Robot control method and device, robot, and nonvolatile storage medium

Abstract

The application provides a robot control method and device, a robot and a nonvolatile storage medium. The robot control method comprises the following steps: acquiring distribution information of a planting row of a target farmland, and determining a target track width of the robot according to the distribution information of the planting row of the target farmland and a maximum track width of the robot; acquiring an initial track width of the robot before the robot performs work on the planting row, and comparing the initial track width of the robot with the target track width of the robot; and adjusting a running state of the robot according to a comparison result of the initial track width of the robot and the target track width of the robot. Through the technical scheme provided by the application, the technical problem that a robot often causes damage to plants when performing agricultural work operation in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a robot control method, apparatus, robot, and non-volatile storage medium. Background Technology

[0002] Currently, to facilitate agricultural operations, various types of agricultural robots exist in existing technology, including fertilizing robots, weeding robots, and harvesting robots, each capable of achieving different operational effects. When performing agricultural operations, these robots are typically deployed on the planting rows where work needs to be done, and then perform the corresponding agricultural operations on those rows.

[0003] However, different fields of farmland will vary in size, crops, and planting habits, leading to variations in the distribution of planting rows. Robots with fixed wheelbases can only move and perform agricultural operations within that fixed wheelbase. When the fixed wheelbase aligns perfectly with the access roads on either side of the planting row, the robot can pass smoothly and perform agricultural operations. However, if the wheelbase does not align, the robot may directly run over some of the plants in the planting row, causing irreversible damage. Furthermore, when the robot runs over the planting row, the condition of the plants can affect its movement, hindering its smooth operation and compromising its safety. Summary of the Invention

[0004] The main objective of this invention is to provide a robot control method, device, robot, and non-volatile storage medium to solve the technical problem that robots often damage plants when performing agricultural operations.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robot control method is provided, comprising:

[0006] Obtain the distribution information of the planting rows in the target farmland, and determine the target wheelbase width of the robot based on the distribution information of the planting rows in the target farmland and the maximum wheelbase width of the robot.

[0007] Obtain the initial wheelbase width of the robot before it operates in the planting row, and compare the initial wheelbase width of the robot with the target wheelbase width of the robot;

[0008] The robot's operating state is adjusted based on the comparison between the robot's initial wheelbase width and the robot's target wheelbase width.

[0009] Furthermore, the distribution information of the planting rows in the target farmland is obtained, and the target wheelbase width of the robot is determined based on the distribution information of the planting rows in the target farmland and the maximum wheelbase width of the robot, including:

[0010] Get the number of planting rows in the target farmland;

[0011] Given a planting row in the target farmland, determine the planting operation row in the target farmland, identify the tillage lanes on both sides of the operation row as two tillage lanes in the target farmland, and determine the target wheelbase width of the robot based on the two tillage lanes and the maximum wheelbase width.

[0012] When there are multiple planting rows in the target farmland, one or more preset planting rows are selected as working rows based on the maximum wheel track width. The tillage paths on both sides of the working rows are identified as two working tillage paths of the target farmland, and the target wheel track width of the robot is determined based on the two working tillage paths.

[0013] Furthermore, the target wheelbase width of the robot is determined based on the two working tracks and the robot's maximum wheelbase width, including:

[0014] The two working roads of the target farmland are fitted into two target working lines, and the distance between the two target working lines is determined.

[0015] If the distance between two target work lines is less than or equal to the maximum wheelbase width, the distance between the two target work lines shall be taken as the target wheelbase width of the robot.

[0016] Furthermore, after obtaining the number of planting rows in the target farmland, the method also includes:

[0017] When there are multiple planting rows in the target farmland, the distance between each tillage path is obtained. Based on the distance between each tillage path and the maximum wheelbase width, two working tillage paths for the target farmland are determined from each tillage path. The target wheelbase width of the robot is determined based on the two working tillage paths. The distance between the two working tillage paths is less than or equal to the maximum wheelbase width.

[0018] Furthermore, the spacing between each farm road is obtained, including:

[0019] The farm roads in the target farmland are fitted into operation lines, the distance between each operation line is obtained, and the distance between each operation line is used as the distance between each farm road.

[0020] Based on the spacing between each tillage road and the maximum wheel track width, two operating tillage roads for the target farmland are determined from each tillage road, including:

[0021] Compare the spacing between each tillage path with the maximum wheel track width, and select any two tillage paths whose spacing is less than or equal to the maximum wheel track width as two working tillage paths.

[0022] Furthermore, based on the comparison between the robot's initial wheelbase width and its target wheelbase width, the robot's operating state is adjusted, including:

[0023] When the difference between the robot's initial wheelbase width and the target wheelbase width is within the preset error range, control the robot to travel along the two working tracks of the target farmland.

[0024] When the difference between the robot's initial wheelbase width and the target wheelbase width exceeds the preset error range, the robot's wheelbase width is adjusted so that the robot can travel along the two working roads of the target farmland.

[0025] Furthermore, the wheelbase width of the robot is adjusted, including:

[0026] Obtain the real-time rotation angle of the robot's rotating arm;

[0027] The width of the drive unit on the rotating arm, the length of the robot in the first direction, and the length of the rotating arm are obtained. The target rotation angle of the rotating arm is calculated based on the width of the drive unit, the length of the robot in the first direction, the length of the rotating arm, and the target wheelbase width.

[0028] The rotation of the rotating arm is controlled based on the real-time rotation angle and the target rotation angle of the rotating arm, so as to adjust the wheelbase width of the robot to the target wheelbase width.

[0029] The first direction is perpendicular to the robot's forward direction.

[0030] Furthermore, the rotation of the rotating arm is controlled based on the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm, including:

[0031] The error between the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm is calculated using PID to obtain the rotation speed of the driving unit. Based on the obtained rotation speed of the driving unit, the driving unit is controlled to rotate to drive the rotating arm to rotate.

