CN118002344B - Spraying method for laser radar spraying system - Google Patents
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- CN118002344B CN118002344B CN202410427062.4A CN202410427062A CN118002344B CN 118002344 B CN118002344 B CN 118002344B CN 202410427062 A CN202410427062 A CN 202410427062A CN 118002344 B CN118002344 B CN 118002344B
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- 230000001276 controlling effect Effects 0.000 description 13
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Abstract
The invention relates to a spraying method for a laser radar spraying system, which comprises a laser radar and a spray header; the spraying method comprises the following steps: circularly acquiring point cloud data of a spraying area by using a laser radar, starting spraying work, and judging that a moving obstacle exists if the point cloud data of a current frame is inconsistent with the point cloud data of a previous frame; judging the trend of the moving track of the moving obstacle, and if the point cloud data of the current frame is larger than the point cloud data of the previous frame, judging that the moving track of the moving obstacle is from near to far, and controlling the spray head to stop spraying; if the point cloud data of the current frame is smaller than the point cloud data of the previous frame, judging that the moving track of the moving obstacle is from far to near, and controlling the water outlet pressure of the spray header to enable the water spraying range to be smaller than the distance between the moving obstacle and the spray device.
Description
Technical Field
The invention belongs to the technical field of spraying, and particularly relates to a spraying method for a laser radar spraying system.
Background
At present, a flower nursery spraying system on the market adopts circumferential spraying, the spraying range is fixed, the spraying range cannot be intelligently set according to the position of an obstacle, such as a distribution box, a street lamp and the like beside a road, intelligent avoidance cannot be realized, and if a pedestrian passes, pedestrian passing is easily influenced.
Disclosure of Invention
The invention provides a spraying method for a laser radar spraying system, which aims at the problem that the spraying range of the existing flower nursery spraying system cannot be intelligently adjusted according to obstacles.
A spray method for a laser radar spray system, the laser radar spray system comprises a laser radar and a spray header; the spraying method comprises the following steps:
the laser radar is utilized to circularly acquire the point cloud data of the spraying area,
Starting spraying work, and judging that a moving obstacle exists if the point cloud data of the current frame is inconsistent with the point cloud data of the previous frame;
Obtaining the distance between the moving obstacle and the laser radar based on the point cloud data, judging the trend of the moving track of the moving obstacle, judging that the moving track of the moving obstacle is from near to far if the distance between the moving obstacle of the current frame and the laser radar is greater than the distance between the moving obstacle of the previous frame and the laser radar, and controlling the water outlet pressure of the spray head to enable the water spraying range to be smaller than the distance between the moving obstacle and the spray device; if the distance between the moving obstacle of the current frame and the laser radar is smaller than the distance between the moving obstacle of the previous frame and the laser radar, judging that the moving track of the moving obstacle is from far to near, and controlling the spray head to stop spraying.
Optionally, before the spraying work is started, adjusting the height of the laser radar to obtain point cloud data acquired by the laser radar at different heights, and marking fixed obstacles based on the point cloud data acquired by the laser radar at different heights;
When the spraying operation is started, the water outlet pressure of the spray header is controlled to enable the water spraying range to be smaller than the distance between the fixed obstacle and the spraying device.
Optionally, the marking the fixed obstacle based on the point cloud data acquired at different heights includes:
Respectively obtaining the widths of the corresponding fixed obstacles at the overlapping positions of the plurality of point cloud data according to the point cloud data acquired at different heights, wherein the maximum value of the obtained widths of the plurality of fixed obstacles is the obstacle avoidance range;
Obtaining an obstacle avoidance angle range according to the obstacle avoidance range, wherein the obstacle avoidance angle range is equal to the obstacle avoidance range divided by the angle resolution;
When the spraying work is started, when the spraying angle range and the obstacle avoidance angle range are not coincident, continuing spraying; when the spraying angle range is overlapped with the obstacle avoidance angle range, the water outlet pressure of the spray header is controlled to enable the water spraying range to be smaller than the distance between the fixed obstacle and the spraying device.
Optionally, the spray header comprises a plurality of water spray holes, and when the spray header rotates in a clockwise direction to work, the first water spray hole in the clockwise direction is consistent with the zero position of the laser radar; when the spray header rotates in a counterclockwise direction, the first water spray hole in the counterclockwise direction is consistent with the zero position of the laser radar.
