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Coordinated control method and device for turning of multiple agricultural robots

A technology of coordinated control and robotics, applied in the field of robotics, can solve the problems of not greatly improving work efficiency, difficult to solve labor shortage, affecting work efficiency, etc., to achieve the effect of improving labor work efficiency, improving land utilization, and reducing land use space

Active Publication Date: 2020-01-17
普倩萌
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no research on the collaborative operation of multiple agricultural robots. Each agricultural robot must be coordinated by a person, which only reduces the intensity of human work, does not greatly improve the work efficiency, and is difficult to solve the problem of labor shortage
In actual agricultural operations, turning at the headland requires less land and a short time, because turning at the headland is a "useless work" of agricultural work, which will affect the entire operation efficiency

Method used

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  • Coordinated control method and device for turning of multiple agricultural robots
  • Coordinated control method and device for turning of multiple agricultural robots
  • Coordinated control method and device for turning of multiple agricultural robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] figure 1 It is a schematic flow chart of a multi-agricultural robot formation control method provided according to an embodiment of the present invention, such as figure 1 As shown, the method includes: step S1, receiving data information corresponding to a plurality of agricultural robots, the data information at least including the number, position, speed and direction corresponding to each of the plurality of agricultural robots; step S2, according to the plurality of agricultural robots The respective numbers, positions and directions of the agricultural robots assign a priority authority to each of the agricultural robots; wherein, each of the agricultural robots uses the U-turn turning theory to perform headland turns, and pre-sets the agricultural The robot uses the U-turn turning theory to carry out the turning marks at each stage in the turning process at the headland; step S3, according to the data information corresponding to each two agricultural robots, the...

Embodiment 2

[0076] image 3 It is a schematic diagram of an agricultural robot U-turn turning provided according to an embodiment of the present invention, such as image 3 As shown, the agricultural robot performs a turn at the headland between the beginning of the headland and the end of the headland. The U-turn of the agricultural robot can be divided into six steps, using RT i .T_F to record the turn sign.

[0077] (1) The agricultural robot is working in a straight line (RT i .T_F=0).

[0078] (2) After the straight-line operation of the agricultural robot is completed, the working machine is raised and moves forward from point A to point B (RT i .T_F=1), the agricultural robot turns 90° to point C (RT i .T_F=2).

[0079] (3) Calculate the distance between the current path and the next path, denoted as w, and calculate the turning radius r of the agricultural robot. If w-2ri .T_F=3), if w-2r>0, then the agricultural robot moves forward |w-2r|(RT i .T_F=4).

[0080] (4) The agr...

Embodiment 3

[0085] On the basis of the above embodiments, the turning coordination of multiple agricultural robots can be simplified to the turning coordination between every two agricultural robots. For example, for 4 agricultural robots RT 1 , RT 2 , RT 3 and RT 4 , by controlling RT 2 and RT 3 , RT 3 and RT 4 , RT 1 and RT 3 Wait for the turn coordination of any two agricultural robots, so as to control the turn coordination of multiple agricultural robots.

[0086] Figure 4a It is a schematic diagram of multi-agricultural robot turning coordination control provided according to Embodiment 3 of the present invention, as shown in Figure 4a ~ Figure 4e As shown in the figure, there are 4 agricultural robots, numbered RT 1 , RT 2 , RT 3 and RT 4 . 4 agricultural robots turn from the right path to the left path using the U-turn turning theory. The turning direction is as follows: Figure 4a ~ Figure 4e indicated by the middle arrow. where for numbered RT 1 and RT 2 Agr...

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Abstract

The embodiment of the invention provides a turning coordination control method of a plurality of agricultural robots. The method comprises the following steps: distributing one priority for each agricultural robot and controlling the agricultural robots to carry out headland turning by adopting a U-turn turning theory; pre-setting a turning marker of each phase in a headland turning process of the agricultural robots; coordinating each two agricultural robots to carry out the headland turning according to the priorities and the turning markers of the two agricultural robots, so as to control the plurality of agricultural robots to carry out the headland turning. The embodiment of the invention further provides a turning coordination control device of the plurality of agricultural robots; the turning coordination control device comprises a receiving module, a turning control module and a coordination control module. According to the turning coordination method and device of the plurality of agricultural robots, provided by the embodiment of the invention, the coordination is carried out according to the priorities and turning markers of each two agricultural robots, so that the plurality of agricultural robots are prevented from collision and deadlock based on priority coordination in the headland turning process, and furthermore, the labor working efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to a method and device for coordinated turning control of multiple agricultural robots. Background technique [0002] Intelligent robots have gradually entered our daily life and are widely used in the agricultural field. Robot technology has driven agricultural upgrading. Agricultural robots have promoted the development of modern agriculture and are improving people's lives. [0003] After the emergence of agricultural robots, it has developed rapidly. In the research and development of agricultural robots in many countries, various types of agricultural robots have appeared. German agricultural experts have developed a field weeding robot tractor that can accurately apply herbicides to weed weeds by using computers, global positioning systems and smart multi-purpose tractor comprehensive technology. Spanish scientists have developed a citrus-picking robot consis...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289G05D2201/0201
Inventor 张弛张家瑞普倩萌
Owner 普倩萌
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