CN115617050A - An automatic flower pointing method, robot, electronic equipment and storage medium - Google Patents

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 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; 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

An automatic flower pointing method, robot, electronic equipment and storage medium

technical field

The present application relates to the technical field of robot control, in particular, to an automatic flower pointing method, a robot, electronic equipment and a storage medium.

Background technique

The existing technology usually uses mobile robots to spot flowers, and its workflow is as follows: the mobile robot moves at a fixed speed according to a pre-planned route, and continuously analyzes whether there is a flower plant to be spot in the image during the movement process. After flowering the plants, the mobile robot will continue to analyze the distance from the robotic arm to the plants to be spotted according to the images. Spot the plants to be flowered. Existing mobile robots move at a fixed speed, but there is a delay in analyzing whether there is a plant to be spotted in the image and analyzing the distance from the manipulator to the plant to be spotted. If the moving speed of the mobile robot is faster, it may In the case that the mobile robot stops moving after passing the plants to be spotted, at this time, due to the long distance between the robotic arm and the plants to be spotted, the robotic arm may not be able to drive the nozzle to face the plants, which will affect the flower spotting effect of the mobile robot ; If the moving speed of the mobile robot is slow, the mobile robot can stop near the plant to be spotted. At this time, the mechanical arm can drive the nozzle to treat the plant. However, due to the slow moving speed of the mobile robot, the flower spotting efficiency of the mobile robot Low, that is to say, the existing mobile robots cannot take into account both the effect and the efficiency of the flower arrangement at the same time.

For the above problems, there is no effective technical solution at present.

Contents of the invention

The purpose of this application is to provide an automatic flower spotting method, a robot, an electronic device and a storage medium, which can take into account both the flower spotting effect and the spotting efficiency.

In the first aspect, the present application provides an automatic flower spotting method, which is applied in an automatic flower spotting robot. The automatic flower spotting robot includes a self-moving trolley, a medicinal liquid spraying assembly, a mechanical arm and a camera, and the medicinal liquid spraying assembly is installed on a self-moving On the trolley, the liquid medicine spraying component includes a nozzle, the mechanical arm is installed at the bottom of the self-moving trolley, the nozzle is installed at the end of the robotic arm, the robotic arm is used to drive the nozzle to move, and the camera is tilted forward and set at the bottom of the self-moving trolley. The image information is collected, and the automatic pointing method includes the following steps:

Control the self-moving car to move along the preset route at the preset first speed, and continuously analyze the image information to detect whether there is a pineapple in the image information;

When there is a pineapple in the image information, control the self-moving car to move according to the preset route at the preset second speed, and obtain the distance information between the mechanical arm and the pineapple flower center according to the image information, and the first speed is greater than the second speed;

When the distance information is less than or equal to the preset first threshold, control the self-moving car to stop moving and control the mechanical arm to drive the nozzle to move until the nozzle is directly above the pineapple flower center, and the first threshold is less than or equal to the maximum extension length of the mechanical arm;

The chemical solution spraying component is controlled to spray the chemical solution.

An automatic flower spotting method provided by the present application moves along a preset route at a first speed when there is no pineapple in the image information, moves along a preset route at a second speed when there is a pineapple in the image information, and moves on the mechanical arm Stop moving when the distance information to the pineapple flower center is less than or equal to the first threshold. Since the automatic flower-pointing robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, this method can effectively avoid the automatic flower-pointing robot when it stops moving. Due to the long distance between the mechanical arm and the pineapple flower center, it is impossible to drive the nozzle to face the pineapple flower center, and because the automatic pointing robot of this method moves at the first speed when there is no pineapple in the image information, and the first speed is greater than the second Speed, so this method can take into account the effect and efficiency of the automatic flower point robot at the same time.

Optionally, when the distance information is less than or equal to the preset first threshold, the steps of controlling the self-moving car to stop moving and controlling the mechanical arm to drive the nozzle until the nozzle is directly above the pineapple flower center include:

When the distance information is less than or equal to the preset first threshold, control the self-moving car to stop moving and control the mechanical arm to drive the nozzle to move until the nozzle is directly above the pineapple flower center and the distance information is less than or equal to the preset second threshold.

Optionally, the step of controlling the liquid spraying assembly to spray the liquid includes:

Analyze the size information of the pineapple flower center according to the image information;

Obtain the corresponding liquid medicine dose information according to the size information;

The liquid medicine spraying component is controlled to spray a corresponding dose of liquid medicine according to the liquid medicine dosage information.