[0032] The real-time rotation angle of the rotating arm is monitored, and when the real-time rotation angle of the rotating arm reaches the target rotation angle, the drive unit is controlled to stop driving the rotating arm.

[0033] According to another aspect of the present invention, a robot control device is provided, comprising:

[0034] The first acquisition module is used to acquire the distribution information of the planting rows of the target farmland, and determine the target wheel width of the robot based on the distribution information of the planting rows of the target farmland and the maximum wheel width of the robot.

[0035] The second acquisition module is used to acquire the initial wheel track width of the robot before it performs operations in the planting row, and to compare the initial wheel track width of the robot with the target wheel track width of the robot.

[0036] The adjustment module is used to adjust the robot's operating state based on the comparison between the robot's initial wheelbase width and the robot's target wheelbase width.

[0037] According to another aspect of the present invention, a robot is provided, comprising:

[0038] Chassis and slewing device, with the slewing device mounted on the chassis;

[0039] A rotating arm, one end of which is connected to a rotary device;

[0040] The drive unit is connected to the other end of the rotating arm, so that the rotating arm can be rotated by the drive unit to adjust the robot's operating state.

[0041] In addition, one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors cause the one or more processors to implement the robot control method provided above.

[0042] According to another aspect of the present invention, a non-volatile storage medium is provided, which stores a plurality of instructions applicable to being loaded by a processor and executed by the robot control method provided above.

[0043] By applying the technical solution of this invention, the target wheelbase width of the robot can be easily determined based on the distribution information of the tillage paths in the target farmland and the robot's maximum wheelbase width. The robot's operating state can be adaptively adjusted based on the comparison between the target wheelbase width and the current wheelbase width. This allows the robot to avoid planting rows as much as possible and to operate alongside them, thus preventing damage to the plants during operation and agricultural processes, and protecting the plants. Furthermore, the solution in this application also prevents the plants in the planting rows from affecting the robot's normal operation when it enters the rows, avoiding scratches from certain plants, and effectively ensuring the robot's smooth and normal operation, which is beneficial for robot protection. Attached Figure Description

[0044] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0045] Figure 1 A flowchart illustrating a robot control method according to an embodiment of the present invention is shown;

[0046] Figure 2 A flowchart illustrating another robot control method according to an embodiment of the present invention is shown;

[0047] Figure 3 A schematic diagram showing the distribution of farm roads in a field according to an embodiment of the present invention is provided;

[0048] Figure 4 A schematic diagram showing the distribution of another type of farmland access road according to an embodiment of the present invention is shown;

[0049] Figure 5 A schematic diagram of the rotation angle of a robot arm provided according to an embodiment of the present invention is shown;

[0050] Figure 6 A schematic diagram of the structure of a robot control device provided according to an embodiment of the present invention is shown.

[0051] The above figures include the following reference numerals:

[0052] 10. Target farmland; 11. Farm road; 20. Chassis; 30. Swing arm; 40. Drive wheel;

[0053] 2001, First Acquisition Module; 2002, Second Acquisition Module; 2003, Adjustment Module. Detailed Implementation

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] In the accompanying drawings provided in the embodiments of this application, Figure 1 and Figure 2 This is a flowchart illustrating the robot control method provided in an embodiment of this application. Figure 3 and Figure 4 This is a schematic diagram showing the distribution of farm roads in farmland provided in the embodiments of this application.

[0056] Specifically, such as Figure 3 and Figure 4The diagram shows different distributions of the tillage paths 11 in the target farmland 10 where the robot of this invention operates. Figure 3 The farm roads 11 in the target farmland 10 are evenly distributed. Figure 4 The distribution of farm roads 11 in the target farmland 10 is uneven. The robot of the present invention can operate in the target farmland 10 with uniformly distributed farm roads 11, or it can operate in the target farmland 10 with unevenly distributed farm roads 11.

[0057] like Figure 1 As shown, an embodiment of the present invention provides a robot control method, the method comprising:

[0058] Step 1001: Obtain the distribution information of the planting rows of the target farmland 10, and determine the target wheel track width of the robot based on the distribution information of the planting rows of the target farmland 10 and the maximum wheel track width of the robot.

[0059] Step 1002: Obtain the initial wheel track width of the robot before it starts working in the planting row, and compare the initial wheel track width of the robot with the target wheel track width of the robot.

[0060] Step 1003: Adjust the robot's operating state based on the comparison between the robot's initial wheelbase width and the robot's target wheelbase width.

[0061] It should be noted that the robot in this embodiment can be a robot used for agricultural operations, including but not limited to: fertilization, harvesting, weeding, and pesticide spraying. By determining the target wheel width of the robot based on the distribution information of the planting rows in the target farmland 10 and the robot's maximum wheel width, the robot can cover as much of the planting rows as possible during agricultural operations, thereby facilitating effective coverage of a larger area of ​​planting rows and improving the efficiency of agricultural operations in the target farmland 10.

[0062] The distribution information of planting rows can be obtained through machine vision. Specifically, machine vision is used to acquire images or video streams of the target farmland, and these images or video streams are then analyzed to obtain the distribution information of the planting rows.

[0063] The target farmland 10 here can be understood as farmland to be cultivated. The planting rows of target farmland 10 can be understood as areas within the farmland to be cultivated where agricultural crops (including plants) are grown. The planting rows in target farmland 10 may consist of one or more rows, and their distribution can be determined based on the specific plots to be cultivated in target farmland 10, the planting habits of the agricultural crops, etc. The distribution information of the planting rows in target farmland 10 includes, but is not limited to: the number of planting rows, the location of each planting row, and the width of the planting rows.

