Robot navigation control method and device, electronic equipment and storage medium
A control method and robot technology, which are applied in the fields of electronic equipment and storage media, devices, and robot navigation control methods, can solve the problems that picking robots cannot navigate normally, poor satellite positioning signals, etc., and achieve the effect of improving the usability of navigation
Active Publication Date: 2021-11-09
JIHUA LAB
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[0003] The purpose of this application is to provide a robot navigation control method, device, electronic equipment and storage medium, aiming to solve the problem that the picking robot cannot navigate normally when the satellite positioning signal is poor or there is no satellite positioning signal
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[0055] 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.
[0056] It should ...
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The invention belongs to the technical field of robot control, and discloses robot navigation control method and device, electronic equipment and a storage medium. The method comprises the steps of, acquiring a first image taken directly in front of a picking robot; acquiring position data of a first target fruit tree and a second target fruit tree according to the first image; calculating midpoint position data of a midpoint between the first target fruit tree and the second target fruit tree; controlling the picking robot to move to the midpoint; after the picking robot moves to the midpoint, sending a picking instruction to the picking robot, so that the picking robot can pick fruits of the fruit trees on the left side and the right side; and after the picking robot completes fruit tree picking of the whole row of fruit trees, sending a row change instruction to the picking robot, so that the picking robot can conduct semi-circular motion around the current fruit tree right facing the left side or the right side to achieve row change. Navigation control over the picking robot is achieved only through a visual sensor, and normal navigation can be conducted even if satellite positioning signals of an orchard are poor or no satellite positioning signals exist.
Description
technical field [0001] The present application relates to the technical field of robot control, in particular, to a robot navigation control method, device, electronic equipment and storage medium. Background technique [0002] At present, some orchards use picking robots to pick fruits from fruit trees arranged in an array outdoors to improve picking efficiency and reduce labor costs. When using picking robots to pick fruits from fruit trees arranged in arrays outdoors, GPS positioning modules, Beidou positioning modules and other satellite positioning modules are generally installed on the picking robots for navigation and positioning. Sometimes, the location of the orchard is relatively remote. The satellite positioning signal is poor or even there is no satellite positioning signal, and the satellite positioning module cannot be used for positioning, resulting in the failure of the picking robot to navigate normally. For this reason, it is necessary to find a navigation...
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IPC IPC(8): B25J9/16B25J13/08A01D46/24
CPCB25J9/161B25J9/1661B25J9/1679B25J9/1694B25J9/1612B25J13/089A01D46/24
Inventor范朝龙康信勇袁悦范黎
OwnerJIHUA LAB