiring image information;
the controller is electrically connected with the self-moving trolley, the liquid medicine spraying assembly, the mechanical arm and the camera, stores actual flower-counting quantity information, is used for controlling the self-moving trolley to move at a preset first speed according to a preset route and continuously analyzing the image information to detect whether pineapples exist in the image information, is also used for controlling the self-moving trolley to move at a preset second speed according to the preset route when the pineapples exist in the image information, and obtains distance information between the mechanical arm and the pineapple flower centers according to the image information, wherein the first speed is higher than the second speed, and is also used for controlling the self-moving trolley to stop moving and controlling the mechanical arm to drive the spray head to move when the distance information is smaller than or equal to a preset first threshold value until the spray head is positioned right above the pineapple flower centers, the first threshold is less than or equal to the maximum extension length of the mechanical arm, and is further used for controlling the liquid medicine spraying assembly to spray liquid medicine, and is further used for calculating the distance between adjacent pineapple flower centers or calculating the time for moving to the adjacent pineapple flower centers according to historical flower point data or calculating the time for moving to the adjacent pineapple flower centers after the self-moving trolley completes the movement of a preset route or after the self-moving trolley completes the movement of a local path every time, and taking the middle point of the adjacent pineapple flower centers or the position to which the self-moving trolley moves in half of the calculated time as predicted position information and generating a return route according to the predicted position information if the difference between the calculated distance and the actual distance is greater than a preset fourth threshold or the difference between the calculated time and the actual time is greater than a preset fifth threshold, the self-moving trolley is also used for controlling the self-moving trolley to move at a first speed according to the return route, and when the distance between the self-moving trolley and the predicted position information is smaller than or equal to a preset third threshold value, the self-moving trolley is controlled to move at a preset third speed according to the return route, and the second speed is larger than or equal to the third speed.
7. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the method according to any one of claims 1 to 5.
8. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method according to any of claims 1-5.
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| CN117397661A (en) * | 2023-10-27 | 2024-01-16 | 佛山市天下谷科技有限公司 | Medicine spraying control method of medicine spraying robot and medicine spraying robot |
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