Pollination robot mechanical arm obstacle avoidance path planning method and device

Abstract

The invention provides a pollination robot mechanical arm obstacle avoidance path planning method and device. The method comprises the steps that a depth image is acquired through a depth camera, andan obstacle pose and a pollination target point pose of a mechanical arm are acquired according to the depth image; an initial path is acquired through a three-dimensional RRT algorithm with linear regression; the three-dimensional RRT algorithm is optimized through an A* algorithm to obtain an optimal path; and track smoothing is conducted on the optimal path through an artificial potential fieldmethod, so that a final path is acquired, and the mechanical arm is controlled according to the final path. According to the method, the three-dimensional RRT algorithm with the linear regression isadopted, the purposiveness of RRT three-dimensional space exploration is further enhanced, an exploration direction is developed towards a wide place more easily, the problem of falling into a local minimum value can be well avoided through the artificial potential field method combined with the three-dimensional RRT algorithm optimized on the basis of the A* algorithm, and a track is smooth, so that moving among branches of the mechanical arm is facilitated, and the pollination reliability of a robot is improved.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a method for planning an obstacle-avoiding path of a pollination robot manipulator and an obstacle-avoiding path planning device for a pollination robot manipulator. Background technique [0002] Most of the fruit trees need cross-pollination to produce normal results, and in the absence of pollination trees and bad weather, the natural pollination of the fruit trees will be adversely affected, and artificial pollination is required at this time. For example, the pollination of dragon fruit, the natural pollination of dragon fruit flowers is relatively difficult, and artificial pollination is required, and dragon fruit is a typical nocturnal flowering plant, which usually blooms from evening to early morning, and gradually withers in the early morning until it completely withers after being exposed to sunlight. This is time-consuming and laborious for artificial po...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned technical problems, the present invention provides a pollination robot manipulator arm obstacle-avoiding path planning method, which adopts a three-dimensional RRT (Rapidly Exploring Random Tree, Rapidly Exploring Random Tree) algorithm with linear regression, and uses the RRT three-dimensional space exploration The further enhancement of the purpose makes it easier for the exploration direction to develop towards an open place. The artificial potential field method combined with the three-dimensional RRT algorithm optimized based on the A* algorithm can well avoid the problem of falling into the local minimum, and the trajectory is smooth. It is very suitable for the movement of the robot arm between the branches, and it is beneficial to improve the stability of the robot

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