Optionally, the automatic flower-pointing robot is stored with actual flower-pointing quantity information, and the automatic flower-pointing method also includes steps:

After the self-moving car completes the movement of the preset route or after the self-moving car completes the movement of a partial path, if the actual quantity information of the pineapples is less than the actual quantity information of the pineapples, the pineapples that have not been ordered are generated according to the historical flowering data. predicted location information;

Generate a return route based on the predicted location information;

Control the self-moving car to move according to the return route at the first speed;

When the distance between the self-moving car and the predicted position information is less than or equal to the preset third threshold, the self-moving car is controlled to move along the return route at a preset third speed, and the second speed is greater than or equal to the third speed.

Optionally, the liquid medicine spraying assembly also includes a medicine storage box, the spray head is connected to the medicine storage box through an infusion tube, and the self-moving trolley is controlled to move at a preset first speed according to a preset route, and image information is continuously analyzed to detect images Before the step of whether there is a pineapple in the message also include the steps:

Obtain the predicted total dosage information of the medicinal liquid according to the actual total quantity information and the predicted size information of the preset pineapple flower core;

Adding the medicinal liquid corresponding to the predicted total medicinal liquid dosage information into the medicinal storage box according to the predicted total medicinal liquid dosage information.

Optionally, the automatic point flower method also includes steps:

After controlling the liquid medicine spraying assembly to spray the liquid medicine, the self-moving trolley is controlled to continue to move along the preset route at the first speed.

In the second aspect, the application also provides an automatic flower point robot, which includes:

Self-moving trolley;

The liquid medicine spraying assembly is installed on the self-moving trolley, which includes a spray head;

The mechanical arm is installed at the bottom of the self-moving trolley, the nozzle is installed at the end of the mechanical arm, and the mechanical arm is used to drive the nozzle to move;

The camera, tilted forward, is set on the rear side of the bottom of the self-moving trolley, and is used to collect image information;

The controller is electrically connected with the self-moving car, the liquid medicine spraying assembly, the mechanical arm and the camera, and is used to control the self-moving car to move along a preset route at a preset first speed, and continuously analyze the image information to detect Whether there is a pineapple is also used to control the self-moving car to move according to the preset route at the second preset speed when there is a pineapple in the image information, and obtain the distance information between the manipulator and the pineapple flower center according to the image information. The first speed is greater than The second speed is also used to control the self-moving car to stop moving and control the robot arm to drive the nozzle to move until the nozzle is directly above the pineapple flower center when the distance information is less than or equal to the preset first threshold value. The first threshold value is less than or equal to the robot arm The maximum extension length is also used to control the spraying of liquid medicine by the liquid medicine spraying assembly.

An automatic flower spotting robot provided by the present application moves along a preset route at a first speed when there is no pineapple in the image information, moves along a preset route at a second speed when there is a pineapple in the image information, and moves on the mechanical arm Stop moving when the distance information to the center of the pineapple is less than or equal to the first threshold. Since the robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, the robot can effectively avoid the mechanical The distance between the arm and the pineapple center is too long to drive the nozzle directly to the pineapple center, and since the robot moves at the first speed when there is no pineapple in the image information, and the first speed is greater than the second speed, the robot also takes into account The effect and efficiency of the automatic pointing robot.

Optionally, the controller stores information on the actual number of flowers, and the controller is also used to, after the self-moving car completes the movement of the preset route or after the self-moving car completes the movement of a partial path, is smaller than the actual quantity information of pineapples, and generates predicted position information of pineapples that have not been spotted according to the historical spotting data. The controller is also used to generate a return route based on the predicted position information. Return route movement, the controller is also used to control the self-moving car to move according to the return route at a preset third speed when the distance between the self-moving car and the predicted position information is less than or equal to the preset third threshold, and the second speed is greater than or equal to third speed.

In a third aspect, the present application also provides an electronic device, including a processor and a memory, the above-mentioned memory stores computer-readable instructions, and when the above-mentioned computer-readable instructions are executed by the above-mentioned processor, the above-mentioned first aspect Steps in the method provided.

In a fourth aspect, the present application also provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method provided in the first aspect above are performed.

It can be seen from the above that the automatic flower spotting method, robot, electronic equipment and storage medium provided by the present application move at the first speed according to the preset route when there is no pineapple in the image information, and move at the first speed when there is a pineapple in the image information. The second speed moves according to the preset route, and stops when the distance information from the mechanical arm to the pineapple flower center is less than or equal to the first threshold. Since the automatic flower spotting robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, this method can Effectively avoid the situation that the automatic pointing robot cannot drive the nozzle to face the pineapple center due to the long distance between the mechanical arm and the pineapple center when the automatic pointing robot stops moving, and because the automatic pointing robot of this method does not have pineapples in the image information The first speed moves, and the first speed is greater than the second speed, so the method can take into account both the flower-pointing effect and the flower-pointing efficiency of the automatic flower-pointing robot.

Description of drawings

FIG. 1 is a flow chart of an automatic flower spotting method provided by an embodiment of the present application.