Optionally, the laser radar spraying system further comprises a base, a supporting conduit and a telescopic rod;
One end of the telescopic rod is connected with the base, the other end of the telescopic rod is connected with the spray header, the telescopic rod is arranged in the vertical direction and used for adjusting the height of the spray header, the laser radar is located above the spray header, and the laser radar is connected with the telescopic rod through the supporting guide pipe.
Optionally, the laser radar spraying system further comprises an electromagnetic valve, a water pump and a control unit;
The water pump is used for controlling the water outlet pressure of the spray header, the electromagnetic valve is used for controlling the opening and closing of the spray header, the control unit is used for receiving point cloud data acquired by the laser radar, sending a first control signal to the electromagnetic valve according to the point cloud data, and sending a second control signal to the water pump.
Optionally, the laser radar spraying system is used for flower nursery spraying.
The beneficial effects are that: according to the spraying method for the laser radar spraying system, point cloud data are obtained through a laser radar, whether a moving obstacle and a fixed obstacle exist or not is judged according to the point cloud data, identification marks are carried out on the fixed obstacle before spraying, a spraying forbidden area is set, and when the spraying angle range is coincident with the obstacle avoidance angle range, the water outlet pressure of a spraying head is regulated, so that the fixed obstacle is prevented from being sprayed; in the spraying process, whether a moving obstacle exists or not is monitored in real time, the track direction of the moving obstacle is judged, and the spraying range is intelligently adjusted.
Drawings
The invention will now be described in further detail with reference to the drawings and to specific embodiments.
Fig. 1 is a schematic flow chart of a spraying method for a laser radar spraying system according to the present embodiment.
Fig. 2 is a schematic flow chart of another spraying method for a laser radar spraying system according to the present embodiment.
Fig. 3 is a schematic structural diagram of a laser radar spraying system according to the present embodiment.
Fig. 4 is a schematic diagram of a spray header in the laser radar spray system provided in this embodiment.
Reference numerals:
1. A laser radar; 2. supporting the catheter; 3. a spray header; 31. a water spraying hole; 4. a telescopic rod; 5. a base; 6. an electromagnetic valve; 7. a water pump; 8. and a control unit.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Examples
As shown in fig. 1, the present embodiment provides a spraying method for a laser radar spraying system, the laser radar 1 spraying system including a laser radar 1 and a spray header 3; the spray header 3 comprises a plurality of water spray holes 31, and when the spray header 3 rotates in a clockwise direction to work, the first water spray hole 31 in the clockwise direction is consistent with the zero position of the laser radar 1; when the shower head 3 is rotated to operate in a counterclockwise direction, the first hole 31 in the counterclockwise direction is aligned with the zero position of the laser radar 1. The laser radar 1 spraying system further comprises an electromagnetic valve 6, a water pump 7 and a control unit 8; the water pump 7 is used for controlling the water outlet pressure of the spray header 3, the electromagnetic valve 6 is used for controlling the opening and closing of the spray header 3, the control unit 8 is used for receiving the point cloud data acquired by the laser radar 1, sending a first control signal to the electromagnetic valve 6 according to the point cloud data, and sending a second control signal to the water pump 7.
The spraying method comprises the following steps:
S11, circularly acquiring point cloud data of a spraying area by using the laser radar 1, adjusting the height of the laser radar 1 to obtain the point cloud data acquired by the laser radar 1 at different heights, and marking fixed obstacles based on the point cloud data acquired by the different heights. The method comprises the following steps:
Respectively obtaining the widths of the corresponding fixed obstacles at the overlapping positions of the plurality of point cloud data according to the point cloud data acquired at different heights, wherein the maximum value of the obtained widths of the plurality of fixed obstacles is the obstacle avoidance range;
And obtaining an obstacle avoidance angle range according to the obstacle avoidance range, wherein the obstacle avoidance angle range is equal to the obstacle avoidance range divided by the angle resolution.