[0064] It should also be noted that the initial wheelbase width of the robot refers to the wheelbase width of the robot before it operates on the target farmland 10. The target wheelbase width of the robot refers to the wheelbase width determined based on the distribution information of the planting rows in the target farmland 10 and the maximum wheelbase width of the robot, which is suitable for the robot's agricultural operations. Here, the wheelbase width of the robot refers to the spacing between the robot's drive and running gear. Specifically, the drive and running gear can be drive wheels or drive tracks, or other structures that enable the robot to move. Structures with drive wheels as drive and running gear can be as follows: Figure 5 The structure is shown in the diagram. Furthermore, the robot's operation includes, but is not limited to, adjusting the robot's initial wheelbase width and its driving trajectory.

[0065] When the driving unit is a drive wheel 40, the wheelbase width of the robot refers to the distance between the two drive wheels 40 located at the front or the two drive wheels 40 located at the rear of the robot. Specifically, the width between the two drive wheels 40 can refer to the distance between the outer side of one drive wheel 40 (the outer side of one drive wheel 40 can refer to the side of the drive wheel 40 away from the other drive wheel 40) and the outer side of the other drive wheel 40 (the outer side of the other drive wheel 40 can refer to the side of the drive wheel 40 away from the first drive wheel 40).

[0066] Alternatively, the width between the two drive wheels 40 can also refer to the spacing between the inner side of one drive wheel 40 (the inner side of one drive wheel 40 can refer to the side of the drive wheel 40 closest to the other drive wheel 40) and the inner side of the other drive wheel 40 (the inner side of the other drive wheel 40 can refer to the side of the drive wheel 40 closest to the first drive wheel 40).

[0067] Alternatively, the width between the two drive wheels 40 can also refer to the distance between the center line of one drive wheel 40 and the center line of the other drive wheel 40. The specific width can be adjusted according to actual needs, and this embodiment does not limit this.

[0068] The front and rear drive wheels 40 change according to the robot's direction of travel. When the robot's direction of travel changes, the front drive wheels 40 and the rear drive wheels 40 of the robot will change accordingly.

[0069] When the driving unit is a tracked drive unit, the wheelbase width of the robot refers to the distance between the two drive tracks located on both sides of the robot. Specifically, the distance between the two drive tracks can refer to the distance between the outer edges of one drive track (the outer edge of one drive track can refer to the side of that drive track away from the other drive track) and the outer edges of the other drive track (the outer edge of the other drive track can refer to the side of that drive track away from the first drive track). Specifically, there can be two, four, six, or eight drive tracks, etc., evenly distributed on both sides of the robot.

[0070] The control method provided in this embodiment can easily and adaptively determine the target wheel track width of the robot based on the distribution information of the tillage paths 11 in the target farmland 10 and the robot's maximum wheel track width, and adaptively adjust the robot's operating state based on the comparison between the target wheel track width and the current wheel track width. In this way, during the robot's movement or agricultural operations, the robot can avoid planting rows as much as possible and operate alongside them, thus preventing damage to the plants during operation and agricultural work, and effectively protecting the plants.

[0071] Furthermore, the solution in this application can effectively prevent the plants in the planting row from affecting the normal operation of the agricultural robot when the robot enters the planting row, avoid scratching the robot by some special plants, and prevent the planting row from greatly affecting the robot's operational stability due to the crushing of plants. Thus, it can effectively ensure that the robot can drive normally and smoothly during the process of travel or agricultural operation, which is beneficial to the protection of the robot.

[0072] Specifically, in one embodiment, obtaining the distribution information of planting rows in the target farmland 10, and determining the target wheelbase width of the robot based on the distribution information of planting rows in the target farmland 10 and the maximum wheelbase width of the robot, includes: obtaining the number of planting rows in the target farmland 10; if there is only one planting row in the target farmland 10, determining the planting operation row in the target farmland 10, identifying the tillage paths 11 on both sides of the operation row as two tillage paths 11 of the target farmland 10, and determining the target wheelbase width of the robot based on the two tillage paths 11; if there are multiple planting rows in the target farmland 10, selecting one or more preset planting rows as operation rows based on the maximum wheelbase width of the robot, identifying the tillage paths 11 on both sides of the operation row as two tillage paths 11 of the target farmland 10, and determining the target wheelbase width of the robot based on the two tillage paths 11. This allows for the quick identification of the two tillage lanes 11 of the target farmland 10 based on the number of planting rows, and the determination of the target wheel width of the robot based on the two tillage lanes 11. This improves the accuracy of the target wheel width of the robot, enabling it to operate better on the two tillage lanes 11 and preventing it from running beyond the two tillage lanes 11, thus minimizing damage to the plants and facilitating smoother robot operation.

[0073] Specifically, selecting one or more preset planting rows as work rows can be understood as determining whether the robot selects a single preset planting row or multiple preset planting rows for the current agricultural operation based on the robot's maximum working width. After the robot completes the agricultural operation on one or more preset planting rows, it can select another one or more preset planting rows from the remaining planting rows to perform the corresponding agricultural operation, and so on, in order to complete the agricultural operation on the entire target farmland 10.

[0074] It should be noted that the farm road 11 in this application can be understood as a rural road accessible to motor vehicles and agricultural machinery below the township level, including village roads, village group roads, and field roads. Preferably, the farm road 11 in this application can be understood as farmland or field roads on both sides of the planting row that are not planted with crops during the robot's agricultural operations. In this way, the robot will not cause damage to agricultural crops when traveling within the farm road 11, and can effectively protect agricultural crops. The two farm roads 11 in this application can be understood as the two farm roads 11 that the robot needs to select to travel on when performing corresponding agricultural operations.

[0075] Specifically, the target wheelbase width of the robot is determined based on the two tillage paths 11, including: fitting the two tillage paths 11 of the target farmland 10 into two target work lines, and determining the distance between the two target work lines; if the distance between the two target work lines is less than or equal to the maximum wheelbase width, the distance between the two target work lines is taken as the target wheelbase width of the robot. This method allows for quick and accurate acquisition of the robot's target wheelbase width, facilitating subsequent adaptive adjustments to the robot's wheelbase width based on the target wheelbase width, and enabling the robot's wheelbase width to better adapt to the conditions of the two target tillage paths 11.