FIG. 2 is a schematic diagram of a control structure of an automatic flower-pointing robot provided by an embodiment of the present application.

FIG. 3 is a schematic structural diagram of an automatic flower dot robot provided in an embodiment of the present application.

FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Reference signs: 1. Self-moving trolley; 2. Liquid medicine spraying assembly; 21. Nozzle; 22. Medicine storage box; 23. Medicine pump; 24. Medicine delivery tube; 3. Mechanical arm; 4. Camera; 5. Control device; 601, processor; 602, memory; 603, communication bus.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In the first aspect, the present application provides an automatic flower spotting method, which is applied in an automatic flower spotting robot. The automatic flower spotting robot includes a self-moving trolley 1, a medicinal liquid spraying assembly 2, a mechanical arm 3 and a camera 4, and the medicinal liquid spraying assembly 2 Installed on the self-moving trolley 1, the liquid medicine spraying assembly 2 includes a nozzle 21, the mechanical arm 3 is installed at the bottom of the self-moving trolley 1, the nozzle 21 is installed at the end of the robotic arm 3, the robotic arm 3 is used to drive the nozzle 21 to move, the camera 4 The forward tilt is set on the rear side of the bottom of the self-moving car 1, and the camera 4 is used to collect image information. The automatic flower pointing method includes the following steps:

S1. Control the self-moving car 1 to move according to the preset route at a preset first speed, and continuously analyze the image information to detect whether there is a pineapple in the image information;

S2. When there is a pineapple in the image information, control the self-moving car 1 to move according to the preset route at the preset second speed, and obtain the distance information between the mechanical arm 3 and the pineapple flower center according to the image information, and the first speed is greater than the second speed ;

S3. When the distance information is less than or equal to the preset first threshold, control the self-moving car 1 to stop moving and control the robot arm 3 to drive the nozzle 21 to move until the nozzle 21 is located directly above the pineapple flower center, and the first threshold is less than or equal to the robot arm 3 The maximum extension length;

S4. Control the liquid medicine spraying component 2 to spray the liquid medicine.

Wherein, the side in the straight forward direction of the self-moving car 1 is the front side of the self-moving car 1 , and the side in the straight-line retreat direction of the self-moving car 1 is the rear side of the self-moving car 1 . Since the robot arm is installed at the bottom of the self-moving car 1, and the pineapple flower core will pass under the self-moving car 1, the bottom of the self-moving car 1 needs to be higher than the top of the pineapple flower center, and the self-moving car 1 can be an AGV car or an autonomous mobile car. The trolley that moves according to a preset route, specifically, the self-propelled trolley 1 includes a plurality of wheels, and the multiple wheels are respectively arranged on the left side and the right side of the self-propelled trolley 1 . The medicinal solution spraying assembly 2 comprises a medicinal storage box 22, a medicinal pump 23 and a shower head 21. The medicinal liquor storage box 22 is used to store the medicinal liquid that needs to be used when ordering flowers. 23 is arranged on the medicine delivery tube 24, and the medicine pump 23 can drive the medicine liquid in the medicine storage box 22 to flow toward the spray head 21 in one direction, so as to spray the medicine liquid from the spray head 21. The robotic arm 3 is installed at the bottom of the self-moving trolley 1, and the nozzle 21 of the liquid spraying assembly 2 is installed at the end of the robotic arm 3. The robotic arm 3 can be a rectangular coordinate robotic arm, a polar coordinate robotic arm or a multi-joint robotic arm, etc. A structure capable of driving the nozzle 21 to move with multiple degrees of freedom. The camera 4 can be a camera 4 or a visual sensor that can collect image information such as an RGB camera, a depth camera, or an area array camera. Since step S2 needs to obtain the distance information between the mechanical arm 3 and the pineapple flower center according to the image information, that is, the camera 4 needs to collect information including mechanical The image information of the arm 3, therefore, the camera 4 needs to be tilted forward and set on the rear side of the bottom of the self-moving trolley 1. It should be understood that since the camera 4 is installed obliquely at the bottom of the self-moving car 1 , there will be at most one pineapple that is in the front and has not been flowered in the image information at the same time.

The first speed in step S1 is a preset value, and those skilled in the art can change the size of the first speed according to actual needs. The preset route in step S1 is a route preset or automatically generated according to the map and the distribution of pineapples. Moving according to the preset route, the self-moving car 1 will pass through all the pineapples in the pineapple field that need flowering operations, and the pineapple flower center Pass through the bottom of self-moving trolley 1 (that is, the pineapple flower core passes between the wheels on both sides). Step S1 controls the self-moving car 1 to move according to the preset route at the first speed, and continuously uses the existing target recognition algorithm to analyze the image information during the movement, so as to detect whether there is an untouched pineapple in the image information, that is, Detect whether there are unsorted pineapples in front of the automatic flower spotting robot.

