Pineapple flower-oriented target water spraying robot and control method thereof

Abstract

The application discloses a pineapple flower target spraying robot and a control method thereof. The pineapple flower target spraying robot comprises a moving device, a detection positioning device, a water spraying device and a control system. The moving device adopts a gantry structure and is horizontally arranged on a seedbed, and is capable of changing lines through four-wheel steering. The detection positioning device is capable of detecting and positioning the position of the flower core of multiple pots of pineapple flowers in a line through a depth camera. The water spraying device controls corresponding nozzles to target spray according to the position information of each flower core. The control system realizes the cooperation among the moving device, the detection positioning device and the water spraying device, and controls the pressure and flow of water spraying in real time according to the height, volume and growth stage of the flower core of the pineapple flower. The application realizes accurate and intelligent target spraying of the pineapple flower, and improves the operation efficiency and the utilization rate of water resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent agricultural equipment, in particular to a target spraying robot for pineapple flowers and a control method thereof. BACKGROUND

[0002] The pineapple flower, also known as an ornamental pineapple, is a high-end flower originally from Mexico, Brazil and Argentina, and has been popular in the market in recent years. The pineapple flower has underdeveloped root systems and mainly absorbs water from the leaf tube. When spraying water, the flower core needs to be aimed at a certain pressure, and the leaf tube needs to be ensured to have water, while the pot needs to be avoided from accumulating water to prevent root rot.

[0003] Batch production of pineapple flowers is mainly carried out in a greenhouse, and the pineapple flowers often need to be sprayed. Spraying by manpower is time-consuming, laborious and inefficient. When spraying by mechanical equipment, the positioning error of the position of the pineapple flower core is large, which may cause too much water to fall into the pot and cause the pineapple flower to rot, and the water utilization rate is low. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a target spraying robot for pineapple flowers and a control method thereof, which realizes precise and intelligent target spraying, improves the work efficiency and improves the utilization rate of water resources.

[0005] The present application achieves the above technical purpose through the following technical means.

[0006] A target spraying robot for pineapple flowers comprises:

[0007] A moving device enables the target spraying robot to move along the seedbed.

[0008] A detection and positioning device identifies and locates the position coordinates of the pineapple flower core.

[0009] A water spraying device controls the spray head to target according to the position of the flower core, and then performs variable pressure and variable volume spraying.

[0010] A control system comprises a control box for receiving information obtained by the detection and positioning device, and further controls the spray head to target and perform variable pressure and variable volume spraying. The control box is also used to control the moving device to turn and walk.

[0011] The water spraying device comprises a water tank, a water pipe, a water pressure adjusting unit, an extension rod and a target spraying mechanism. The water tank is arranged on the moving device and connected to the water pressure adjusting unit and the target spraying mechanism in sequence through the water pipe. The target spraying mechanism is connected to the middle position of the upper part of the moving device through the extension rod.

[0012] In the technical scheme, the water spraying mechanism comprises a sliding rail, a directional sliding block, a position dispersion plate, a screw sliding block, a screw rod, a two-degree-of-freedom steering engine, a nozzle, a sliding module and a motor; the sliding module is clamped on one side of the sliding rail and can move along the sliding rail; the directional sliding block is connected to the top of the sliding module through a dispersion sliding groove on the position dispersion plate; the screw sliding block is fixed below the position dispersion plate and is sleeved on the screw rod; the motor is installed on the sliding rail through a motor fixing plate, and the screw rod is connected with the output shaft of the motor; the two-degree-of-freedom steering engine is installed on the sliding module through an engine mounting plate; and the nozzle is clamped in the mounting hole of the U-shaped support of the two-degree-of-freedom steering engine.

[0013] In the technical scheme, the water spraying pressure adjusting unit comprises a diaphragm pump, a pressure sensor, an electric regulating valve, a one-to-six water distributor, a one-to-two water distributor A, an overflow valve, an electromagnetic valve and a one-to-two water distributor B; two water pipes are led from two water tanks respectively, one of which is used as a return water pipe and the other of which is used as an outlet water pipe; the two return water pipes and the two outlet water pipes form a total return water pipe and a total outlet water pipe through one one-to-two water distributor A respectively; the total outlet water pipe is connected with the inlet end of the diaphragm pump, the outlet end of the diaphragm pump divides the pipeline into two branches through a one-to-two water distributor B, one branch is connected with the total return water pipe to flow back to the water tank through the overflow valve, and the other branch is connected with the pressure sensor and the electric regulating valve and is divided into six branches through a one-to-six water distributor, and then the electromagnetic valve and the nozzle are connected in sequence.