[0076] It should be noted that if the distance between the two target work lines is greater than the maximum wheelbase width, the robot is determined to be unable to travel on the corresponding two farm roads. Due to the different distribution of planting rows in the target farmland 10, the farm road 11 may not necessarily extend along a regular straight line. The two target work lines in this application are not limited to straight lines, but can also be curves or bends, and the two target work lines can adapt to changes in the shape of the two target farm roads 11. Preferably, the two target work lines can each correspond to the work lines near the middle of the width of the two target farm roads 11, which can ensure the robot's driving stability and safety as much as possible.

[0077] Specifically, in this application, "fitting the two working roads 11 of the target farmland 10 into two target working lines" can be understood as using the robot's image acquisition device to acquire images of the two working roads 11, performing image processing on the images of the two working roads 11 respectively, and fitting the two working roads 11 into two target working lines according to the image processing results.

[0078] In another embodiment, after obtaining the number of planting rows in the target farmland 10, the control method includes: when there are multiple planting rows in the target farmland 10, obtaining the spacing between each tillage path in the target farmland 10; determining two operating tillage paths for the target farmland 10 from each tillage path based on the spacing between each tillage path and the maximum wheelbase width; and determining the target wheelbase width of the robot based on the two operating tillage paths, wherein the spacing between the two operating tillage paths is less than or equal to the maximum wheelbase width. This facilitates the rapid identification of the two operating tillage paths 11 of the target farmland 10 based on the number of planting rows in the target farmland 10, and the determination of the target wheelbase width of the robot based on the two operating tillage paths 11. This improves the accuracy of the robot's target wheelbase width, allowing the robot to operate better on the two operating tillage paths 11, preventing the robot from exceeding the two operating tillage paths 11, thus minimizing damage to the plants and facilitating smoother robot operation.

[0079] Specifically, "obtaining the spacing between each farm road in the target farmland 10" can be understood as follows: when the target farmland 10 has four farm roads: the first farm road, the second farm road, the third farm road, and the fourth farm road, it is necessary to obtain the spacing between the first farm road and the second farm road, the spacing between the first farm road and the third farm road, the spacing between the first farm road and the fourth farm road, the spacing between the second farm road and the third farm road, the spacing between the second farm road and the fourth farm road, and the spacing between the third farm road and the fourth farm road. The order in which these different spacings between farm roads are obtained can be arbitrary, as long as the spacing between each farm road in the target farmland 10 and the other farm roads in the target farmland 10 can be obtained.

[0080] For example, the distance between the first, second, third, and fourth farm roads can be obtained in the following two ways.

[0081] The first method involves acquiring target images including the first, second, third, and fourth farm roads using image recognition algorithms, or acquiring point cloud information of these farm roads using corresponding LiDAR. Based on the target image or point cloud information, the distances between the first and second farm roads, the distances between the first and third farm roads, the distances between the first and fourth farm roads, the distances between the second and third farm roads, and the distances between the third and fourth farm roads are then identified.

[0082] The second method involves acquiring target images including the four farm roads using image recognition algorithms, or acquiring point cloud information including the four farm roads using lidar. Then, based on the target image or point cloud information, the first distance between the first and second farm roads, the second distance between the first and third farm roads, and the third distance between the first and fourth farm roads are identified. The distance between the third and fourth farm roads is then determined using the difference between the third and second distances, the distance between the second and third farm roads is determined using the difference between the second and first distances, and the distance between the second and fourth farm roads is determined using the difference between the third and first distances.

[0083] In this way, the distance between each farm road in the target farmland 10 can be obtained accurately and flexibly.

[0084] It should be noted that the above examples only provide some possible implementation methods and do not mean that the robot control method provided in this application embodiment can only obtain the distance between each machine-cultivated road in the target farmland 10 in the manner of the above examples. For this application embodiment, the distance between each machine-cultivated road can be determined in any possible manner, and this application embodiment does not limit it.

[0085] Specifically, “obtaining the spacing between each tillage path 11 of the target farmland 10, and determining two working tillage paths of the target farmland 10 from each tillage path 11 based on the spacing between each tillage path 11 and the maximum wheel width” can facilitate the rapid acquisition of the spacing between each tillage path in the target farmland, and determine two working tillage paths 11 of the target farmland 10 based on the one-to-one comparison and adaptation between the spacing between each tillage path 11 and the maximum working width of the robot, thereby facilitating a more accurate determination of the two working tillage paths 11 of the target farmland 10 based on the distribution of each planting row of the target farmland 10.

[0086] In this embodiment, obtaining the spacing between each tillage path 11 includes: fitting the tillage paths 11 of the target farmland 10 into work lines, obtaining the spacing between each work line, and using the spacing between each work line as the spacing between each tillage path. Determining two work tillage paths for the target farmland from each tillage path based on the spacing between each tillage path 11 and the maximum wheelbase width includes: comparing the spacing between each tillage path with the maximum wheelbase width, and selecting any two tillage paths whose spacing is less than or equal to the maximum wheelbase width as the two work tillage paths. This method facilitates the rapid and accurate acquisition of the robot's target wheelbase width based on the distribution of planting rows in the entire farmland and the adaptation to the robot's maximum wheelbase width. This allows for subsequent adaptive adjustments to the robot's wheelbase width based on the target wheelbase width, enabling the robot's wheelbase width to better adapt to the two work tillage paths 11.

[0087] Specifically, when there are multiple planting rows, the number of tillage roads 11 in the target farmland 10 will also be greater than 2. In this application, "fitting the tillage roads 11 of the target farmland 10 into multiple operation lines" can be understood as using the robot's image acquisition equipment to acquire images of the tillage of the target farmland, performing image processing on the images of the tillage of the target farmland, and fitting the tillage roads 11 of the target farmland into multiple target operation lines based on the results of the image processing.