The second speed in step S2 is a preset value lower than the first speed, and those skilled in the art can change the magnitude of the second speed according to actual needs. When it is detected that there is a pineapple in the image information, step S2 controls the self-moving car 1 to move according to the preset route at the second speed, and continuously uses the existing target recognition algorithm and distance detection algorithm to analyze the image information during the movement process, To obtain the distance information between the robot arm 3 and the pineapple flower center, the distance information is the distance from the base of the robot arm 3 to the pineapple flower center. Since the first speed is greater than the second speed, step S1 is equivalent to controlling the automatic flower-pointing robot to move at a faster speed, and step S2 is equivalent to controlling the automatic flower-pointing robot to slow down and move at a faster speed when there is a pineapple in the image information. Move at a slow speed so that the robot slowly approaches the pineapple heart. It should be understood that when there is no pineapple in the image information, the self-propelled cart 1 moves at the first speed according to the preset route.

The first threshold of step S3 is a preset value, because after the self-moving car 1 stops moving, it is necessary to drive the nozzle 21 to move through the mechanical arm 3 so that the nozzle 21 is directly facing the pineapple flower center, and the moving distance of the mechanical arm 3 will be affected by it. Due to the limitations of its own structure, the first threshold needs to be less than or equal to the maximum extension length of the mechanical arm 3 to ensure that the mechanical arm 3 can drive the nozzle 21 to move directly above the pineapple flower center. Since the mechanical arm 3 can drive the nozzle 21 to move directly above the pineapple flower center when the distance information is less than or equal to the first threshold, so when the distance information is less than or equal to the first threshold, step S3 controls the self-moving car 1 to stop moving and controls to drive the nozzle 21 Move to be located directly above the pineapple center. After the mechanical arm 3 drives the spray head 21 to move directly above the pineapple flower core, step S4 controls the liquid spraying assembly 2 to spray the chemical liquid, so as to perform a spotting operation on the pineapple flower core. Specifically, step S4 controls the drug pump 23 to drive the drug solution in the drug storage tank 22 to flow in one direction toward the spray head 21 to spray the drug solution.

The working principle of this embodiment is: when there is no pineapple in the image information, control the self-moving car 1 to move according to the preset route at the first speed; The preset route moves and stops when the distance information from the mechanical arm 3 to the pineapple flower center is less than or equal to the first threshold. Since the first speed is greater than the second speed, this method is equivalent to controlling the automatic flower pointing robot slowly when a pineapple is detected. Close to the pineapple, even if there is a delay in obtaining the distance information from the mechanical arm 3 to the pineapple flower center, this method will not cause the nozzle 21 to be unable to be driven due to the long distance from the mechanical arm 3 to the pineapple flower center when the automatic flower pointing robot is controlled to stop moving. For the situation of the pineapple flower heart, thereby effectively improving the flower point effect of the automatic point flower robot, and because there is no pineapple in the center of the image information, the method will control the automatic point flower robot to move at the first speed, so the method can reduce from The time required for the current pineapple heart to move to the next pineapple heart, thereby effectively improving the flower ordering efficiency of the automatic flower ordering robot. This embodiment is equivalent to controlling the automatic flower-pointing robot to move quickly when no pineapple is detected and to control the automatic flower-pointing robot to move slowly when a pineapple is detected so that the automatic flower-pointing robot can take into account both the flower-pointing effect and the flower-pointing efficiency.

An automatic flower spotting method provided by the present application moves along a preset route at a first speed when there is no pineapple in the image information, moves along a preset route at a second speed when there is a pineapple in the image information, and moves on the mechanical arm 3. Stop moving when the distance information to the pineapple flower center is less than or equal to the first threshold. Since the automatic flower-pointing robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, this method can effectively avoid the automatic flower-pointing robot from stopping. Sometimes because the distance from the mechanical arm 3 to the pineapple center is far away, it is impossible to drive the nozzle 21 to face the pineapple center, and because the automatic point flower robot of this method moves with the first speed when there is no pineapple in the image information, and the first speed greater than the second speed, so the method can simultaneously take into account the flower-spotting effect and the flower-spotting efficiency of the automatic flower-spotting robot.

In some embodiments, step S3 includes:

S31. When the distance information is less than or equal to the preset first threshold, control the self-moving car 1 to stop moving and control the mechanical arm 3 to drive the nozzle 21 to move until the nozzle 21 is located directly above the pineapple flower center and the distance information is less than or equal to the preset first threshold. Two thresholds.