S12, starting spraying work, and controlling water outlet pressure of the spray header 3 to enable a water spraying range to be smaller than the distance between a fixed obstacle and a spraying device, wherein the method specifically comprises the following steps: when the spraying angle range and the obstacle avoidance angle range are not coincident, continuing spraying; when the spraying angle range is overlapped with the obstacle avoidance angle range, the water outlet pressure of the spray header 3 is controlled to enable the water spraying range to be smaller than the distance between the fixed obstacle and the spraying device.
S13, when the spraying operation is started, whether a moving obstacle exists or not is also judged, and if the point cloud data of the current frame is inconsistent with the point cloud data of the previous frame, the moving obstacle is judged to exist;
Obtaining a distance between the moving obstacle and the laser radar 1 based on the point cloud data, judging a trend of a moving track of the moving obstacle, judging that the moving track of the moving obstacle is from near to far if the distance between the moving obstacle of the current frame and the laser radar 1 is greater than the distance between the moving obstacle of the previous frame and the laser radar 1, and controlling the water outlet pressure of the spray header 3 to enable the water spraying range to be smaller than the distance between the moving obstacle and the spray device; if the distance between the moving obstacle of the current frame and the laser radar 1 is smaller than the distance between the moving obstacle of the previous frame and the laser radar 1, judging that the moving track of the moving obstacle is from far to near, and controlling the spray header 3 to stop spraying.
As shown in fig. 2, the present embodiment provides another spraying method for a laser radar spraying system, the laser radar 1 spraying system includes a spray header 3, a laser radar 1, a base 5, a telescopic rod 4, a support pipe 2, an electromagnetic valve 6, a water pump 7 and a control unit 8. One end of the telescopic rod 4 is connected with the base 5, the other end of the telescopic rod is connected with the spray header 3, and the telescopic rod 4 is arranged along the vertical direction and is used for adjusting the height of the spray header 3; the spray header 3 comprises a plurality of water spray holes 31, wherein the water spray holes 31 are arranged at intervals along the horizontal direction, and the water outlet angle of each water spray hole 31 in the horizontal direction is 90 degrees; one end of the supporting conduit 2 is connected with the laser radar 1, the other end is connected with the telescopic rod 4, and the supporting conduit 2 moves up and down along with the telescopic rod 4, so that the height of the laser radar 1 can be controlled. The telescopic rod 4 is internally provided with a first water pipe which is communicated with the spray header 3, and the first water pipe is a flexible water pipe and can be bent, surrounded and the like when the telescopic rod 4 is contracted; the water pump further comprises a second water pipe and a third water pipe, one end of the second water pipe is connected with the first water pipe, the other end of the second water pipe is connected with the first end of the electromagnetic valve 6, one end of the third water pipe is connected with the second end of the electromagnetic valve 6, and the other end of the third water pipe is connected with the water pump 7.
The control unit 8 receives the point cloud data acquired by the laser radar 1, sends a first control signal according to the point cloud data and transmits the first control signal to the electromagnetic valve 6, sends a second control signal and transmits the second control signal to the water pump 7, the water pump 7 is used for controlling the water outlet pressure of the spray header 3, and the electromagnetic valve 6 is used for controlling the opening and closing of the spray header 3.
The spraying method comprises the following steps:
s200, adjusting the zero position of the laser radar 1 to be consistent with the first water outlet hole of the spray header 3; circularly acquiring point cloud data of a spraying area by using the laser radar 1;
Specifically, as shown in fig. 4, when the shower head 3 is rotated in the clockwise direction, the first water jet hole 31 in the clockwise direction is consistent with the zero position of the laser radar 1, and the first water jet hole 31 in the clockwise direction is the solid water jet hole 31 in fig. 4; when the shower head 3 is rotated to operate in a counterclockwise direction, the first hole 31 in the counterclockwise direction is aligned with the zero position of the laser radar 1.
S211, identifying fixed obstacles such as distribution boxes, street lamps and the like; specifically, the telescopic rod 4 is adjusted to enable the laser radar 1 to be located at 5 different heights respectively, the laser radar 1 obtains point cloud data at the 5 different heights respectively, the laser radar 1 stays for a set time at each height, the set time is 1 minute in the embodiment, multi-line mapping is achieved, conventionally placed obstacles are marked according to mapping information, the obtained point cloud data at different heights are compared, the widths of fixed obstacles corresponding to overlapping positions of the plurality of point cloud data are obtained, the widths of the fixed obstacles are obtained based on the each point cloud data respectively, and the width of the maximum value is selected as an obstacle avoidance range among the plurality of widths of the fixed obstacles.