[0088] Specifically, based on the comparison between the robot's initial wheelbase width and its target wheelbase width, the robot's operating state is adjusted, including: when the difference between the robot's initial wheelbase width and its target wheelbase width is within a preset error range, controlling the robot to travel along the two working tracks 11 of the target farmland 10; when the difference between the robot's initial wheelbase width and its target wheelbase width exceeds the preset error range, adjusting the robot's wheelbase width so that the robot travels along the two working tracks of the target farmland.

[0089] Furthermore, when the difference between the robot's initial wheelbase width and the target wheelbase width exceeds a preset error range, and the robot's wheelbase width cannot be adjusted to within the preset error range, the robot will stop operating. Specifically, the robot can also issue a prompt signal to facilitate subsequent operations by personnel or the control system. This prompt signal can include, but is not limited to, different forms of signals such as light signals and sound signals. Correspondingly, a wireless signal transmission module can be installed on the robot to transmit the prompt signal to the terminal equipment or control system used by technicians. Specifically, this wireless signal transmission module can include Wi-Fi, Bluetooth, infrared, and other transmission modules.

[0090] Using this method, when the difference between the robot's initial wheelbase width and the target wheelbase width is within a preset error range, the robot's wheelbase width satisfies the operation within this preset error range, thus allowing the robot to travel along the two working tracks 11 corresponding to the target wheelbase width. However, when the difference between the robot's initial wheelbase width and the target wheelbase width is within the preset error range, the robot's wheelbase width will not be sufficient for travel on the two working tracks 11 corresponding to the target wheelbase width. In this case, the robot's wheelbase width needs to be adaptively adjusted based on its own wheelbase width adjustment range and the target wheelbase width to ensure smooth passage on the two working tracks 11 corresponding to the target wheelbase width. Therefore, this method facilitates accurate determination of whether the robot can travel on the two working tracks 11 corresponding to the target wheelbase width and allows for adaptive adjustment of the robot's wheelbase width when passage is impossible.

[0091] It should be noted that the preset error range here is determined based on the width of the robot's drive unit and the width of the two corresponding work tracks 11, which allows for a certain small range of deviation between the robot and the target work line.

[0092] like Figure 3As shown, specifically, the target wheelbase width of the robot can be determined based on the uniformity of the distribution of the tillage paths 11 in the target farmland 10. This includes: when the tillage paths 11 in the target farmland 10 are uniformly distributed, two adjacent tillage paths 11 in the target farmland 10 are selected as two working tillage paths 11, and the two working tillage paths 11 are fitted into two adjacent working lines, with the distance between the two adjacent working lines as the spacing L between the two working tillage paths 11; the target wheelbase width b of the robot is obtained based on the spacing L between the two working tillage paths 11. Wherein, b = nL, and n is an integer greater than or equal to 1. Using this method, the target wheelbase width can be determined quickly and effectively, effectively ensuring that the robot's drive wheels 40 remain within the tillage paths 11 of the target farmland 10, avoiding the robot's drive wheels 40 from crushing the plants, and facilitating the robot's smooth passage through narrow fields or rural roads.

[0093] Specifically, the value of n is determined based on the robot's planting row distribution information and its maximum wheelbase width. This method allows the robot to operate with the largest possible wheelbase width, increasing its agricultural coverage and thus improving operational efficiency. Furthermore, it prevents the robot's adjustment range from exceeding its maximum wheelbase width.

[0094] like Figure 4 As shown, specifically, when the distribution of the tillage paths 11 in the target farmland 10 is uneven, two target driving tillage paths 11 in the target farmland 10 are obtained, and the two driving tillage paths 11 are fitted into two working straight lines. The distance between the two working straight lines is taken as the target wheelbase width b of the robot. Using this method, the target wheelbase width can be accurately obtained, ensuring that the robot's drive wheels 40 can travel within the target driving tillage path 11 and avoid exceeding its travel range.

[0095] In this embodiment, the rotation of the rotating arm 30 is controlled based on the difference between the target rotation angle γ and the current rotation angle β. This includes: inputting the current rotation angle β and the target rotation angle γ into a PID algorithm; using the PID algorithm to calculate the target rotational speed of the drive wheel 40 on the rotating arm 30 based on the difference between the target rotation angle γ and the current rotation angle β; and causing the drive wheel 40 on the rotating arm 30 to rotate at the target rotational speed; sending the target rotation angle γ to the robot's motion controller; and using the motion controller to monitor the rotation angle of the rotating arm 30. This method further improves the accuracy of adjusting the rotation angle of the rotating arm 30, ensuring that the rotating arm 30 can smoothly rotate to the target rotation angle γ.

[0096] Specifically, the robot includes a rotating device and a chassis 20. The rotating device is mounted on the chassis 20, and the end of the rotating arm 30 furthest from the drive wheel 40 is connected to the rotating device. The control method further includes: when the motion controller detects that the angle detected by the encoder in the rotating device is the target rotation angle γ, stopping the drive of the drive wheel 40, and using the brake in the rotating device to brake and lock the rotation of the rotating arm 30. This method facilitates locking the rotating arm 30 at the target rotation angle γ, thereby ensuring the stability of the wheel track during operation and preventing changes in the wheel track during operation.