Wherein, the second threshold is a preset value, and the second threshold is the distance that needs to be kept between the end of the mechanical arm 3 and the pineapple flower center (that is, the distance that needs to be kept between the nozzle 21 and the pineapple flower center) when the pineapple flower center is touched. . It should be understood that since the first threshold is less than or equal to the maximum extension length of the mechanical arm 3, and the second threshold represents the distance that needs to be maintained between the end of the mechanical arm 3 and the pineapple flower center, so when the distance information is less than or equal to the first threshold and the second When the threshold value is added, the self-moving car 1 can be controlled to stop moving.

The liquid medicine spray assembly 2 of the above-mentioned embodiment sprays out a fixed amount of liquid medicine when spraying the liquid medicine. The size of the pineapple flower core is positively related to the amount of liquid medicine required for the flower spotting operation, and the size of different pineapple flower centers is different. Therefore, it may occur that due to the large size of the pineapple flower core, the amount of liquid medicine sprayed by the liquid spraying assembly 2 is less than the amount of liquid medicine required by it, which affects the flower spot effect or due to the small size of the pineapple flower core, the amount of liquid sprayed by the liquid spraying assembly 2 is less than the amount of liquid medicine required by it. The amount of liquid medicine used is greater than the amount of liquid medicine required, resulting in waste of liquid medicine.

In order to solve this technical problem, in some embodiments, step S4 includes:

S41. Analyze the size information of the pineapple flower center according to the image information;

S42. Obtain corresponding medicinal liquid dosage information according to the size information;

S43. Control the medicinal liquid spraying assembly 2 to spray the corresponding dose of medicinal liquid according to the medicinal liquid dosage information.

Step S41 uses the existing target recognition algorithm and image analysis algorithm to analyze the image information to identify the pineapple flower core in the image information and obtain the size information of the pineapple flower core, which can reflect the size of the pineapple flower core. Step S42 can obtain the corresponding medicinal liquid dose information from the pre-built medicinal liquid dose database according to the size information, and the medicinal liquid dose database stores at least two interrelated data, the size information of the pineapple flower center and the corresponding medicinal liquid dose information . In step S42, the size information can also be substituted into the preset function to obtain the corresponding liquid medicine dose information, the independent variable of the preset function is the size information, and the dependent variable of the preset function is the dose information of the medicine liquid. Step S43 controls the medicinal liquid spraying assembly 2 to spray a corresponding dose of medicinal liquid according to the medicinal liquid dose information. Because this embodiment will control the liquid medicine spraying assembly 2 to spray the corresponding dose of liquid medicine according to the size information of the pineapple flower core, so this embodiment can effectively avoid the amount of liquid medicine sprayed by the liquid medicine spraying assembly 2 due to the large size of the pineapple flower core. The amount of medicinal liquid that is less than the required amount affects the flower spotting effect or due to the small size of the pineapple flower core, the amount of medicinal liquid sprayed by the medicinal liquid spraying assembly 2 is greater than the amount of medicinal liquid it requires, resulting in waste of medicinal liquid.

In some embodiments, the automatic flower-pointing robot is stored with actual flower-pointing quantity information, and the automatic flower-pointing method also includes step S5:

S51. After the self-moving car 1 completes the movement of the preset route or after the self-moving car 1 completes the movement of a partial path, if the actual quantity information of pineapples is less than the actual quantity information of pineapples, generate no points according to the historical point data The predicted location information of the flowering pineapple;

S52. Generate a return route according to the predicted position information;

S53. Control the self-moving car 1 to move according to the return route at the first speed;

S54. When the distance between the self-moving car 1 and the predicted position information is less than or equal to the preset third threshold, control the self-moving car 1 to move along the return route at a preset third speed, and the second speed is greater than or equal to the third speed.