The method comprises the steps that 5 groups of point cloud data respectively acquired at 5 different heights are K1, K2, K3, K4 and K5, the widths of the corresponding obstacles at the superposition positions of the 5 groups of point cloud data are D1, D2, D3, D4 and D5, the obstacle avoidance ranges are R, R= MaxD1, D2, D3, D4 and D5, the obstacle avoidance angle ranges are obtained based on the obstacle avoidance ranges, and the calculation formulas of the obstacle avoidance angle ranges are as follows: θi=r/Δθ, where θi is an obstacle avoidance angle range, R is an obstacle avoidance range, Δθ is an angular resolution, Δθ=360×s/f, f is a sampling frequency, and s is a scanning frequency.
S212, when the spraying operation is started, when the spraying angle range and the obstacle avoidance angle range are not coincident, continuing spraying; when the spraying angle range is overlapped with the obstacle avoidance angle range, the water outlet pressure of the spray header 3 is controlled to enable the water spraying range to be smaller than the distance between the fixed obstacle and the spraying device.
The laser radar 1 is provided with a direction encoder, the direction encoder is provided with a zero marker point, the zero position of the set spray header 3 is consistent with the zero position of the laser radar 1, when the laser radar 1 works and scans, 360-degree azimuth information of the surrounding environment can be obtained, and when an obstacle enters a scanning range, the position distance and the angle information of the obstacle can be known; because the obstacle is wide, the angle from the laser radar 1 to the two edges of the width of the obstacle can be obtained at one time, the spray header 3 is calibrated with the zero position of the laser radar 1 during installation, and the control unit 8 acquires the obstacle avoidance angle range according to the point cloud data of the laser radar 1 and performs spray control based on the obstacle avoidance angle range.
S221, when the spraying operation is started, the laser radar 1 continuously works to acquire point cloud data; if the point cloud data of the current frame is inconsistent with the point cloud data of the previous frame, judging that a moving obstacle exists, wherein the moving obstacle is such as a pedestrian, a vehicle and the like;
S222, obtaining the distance between the moving obstacle and the laser radar 1 based on the point cloud data because the point cloud data has distance information, judging the trend of the moving track of the moving obstacle, and if the distance between the moving obstacle of the current frame and the laser radar 1 is greater than the distance between the moving obstacle of the previous frame and the laser radar 1, judging that the moving track of the moving obstacle is from near to far, and controlling the water outlet pressure of the spray header 3 to enable the water spraying range to be smaller than the distance between the moving obstacle and the spray device; if the distance between the moving obstacle of the current frame and the laser radar 1 is smaller than or equal to the distance between the moving obstacle of the previous frame and the laser radar 1, judging that the moving track of the moving obstacle is from far to near or the moving obstacle is static, and controlling the spray header 3 to stop spraying.
According to the spraying method for the laser radar spraying system, the laser radar 1 is utilized to acquire point cloud data, whether a moving obstacle and a fixed obstacle exist or not is judged according to the point cloud data, identification marks are carried out on the fixed obstacle before spraying, a spraying forbidden area is set, and when the spraying angle range is coincident with the obstacle avoidance angle range, the water outlet pressure of the spraying head 3 is regulated, so that the fixed obstacle is prevented from being sprayed; in the spraying process, whether a moving obstacle exists or not is monitored in real time, the track direction of the moving obstacle is judged, and the spraying range is intelligently adjusted.
It is noted that the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.