[0097] Specifically, the robot can use identification sensors to identify the working farm road 11 and calculate the target wheelbase width b based on the selected path. The specific steps are as follows: When the robot is working in the farmland and the distance between adjacent farm roads 11 is equal, the robot identifies the position of the target farm road 11 through identification sensors, fits the identified farm road 11 into a straight line, and calculates the distance between adjacent straight lines, which is the distance L between adjacent farm roads 11. This is the minimum wheelbase at which the robot can operate. Based on the area where the robot can operate and the maximum wheelbase that the robot can extend, the target wheelbase width b of the robot is calculated. At this time, the target wheelbase width b of the robot is a multiple of the distance L between adjacent farm roads 11, which is nL. When the robot is working in the farmland, it identifies the location of the target farm road 11 through the recognition sensor, fits the identified farm road 11 into a straight line, and calculates the distance between adjacent straight lines, which is the distance L between adjacent farm roads 11. This is the minimum wheelbase that the robot can operate at. When the distance between farm roads 11 is inconsistent, two farm roads 11 are selected for operation, i.e., two working straight lines, based on the robot's maximum working width and the maximum wheelbase that the robot can extend. The distance between the two selected working straight lines is calculated to obtain the robot's target wheelbase width b.

[0098] like Figure 2 As shown, in this embodiment, adjusting the wheelbase width of the robot includes:

[0099] Step 1004: Obtain the real-time rotation angle of the robot's rotating arm 30;

[0100] Step 1005: Obtain the width of the driving unit on the rotating arm 30, the length of the robot in the first direction, and the length of the rotating arm 30. Calculate the target rotation angle of the rotating arm 30 based on the width of the driving unit, the length of the robot in the first direction, the length of the rotating arm 30, and the target wheelbase width.

[0101] Step 1006: Control the rotation of the rotating arm 30 according to the real-time rotation angle of the rotating arm 30 and the target rotation angle of the rotating arm 30, so as to adjust the wheelbase width of the robot to the target wheelbase width.

[0102] The first direction is perpendicular to the robot's forward direction.

[0103] This method facilitates further refinement of the specific adjustment method for the wheelbase width. The wheelbase width is adjusted by changing the rotation angle of the robot's rotating arm 30. The adjustment method is simple and easy to operate. Here, "robot" primarily refers to a wheeled robot.

[0104] In this embodiment, the real-time rotation angle of the robot's rotating arm 30 is β; the robot's length in the first direction is a, the length of the rotating arm 30 is c, and the target wheelbase width is b. The corresponding calculation formula is: γ = arcsin(ba) / (2c). This allows for easy control of the rotation of the rotating arm 30 based on the difference between the target rotation angle γ and the current rotation angle β, thereby adjusting the robot's wheelbase width and improving the accuracy of the adjustment. In this embodiment, the rotating arm 30 can also be referred to as the main arm. Figure 5 As shown, when the robot has a rectangular structure and the robot's forward direction is perpendicular to the robot's length direction, the robot's length in the first direction is also the robot's length a.

[0105] like Figure 5 As shown, the robot in this embodiment can be a rectangular structure, a parallelogram structure, a circular structure, or an irregularly shaped robot structure, or any other structure, as long as the robot can perform operational and agricultural tasks. For example, Figure 5 As shown, when the robot has a rectangular structure and the robot's forward direction is perpendicular to the robot's length direction, the robot's length in the first direction is also the robot's length a. The width of the driving unit can be understood as the width of the driving wheel 40 or the driving track. The length c of the rotating arm 30 can be understood as the distance between the two ends along the length extension direction of the rotating arm 30.

[0106] When it is a tracked robot, the wheelbase width of the tracked robot can be adjusted by adjusting the distance between the tracks on both sides perpendicular to the robot's forward direction. Specifically, a corresponding drive structure can be set up, and the drive structure can push the tracks on both sides perpendicular to the robot's forward direction to move in the same direction, so that the tracks on both sides move closer or further apart.

[0107] When it is a legged robot, the distance between the two legs perpendicular to the robot's forward direction can be adjusted to change the wheelbase width. Specifically, a corresponding drive structure can be set up, which pushes the two legs perpendicular to the robot's forward direction to move in the same direction, so that the two legs move closer or further apart; or the drive structure can rotate the legs to adjust the robot's wheelbase width.

[0108] It should be noted that the real-time rotation angle of the rotating arm 30 may be fixed within a certain period of time, or it may change over time. The real-time rotation angle of the rotating arm 30 can be understood as the angle between the rotating arm 30 and a preset reference direction at the current moment, and this angle may change over time. The target rotation angle of the rotating arm 30 refers to the angle between the position of the rotating arm 30 corresponding to the robot's target wheelbase and the preset reference direction. The target rotation angle of the rotating arm 30 will change with the robot's target wheelbase; when the robot's target wheelbase is determined, the corresponding target rotation angle of the rotating arm 30 is also determined.

[0109] Specifically, the preset reference direction can be selected as the direction in which the rotating arm 30 rotates to any angle. Preferably, when the robot's chassis is a rectangular structure, the preset reference direction can be selected as the direction in which the rotating arm 30 rotates to be parallel to the width direction or the length direction of the chassis 20, or the extension direction of the rotating arm 30 corresponding to the previous dwell angle before adjusting the wheelbase width, or other directions. Figure 5 As shown, preferably, when the direction in which the rotating arm 30 is rotated to be parallel to the width direction of the chassis 20 is selected as the preset reference direction, it can also be understood that when the rotating arm 30 is in the direction parallel to the width direction of the chassis 20, the real-time rotation angle of the rotating arm 30 is 0. The real-time rotation angle of the rotating arm 30 refers to the angle between the real-time position of the rotating arm 30 and the direction in which the rotating arm 30 is parallel to the width direction of the chassis 20. The target rotation angle of the rotating arm 30 refers to the angle between the position of the rotating arm 30 corresponding to the target wheelbase of the robot and the direction in which the rotating arm 30 is parallel to the width direction of the chassis 20. The target rotation angle of the rotating arm 30 is often a fixed value calculated based on the above-mentioned relevant parameters. When the above-mentioned relevant parameters change, the target rotation angle of the rotating arm 30 will also change accordingly.