The actual flower quantity information in step S51 is the number of times that the automatic flower spotting robot controls the medicinal liquid spraying assembly 2 to spray the medicinal liquid. The actual flower spot quantity information can reflect how many flower spotting operations the automatic flower spotting robot has completed. The initial value of the information is 0, and every time the automatic flower-pointing robot completes a flower-pointing operation, the actual number of flowers will be increased by 1. The partial route in step S51 is any segment of the multi-segment route after the preset route is divided into multiple routes, for example, the preset route is divided by row or column, and the partial route is any row in multiple rows or any row in multiple columns. a row. If step S51 compares the actual quantity information of the actual point flower quantity information and the actual quantity information of pineapples after the movement of the preset route is completed from the mobile car 1, then the actual quantity information of step S51 is the total quantity of pineapples in the pineapple field; if the automatic dolly completes the partial route After the movement, compare the actual quantity information of pineapples with the actual quantity information of pineapples, then the actual quantity information in step S51 is the total quantity of pineapples in the local route. In step S51, if the actual quantity information of the pineapples is equal to the actual quantity information of pineapples, then there is no pineapples that have not been ordered; The unflowered pineapple needs to be returned in order to flower it. The historical spotting data may be multiple locations corresponding to when the automatic spotting robot performs multiple spotting operations, and the historical spotting data may also be multiple times corresponding to when the automatic spotting robot performs multiple spotting operations. The working principle of step S51 is to generate the predicted position information of the unmarked pineapple according to the historical spotting data: the pineapple is equidistantly planted in the pineapple field, so the actual distance between the flower centers of two adjacent pineapples is a known value. The actual time required by the adjacent pineapple flower centers is also a known value, so calculate the distance between two adjacent pineapple flower centers or calculate the time it takes to move to the adjacent pineapple flower center based on the historical point flower data. If the calculated distance is the same as If the difference between the actual distance is greater than the preset fourth threshold or the difference between the calculated time and the actual time is greater than the fifth preset threshold, it is considered that there is an unmarked pineapple center between the two pineapple flower centers, and there is no The pineapple center of the point flower is located near the midpoint of the two pineapple centers or the position where the self-moving car moves to at half the calculated time, that is, the midpoint of the two pineapple centers or the self-moving car at the calculated time The position moved to half of the time is the 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 the self-moving car 1 completes the movement of any row or column in the preset route, it is detected that there are pineapple flower hearts that have not been ordered, and the return route is that of the automatic flower arrangement robot. The current position moves to the route of the predicted position information, and for example, if after the mobile car 1 completes the preset route, it is detected that there is a pineapple flower heart that has not been ordered, then the return route is a line or column that includes moving to the corresponding row or column of the predicted position information Directions and directions to move from this row or column to predicted location information.

Step S53 controls the self-moving car 1 to move along the return route at the first speed, which is equivalent to controlling the automatic flower spotting robot to quickly approach the location where the predicted location information is located. The third threshold in 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 car 1 and the predicted position information is less than or equal to the third threshold, the self-moving car 1 is close to the position where the predicted position information is located. At this time, it is necessary to control the self-moving car 1 to move forward at a slower speed to identify unspotted flowers. The pineapple flower heart (that is, the self-moving car 1 moves according to the return route at the preset third speed, and the second speed is greater than or equal to the third speed). Since the moving speed of the self-moving car 1 is too fast, the image information collected by the image information may not include pineapple flower centers, resulting in the existence of pineapple flower centers that have not been spotted. Therefore, when the distance between the self-moving car 1 and the predicted position information is less than or equal to the third When the threshold value is reached, the self-propelled vehicle 1 preferably moves at a speed lower than the second speed (that is, the second speed is preferably greater than the third speed). It should be understood that the reason for the existence of pineapple flower centers that have not been spotted may be: because the pineapple leaves block the pineapple flower centers, the angle of the image information collected by the camera 4 may not include the pineapple flower centers in the image information, thus causing the automatic flower spotting robot to fail to use the image information. The information identifies the pineapple flower heart, so in order to avoid this situation, the automatic flower pointing robot preferably performs a U-turn operation and then moves along the return route, so that the angle of image information collected by the camera 4 is the same as that of the camera 4 during the movement of the mobile car 1 according to the preset route. The angle at which the image information is collected is reversed. This embodiment judges whether there is any pineapple that has not been spotted according to the actual number information of the actual number of flowers and the actual number information of pineapples. The pineapple that has not been ordered is to be ordered, so this embodiment can effectively avoid the situation that the pineapple center that has not been ordered exists because the pineapple center is not recognized during the movement of the automatic flower arrangement robot.

In some embodiments, the liquid medicine spraying assembly 2 also includes a medicine storage box 22, and the spray head 21 is connected to the medicine storage box 22 through an infusion tube, and before step S1, further steps are included:

Obtain the predicted total dosage information of the medicinal liquid according to the actual total quantity information and the predicted size information of the preset pineapple flower core;

The medicinal liquid corresponding to the predicted total medicinal liquid dosage information is added to the medicinal storage box 22 according to the predicted total medicinal liquid dosage information.

Wherein, the actual total quantity information is the total quantity of pineapple centers that need to be dotted, the predicted size information is a preset value, and the predicted size information indicates the size of the pineapple centers that need to be dotted. In this embodiment, the predicted total dose information of the medicinal liquid is first obtained according to the actual total quantity information and the predicted size information, and then according to the predicted total dose information, the medicinal liquid corresponding to the predicted total medicinal liquid dose information is added to the medicine storage box 22, thereby effectively Minimize the need to frequently add medicinal liquid to the medicinal storage tank 22 due to insufficient medicinal liquid in the medicinal storage case 22. The above-mentioned embodiments adjust the dose of the medicinal liquid sprayed by the medicinal liquid spraying assembly according to the size information of the pineapple flower core. and add liquid medicine corresponding to the medicine liquid remaining quantity information into the medicine storage box 22 according to the medicine liquid remaining quantity information, and the medicine liquid remaining quantity information is 8%-15% of the predicted medicine liquid total dosage information.

