Robot navigation control method, device, electronic device and storage medium

Abstract

This application belongs to the field of robot control technology, and discloses a robot navigation control method, device, electronic equipment and storage medium. By acquiring the first image taken directly in front of the picking robot; according to the first image, the first target fruit tree and the second The position data of the target fruit tree; calculate the midpoint position data of the midpoint between the first target fruit tree and the second target fruit tree; control the picking robot to move to the midpoint; after the picking robot moves to the midpoint, send picking instructions to The picking robot makes it pick fruit from the fruit trees on the left and right sides; after the picking robot completes the fruit tree picking of the entire row of fruit trees, it sends a line change command to the picking robot to make a semicircle around a fruit tree facing the current left or right The arc movement realizes the new line; thus only relying on the visual sensor to realize the navigation control of the picking robot, even if the orchard’s satellite positioning signal is poor or there is no satellite positioning signal, it can still navigate normally.

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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