Claims (5)
1. A spraying method for a laser radar spraying system, characterized in that the laser radar (1) spraying system comprises a laser radar (1) and a spray header (3); the spraying method comprises the following steps:
circularly acquiring point cloud data of a spraying area by using a laser radar (1),
Starting spraying work, and judging that a moving obstacle exists if the point cloud data of the current frame is inconsistent with the point cloud data of the previous frame;
Obtaining the distance between the moving obstacle and the laser radar (1) based on the point cloud data, judging the trend of the moving track of the moving obstacle, and if the distance between the moving obstacle of the current frame and the laser radar (1) is larger than the distance between the moving obstacle of the previous frame and the laser radar (1), judging the moving track of the moving obstacle from near to far, and controlling the water outlet pressure of the spray header (3) to enable the water spraying range to be smaller than the distance between the moving obstacle and the spray device; if the distance between the moving obstacle of the current frame and the laser radar (1) is smaller than the distance between the moving obstacle of the previous frame and the laser radar (1), judging that the moving track of the moving obstacle is from far to near, and controlling the spray header (3) to stop spraying; before the spraying work is started, adjusting the height of the laser radar (1) to obtain point cloud data acquired by the laser radar (1) at different heights, and marking fixed obstacles based on the point cloud data acquired by the different heights;
when the spraying work is started, the water outlet pressure of the spray header (3) is controlled to enable the water spraying range to be smaller than the distance between the fixed obstacle and the spraying device;
the fixed obstacle marking based on the point cloud data acquired at different heights comprises:
Respectively obtaining the widths of the corresponding fixed obstacles at the overlapping positions of the plurality of point cloud data according to the point cloud data acquired at different heights, wherein the maximum value of the obtained widths of the plurality of fixed obstacles is the obstacle avoidance range;
Obtaining an obstacle avoidance angle range according to the obstacle avoidance range, wherein the obstacle avoidance angle range is equal to the obstacle avoidance range divided by the angle resolution;
When the spraying work is started, when the spraying angle range and the obstacle avoidance angle range are not coincident, continuing spraying; when the spray angle range is coincident with the obstacle avoidance angle range, the water outlet pressure of the spray header (3) is controlled to enable the water spray range to be smaller than the distance between the fixed obstacle and the spray device.
2. A spraying method for a lidar spraying system according to claim 1, characterized in that the spray header (3) comprises a plurality of water spray holes (31), the first water spray hole (31) in the clockwise direction being in line with the zero position of the lidar (1) when the spray header (3) is operated in the clockwise direction; when the spray header (3) rotates to work in a counterclockwise direction, the first water spray hole (31) in the counterclockwise direction is consistent with the zero position of the laser radar (1).
3. A spraying method for a lidar spraying system according to claim 1, characterized in that the lidar (1) spraying system further comprises a base (5), a support conduit (2) and a telescopic rod (4);
One end of the telescopic rod (4) is connected with the base (5), the other end of the telescopic rod is connected with the spray header (3), the telescopic rod (4) is arranged along the vertical direction and used for adjusting the height of the spray header (3), the laser radar (1) is located above the spray header (3), and the laser radar (1) is connected with the telescopic rod (4) through the supporting guide pipe (2).
4. A spraying method for a lidar spraying system according to claim 3, characterized in that the lidar (1) spraying system further comprises an electromagnetic valve (6), a water pump (7) and a control unit (8);
the water pump (7) is used for controlling the water outlet pressure of the spray header (3), the electromagnetic valve (6) is used for controlling the opening and closing of the spray header (3), the control unit (8) is used for receiving point cloud data acquired by the laser radar (1), and sending a first control signal to the electromagnetic valve (6) according to the point cloud data, and sending a second control signal to the water pump (7).
5. A spraying method for a lidar spraying system according to claim 3, characterized in that the lidar (1) spraying system is used for flower nursery spraying.
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| CN115023295A (en) * | 2020-01-27 | 2022-09-06 | 史蒂文·R·布赫 | Spray system, kit, vehicle and method of use |
| CN116630936A (en) * | 2023-05-22 | 2023-08-22 | 青岛慧拓智能机器有限公司 | Obstacle sensing system and method for underground unmanned |
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| CN109006404A (en) * | 2018-08-29 | 2018-12-18 | 广州巨时信息科技有限公司 | A kind of unmanned greening spraying vehicle |
| CN109894296A (en) * | 2019-03-07 | 2019-06-18 | 百度在线网络技术（北京）有限公司 | Method of adjustment, device, computer equipment and the storage medium of water spray state |
| CN115023295A (en) * | 2020-01-27 | 2022-09-06 | 史蒂文·R·布赫 | Spray system, kit, vehicle and method of use |
| WO2022149373A1 (en) * | 2021-01-06 | 2022-07-14 | 株式会社小松製作所 | Water spraying vehicle control system, water spraying vehicle, and water spraying vehicle control method |
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