In some embodiments, the automatic pointing method also includes the steps of:

After the liquid medicine spraying assembly 2 is controlled to spray the liquid medicine, the self-moving trolley 1 is controlled to continue to move along the preset route at the first speed.

In some embodiments, the process of obtaining the preset route is:

The preset route is planned according to the pre-collected pineapple map information and the preset pre-planning strategy.

Since after the pineapple is planted, the number of pineapples in the pineapple field and the number of rows and columns of pineapples in the pineapple field are all fixed values, so the pineapple map information can be pre-collected manually, semi-automatically or fully automatically. The pineapple map information includes pineapple Total Quantity, Pineapple Row Information, and Pineapple Column Information. The route planning strategy is a default value, and the route planning strategy can reflect the way of the automatic flower spotting robot, for example, the route planning strategy can be to make flowers by row, and for example, the route planning strategy can be to make flowers by columns.

It can be seen from the above that the automatic flower spotting method provided by the present application moves along the preset route at the first speed when there is no pineapple in the image information, and moves along the preset route at the second speed when there is a pineapple in the image information. And stop moving when the distance information from the mechanical arm 3 to the center of the pineapple is less than or equal to the first threshold. Since the automatic pointing robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, this method can effectively avoid appearing in the automatic pointing point. When the flower robot stops moving, because the distance from the mechanical arm 3 to the pineapple flower center is far away, the nozzle 21 cannot be driven to face the pineapple flower center, and because the automatic point flower robot of this method moves at the first speed when there is no pineapple in the image information, And the first speed is greater than the second speed, so the method can take into account both the flower-spotting effect and the flower-spotting efficiency of the automatic flower-spotting robot.

In the second aspect, the application also provides an automatic flower point robot, which includes:

Self-moving trolley 1;

The liquid medicine spray assembly 2 is installed on the self-moving trolley 1, which includes a spray head 21;

The mechanical arm 3 is installed at the bottom of the self-moving trolley 1, the nozzle 21 is installed at the end of the mechanical arm 3, and the mechanical arm 3 is used to drive the nozzle 21 to move;

The camera 4 is arranged on the rear side of the bottom of the self-moving trolley 1, tilted forward, and is used to collect image information;

The controller 5 is electrically connected with the self-moving car 1, the liquid medicine spraying assembly 2, the mechanical arm 3 and the camera 4, and is used to control the self-moving car 1 to move at a preset first speed according to a preset route, and continuously analyze images information to detect whether there is a pineapple in the image information, and is also used to control the self-moving car 1 to move according to the preset route at a preset second speed when there is a pineapple in the image information, and obtain the mechanical arm 3 and the pineapple flower center according to the image information The distance information, the first speed is greater than the second speed, and is also used to control the self-moving car 1 to stop moving and control the mechanical arm 3 to drive the nozzle 21 to move until the nozzle 21 is located at the pineapple when the distance information is less than or equal to the preset first threshold. Directly above the flower center, the first threshold is less than or equal to the maximum extension length of the mechanical arm 3, and is also used to control the liquid medicine spraying assembly 2 to spray the liquid medicine.

The execution principle of the controller of the automatic flower dot robot provided in the embodiment of the present application is the same as the working principle of the automatic flower dot robot provided in the first aspect above, and will not be discussed in detail here.

In some embodiments, the controller 5 stores information on the actual number of flower points, and the controller 5 is also used to: If the actual quantity information of the pineapples is less than the actual quantity information of the pineapples, the predicted location information of the pineapples that are not flowered is generated according to the historical point flower data, and the controller 5 is also used for generating a return route according to the predicted location information, and the controller 5 is also used for controlling The self-moving car 1 moves according to the return route at the first speed, and the controller 5 is also used to control the self-moving car 1 at the preset third threshold when the distance between the self-moving car 1 and the predicted position information is less than or equal to the preset third threshold. The third speed moves according to the return route, and the second speed is greater than or equal to the third speed.

It can be seen from the above that the automatic flower spotting robot provided by the present application moves along the preset route at the first speed when there is no pineapple in the image information, and moves along the preset route at the second speed when there is a pineapple in the image information. Since the robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, and stop moving when the distance information from the mechanical arm 3 to the center of the pineapple flower is less than or equal to the first threshold, the robot can effectively avoid appearing in the automatic flower pointing robot. When stopping moving, the nozzle 21 cannot be driven directly to the pineapple center due to the long distance between the mechanical arm 3 and the pineapple center, and because the robot moves at the first speed when there is no pineapple in the image information, and the first speed is greater than the second Speed, so the robot can simultaneously take into account the flower pointing effect and flower pointing efficiency of the automatic flower pointing robot.