[0110] In this embodiment, the rotation of the rotating arm 30 is controlled based on its real-time rotation angle and target rotation angle. This includes determining the rotational speed of the drive unit on the rotating arm 30 based on these parameters. This method facilitates control of the rotational speed of the drive unit on the rotating arm 30, ensuring that the real-time rotation angle eventually reaches the target rotation angle. This facilitates adjusting the wheelbase width to the target wheelbase width, ultimately achieving a smooth adjustment of the target wheelbase width.

[0111] Specifically, the rotational speed of the drive unit on the rotating arm 30 is determined based on the real-time rotational angle of the rotating arm 30 and the target rotational angle of the rotating arm 30. This includes: performing PID calculation on the error between the real-time rotational angle of the rotating arm 30 and the target rotational angle of the rotating arm 30 to obtain the rotational speed of the drive unit, and controlling the drive unit to rotate according to the obtained rotational speed of the drive unit to drive the rotating arm 30 to rotate; monitoring the real-time rotational angle of the rotating arm 30, and controlling the drive unit to stop driving the rotating arm 30 when the real-time rotational angle of the rotating arm 30 reaches the target rotational angle of the rotating arm 30.

[0112] Specifically, the real-time rotation angle δ of the rotating arm 30 and the target rotation angle γ of the rotating arm 30 are both input into the PID algorithm. The PID algorithm calculates the rotational speed of the driving unit based on the error between the real-time rotation angle δ and the target rotation angle γ of the rotating arm 30. The real-time rotation angle δ of the rotating arm 30 is monitored, and when the real-time rotation angle δ of the rotating arm 30 reaches the target rotation angle γ, the driving unit is controlled to stop driving the rotating arm 30. Using this method, the rotational speed of the driving unit can be controlled accordingly based on the monitoring of the real-time rotation angle. The control logic is simple and reliable, making it easy for the driving unit to rotate the rotating arm 30 to the target rotation angle, and thus also facilitating adjustment to the target wheelbase width.

[0113] It should be noted that the PID algorithm is a control algorithm in process control that combines the proportional (P), integral (I), and derivative (D) components of the deviation into one. It can correct the control based on the output feedback of the controlled object and can correct it according to the quota or standard when the actual deviation from the plan is measured.

[0114] In this embodiment, after the driving unit stops driving the rotating arm 30, the method further includes: braking and locking the rotating arm 30 to maintain the robot's wheelbase width at the target wheelbase width. This method ensures that the robot's wheelbase width is stably maintained at the target wheelbase width, preventing changes in the wheelbase width during operation. This allows the robot to travel stably at the target wheelbase width, effectively guaranteeing the stability and safety of the robot during operation.

[0115] Specifically, given the real-time rotation angle δ of the current rotating arm 30 and the target rotation angle γ corresponding to the target wheelbase, the real-time rotation angle δ and the target rotation angle γ are input into the PID algorithm. The PID algorithm calculates the rotational speed of the drive wheel 40 by performing proportional, integral, and derivative operations based on the error between the target rotation angle γ and the actual rotation angle δ. This ultimately controls the drive wheel 40 to reach the target position. In other words, when the motion controller monitors the real-time feedback from the encoder that the rotation angle of the rotating arm 30 is γ, the drive wheel 40 is no longer driven. Simultaneously, the controller of the motion robot energizes the electromagnetic brake in the rotary device to lock and brake the rotating arm 30. Thus, when the rotating arm 30 rotates to the target rotation angle γ and is in the locked state...

[0116] Correspondingly, the robot in this embodiment includes a rotating device and a chassis 20. The rotating device is mounted on the chassis 20, and the end of the rotating arm 30 away from the drive wheel 40 is connected to the rotating device. When the drive wheel 40 drives the rotating arm 30 to rotate to the target rotation angle, the drive of the drive wheel 40 is stopped, and the rotation of the rotating arm 30 is braked and locked using the brake in the rotating device to effectively ensure the stability of the rotating arm 30 during operation.

[0117] like Figure 6 As shown, the present invention provides a robot control device, which includes a first acquisition module 2001, a second acquisition module 2002, and an adjustment module 2003. The first acquisition module 2001 acquires the distribution information of the planting rows in the target farmland 10, and determines the target wheelbase width of the robot based on the distribution information of the planting rows in the target farmland 10 and the robot's maximum wheelbase width. The second acquisition module 2002 acquires the initial wheelbase width of the robot before it operates in the planting rows, and compares the initial wheelbase width with the target wheelbase width. The adjustment module 2003 adjusts the robot's operating state based on the comparison result between the initial wheelbase width and the target wheelbase width.

[0118] This invention provides a robot comprising: a chassis 20, a rotating device, a rotating arm 30, a driving unit, and one or more processors and a memory. The rotating device is mounted on the chassis 20, and one end of the rotating arm 30 is connected to the rotating device, so that one end of the rotating arm 30 is rotatably mounted on the chassis 20 via the rotating device. The other end of the rotating arm 30 is connected to the driving unit, which drives the rotating arm 30 to rotate to adjust the robot's operating state. The memory stores one or more programs, wherein when one or more programs are executed by one or more processors, the one or more processors implement the robot control method provided in any of the above embodiments. Using this method, it is convenient to control the driving unit to rotate the rotating arm 30 to a target rotation angle to adjust the wheelbase width to the target wheelbase width, thereby making the robot's wheelbase width compatible with two target working tracks 11, facilitating the robot's smooth passage on the two target working tracks 11, and ensuring the robot's operational safety.

[0119] The present invention provides a non-volatile storage medium that stores multiple instructions, which are applicable to the robot control method provided in any of the above embodiments being loaded and executed by a processor.

[0120] The present invention provides an electronic device, comprising: one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the robot control method provided in any of the above embodiments.

[0121] As can be seen from the above description, the above embodiments of the present invention achieve the following technical effects: it facilitates the adjustment of the wheel track of the robot, avoiding the technical problems of crushing plants and difficulty in passing through narrow fields and roads due to a fixed wheel track width.