For the third aspect, please refer to FIG. 4. FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The present application provides an electronic device, including: a processor 601 and a memory 602, and the processor 601 and the memory 602 pass The communication bus 603 and/or other forms of connection mechanisms (not shown) are interconnected and communicate with each other. The memory 602 stores computer-readable instructions executable by the processor 601. When the electronic device is running, the processor 601 executes the computer-readable instructions. The instructions can be read to execute the method in any optional implementation mode of the embodiment to realize the following functions: control the self-moving car 1 to move at a preset first speed according to a preset route, and continuously analyze images information to detect whether there is a pineapple in the image information; when there is a pineapple in the image information, control the self-moving car 1 to move according to the preset route at a preset second speed, and obtain the distance information between the mechanical arm 3 and the pineapple flower center according to the image information , the first speed is greater than the second speed; when the distance information is less than or equal to the preset first threshold, control the self-moving car 1 to stop moving and control the mechanical arm 3 to drive the nozzle 21 to move until the nozzle 21 is located directly above the pineapple flower center, the first A threshold is less than or equal to the maximum extension length of the mechanical arm 3; the liquid medicine spraying assembly 2 is controlled to spray the liquid medicine.

In a fourth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method in any optional implementation manner of the embodiment is executed to realize the following functions: control The self-moving car 1 moves according to the preset route at a preset first speed, and continuously analyzes the image information to detect whether there is a pineapple in the image information; The speed moves according to the preset route, and the distance information between the robotic arm 3 and the pineapple flower heart is obtained according to the image information. The first speed is greater than the second speed; when the distance information is less than or equal to the preset first threshold, the self-moving car 1 is controlled to stop moving And control the mechanical arm 3 to drive the nozzle 21 to move until the nozzle 21 is located directly above the pineapple flower center, the first threshold is less than or equal to the maximum extension length of the mechanical arm 3; control the liquid spraying assembly 2 to spray the liquid. Among them, the storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (SRAM for short), Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Red-Only Memory, referred to as PROM), read-only memory ( Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.

It can be seen from the above that the automatic flower spotting method, robot, electronic equipment and storage medium provided by the present application move at the first speed according to the preset route when there is no pineapple in the image information, and move at the first speed when there is a pineapple in the image information. The second speed moves according to the preset route, and stops when the distance information from the mechanical arm 3 to the pineapple flower center is less than or equal to the first threshold. Since the automatic flower spotting robot will slowly approach the pineapple when it detects that there is a pineapple in the image information, this method It can effectively avoid the situation that the sprinkler head 21 cannot be driven to face the pineapple center due to the long distance between the mechanical arm 3 and the pineapple center when the automatic pointing robot stops moving, and because the automatic pointing robot of this method does not exist in the image information The pineapple moves at the first speed, and the first speed is greater than the second speed, so this method can simultaneously take into account the flower-pointing effect and flower-pointing efficiency of the automatic flower-pointing robot.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the above units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or can be Integrate into another robot, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

In addition, the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be raised to one place, or may be distributed to multiple network units . Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second etc. are used only to distinguish one entity or operation from another without necessarily requiring or implying any such relationship between these entities or operations. Actual relationship or sequence.

The above descriptions are only the embodiments of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

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, 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;

and controlling the liquid medicine spraying assembly to spray liquid medicine.

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 ordering method according to claim 1, wherein said automatic flower ordering robot stores information of actual flower ordering quantity, said automatic flower ordering method further comprising the steps of:

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 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;

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, controlling the self-moving trolley to move at a preset third speed according to the return route, wherein the second speed is greater than or equal to the third speed.

5. 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 following steps before the step of 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 are present in the image information:

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;

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.

6. The automatic dotting method according to claim 1, characterized in that it further comprises 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.

7. 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, and is used for controlling the self-moving trolley to move at a preset first speed according to a preset route, continuously analyzing the 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 the pineapple flower center according to the image information, wherein the first speed is higher than the second speed, 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, and 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.

8. The automatic flower dotting robot according to claim 7, wherein the controller stores actual flower dotting amount information, the controller is further configured to generate predicted position information of pineapples which are not dotted according to historical flower dotting data after the self-moving vehicle completes movement of the preset route or after the self-moving vehicle completes movement of a local path each time, if the actual flower dotting amount information is smaller than the actual number information of the pineapples, 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 vehicle to move according to the return route at the first speed, and the controller is further configured to control the self-moving vehicle to move according to the return route at a preset third speed when a distance between the self-moving vehicle and the predicted position information is smaller than or equal to a preset third threshold, and the second speed is greater than or equal to the third speed.

9. 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 6.

10. 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 1-6.

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