[0122] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0123] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0124] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0125] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling a robot, characterized in that, include: Obtain the distribution information of the planting rows in the target farmland, and determine the target wheel track width of the robot based on the distribution information of the planting rows in the target farmland and the maximum wheel track width of the robot; wherein, the wheel track width is the distance between the driving and traveling parts of the robot; Obtain the initial wheelbase width of the robot before it performs operations in the planting row, and compare the initial wheelbase width of the robot with the target wheelbase width of the robot; The robot's operating state is adjusted based on the comparison between the robot's initial wheelbase width and the robot's target wheelbase width. The step of obtaining the distribution information of planting rows in the target farmland, and determining the target wheelbase width of the robot based on the distribution information of planting rows in the target farmland and the maximum wheelbase width of the robot, includes: Obtain the number of planting rows in the target farmland; In the case of a planting row in the target farmland, the planting operation row in the target farmland is determined, the tillage lanes on both sides of the operation row are identified as two tillage lanes in the target farmland, and the target wheelbase width of the robot is determined based on the two tillage lanes and the maximum wheelbase width. Specifically, the two working roads of the target farmland are fitted into two target working lines, and the distance between the two target working lines is determined. If the distance between the two target working lines is greater than the maximum wheel track width, it is determined that the robot cannot currently travel on the corresponding two working roads. In the case of multiple planting rows in the target farmland, one or more preset planting rows are selected as working rows according to the maximum wheel track width. The tillage roads on both sides of the working rows are identified as two tillage roads for the target farmland, and the target wheel track width of the robot is determined according to the two tillage roads. The step of adjusting the robot's operating state based on a comparison between the robot's initial wheelbase width and its target wheelbase width includes: When the difference between the robot's initial wheelbase width and the target wheelbase width is within a preset error range, the robot is controlled to travel along the two working tracks of the target farmland. When the difference between the initial wheelbase width of the robot and the target wheelbase width exceeds the preset error range, the wheelbase width of the robot is adjusted so that the robot can travel along the two working roads of the target farmland. The adjustment of the wheelbase width of the robot includes: Obtain the real-time rotation angle of the robot's rotating arm; The width of the driving unit on the rotating arm, the length of the robot in the first direction, and the length of the rotating arm are obtained. The target rotation angle of the rotating arm is calculated based on the width of the driving unit, the length of the robot in the first direction, the length of the rotating arm, and the target wheelbase width. The rotation of the rotating arm is controlled based on the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm, so as to adjust the wheelbase width of the robot to the target wheelbase width. Wherein, the first direction is perpendicular to the robot's forward direction; The step of controlling the rotation of the rotating arm based on the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm includes: A PID calculation is performed on the error between the real-time rotation angle of the rotating arm and the target rotation angle of the rotating arm to obtain the rotation speed of the driving unit, and the rotation of the driving unit is controlled according to the obtained rotation speed of the driving unit to drive the rotating arm to rotate. The real-time rotation angle of the rotating arm is monitored, and when the real-time rotation angle of the rotating arm reaches the target rotation angle of the rotating arm, the driving unit is controlled to stop driving the rotating arm.

2. The method according to claim 1, characterized in that, The step of determining the target wheelbase width of the robot based on the two working roads and the robot's maximum wheelbase width includes: If the distance between the two target work lines is less than or equal to the maximum wheelbase width, the distance between the two target work lines shall be taken as the target wheelbase width of the robot.

3. The method according to claim 1, characterized in that, After obtaining the number of planting rows in the target farmland, the method further includes: In the case of multiple planting rows in the target farmland, the distance between each of the machine-cultivated roads is obtained. Based on the distance between each of the machine-cultivated roads and the maximum wheel track width, two working machine-cultivated roads for the target farmland are determined from each of the machine-cultivated roads. The target wheel track width of the robot is determined based on the two working machine-cultivated roads. The distance between the two working machine-cultivated roads is less than or equal to the maximum wheel track width.

4. The method according to claim 3, characterized in that, The step of obtaining the spacing between each of the aforementioned farm roads includes: The farm roads of the target farmland are fitted into operation lines, the spacing between each operation line is obtained, and the spacing between each operation line is used as the spacing between each farm road. The step of determining two working farm roads for the target farmland from among the farm roads based on the spacing between each of the farm roads and the maximum wheel track width includes: Compare the spacing between each of the said farm roads with the maximum wheel track width, and select any two farm roads whose spacing is less than or equal to the maximum wheel track width as the two working farm roads.

5. A control device for a robot, characterized in that, include: The first acquisition module is used to acquire the distribution information of the planting rows of the target farmland, and determine the target wheel track width of the robot based on the distribution information of the planting rows of the target farmland and the maximum wheel track width of the robot; wherein, the wheel track width is the distance between the driving and traveling parts of the robot; The second acquisition module is used to acquire the initial wheel track width of the robot before it performs operations in the planting row, and to compare the initial wheel track width of the robot with the target wheel track width of the robot. The adjustment module is used to adjust the operating state of the robot based on the comparison result between the robot's initial wheelbase width and the robot's target wheelbase width; Wherein, if the distance between two target work lines is greater than the maximum wheel track width, it is determined that the robot is currently unable to travel on the corresponding two farm roads, and the robot's control device is applicable to the robot control method of any one of claims 1 to 4.

6. A robot, characterized in that, include: A chassis and a slewing device, wherein the slewing device is mounted on the chassis; A rotating arm, one end of which is connected to the rotary device; The rotating arm is connected to a drive unit, and the other end of the rotating arm is connected to the drive unit so that the rotating arm can be rotated by the drive unit to adjust the operating state of the robot. In addition, one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the robot control method of any one of claims 1 to 4.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores multiple instructions applicable to the control method of the robot according to any one of claims 1 to 4, which is loaded and executed by a processor.

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