[0014] In the technical scheme, the moving device comprises a digital steering engine, a front fork, a hub motor, a bottom plate and a rack, and the rack is a gantry structure; the two ends of the rack are fixedly connected to the upper part of the bottom plate, the two sides of the bottom plate are fixedly connected with the digital steering engine respectively, the rotating shaft of the digital steering engine is connected with the upper part of the front fork, and the hub motor is fixedly connected to the inner side of the front fork.

[0015] In the technical scheme, the detection positioning device comprises a depth camera, a proximity switch A and a proximity switch B; the depth camera and the proximity switch B are installed at the middle position of the upper part of the rack, and the proximity switch A is fixed on the cross beam on the two sides of the rack.

[0016] In the technical scheme, the water tank is replaced by a mobile water supply reel, one end of the mobile water supply reel is supplied with water by a water pipe for the water spraying robot, and the other end is connected with an external water source.

[0017] A control method of a water spraying robot for pineapple flowers is provided.

[0018] Step one, the water spraying robot is powered on, the depth camera acquires images in real time, and the lower computer controls the water spraying robot to move forward along the seedbed;

[0019] Step two, the host computer calculates the robot position based on the information collected by the depth camera, when the pineapple flower appears in the field of view of the depth camera, and the fitting point is less than or equal to the set distance from the detection line, the lower computer controls the robot to gradually slow down and stop at the specified position;

[0020] Step three, according to the height of the flower core, the lower computer controls the telescopic rod to adjust the height of the spray head; according to the flower core position, the lower computer controls the motor to adjust the distance between the multiple spray heads; according to the target angle calculated by the upper computer, the lower computer controls the two-degree-of-freedom rudder to rotate and target;

[0021] Step four, after the targeting is completed, according to the growth stage of the pineapple flower, the flower core volume and the flower core height, the upper computer makes a decision on the water spraying pressure and the water spraying amount, the lower computer controls the electric regulating valve to regulate the pressure, and controls the opening time of the electromagnetic valve to control the water spraying amount;

[0022] Step five, after the water spraying is completed, the two-degree-of-freedom rudder is reset, and steps one to five are repeated.

[0023] Further, the method for obtaining the specified position is that the depth camera obtains the center point coordinates of multiple flower cores in a row, fits the center points into a straight line, forms a line segment with the two center points of the edge as the endpoints, and takes the midpoint of the line segment as the fitting point; a line perpendicular to the forward direction is generated in the image where the center point coordinates of the flower core are located, as a detection line, when the detection line coincides with the fitting point, the robot is just at the specified position.

[0024] Further, the method for obtaining the flower core volume is that according to the flower core positioning target frame information obtained by the depth camera, local point cloud extraction is performed to obtain the point cloud information of the flower core, the point cloud data is first denoised, then the three-dimensional reconstruction of the leaf cup is performed through the extraction of the boundary points of the point cloud, and finally the volume of the leaf cup, i.e. the volume of the flower core, is calculated.

[0025] Further, the process for obtaining the flower core position is:

[0026] After the flower core is recognized, the target frame is obtained, the center point coordinates are obtained according to the left upper coordinates of the target frame and the width and height of the contour, as the pixel two-dimensional coordinates of the flower core;

[0027] A plurality of offset two-dimensional coordinates are obtained near the pixel two-dimensional coordinates of the flower core, the three-dimensional coordinates corresponding to each offset two-dimensional coordinate are obtained according to the point cloud information, the point with the largest Z-axis coordinate is selected from these points as the final flower core point, thus the three-dimensional coordinates of the flower core point in the camera coordinate system are obtained, and the camera three-dimensional coordinates of each flower core are converted to the corresponding spray head coordinate system to obtain the flower core coordinates.

[0028] The beneficial effects of the present application are:

[0029] (1) The mobile device of the present application adopts a gantry structure to span over the seedbed for operation, and the row changing is realized by the way of four-wheel steering; it is suitable for some greenhouses with wider seedbed width and narrower aisle, and compared with the cost of building a suspended track, it has lower cost and wider applicability;

[0030] (2) The present application aims at the irrigation needs of pineapple flowers, and the specific position and volume size of the flower core are obtained by acquiring image information, depth information and point cloud information through a depth camera and combining a deep learning algorithm, which meets the requirements of targeting and quantification;

[0031] (3) The present application considers that the height of the flower core is different in different periods of pineapple flowers, classifies the pineapple flowers according to the growth stage, and dynamically adjusts the height and pressure of the nozzle according to the height of the flower core in different periods combined with image information;

[0032] (4) The present application considers the problem of uneven ground and uneven placement of pineapple flowers, uses proximity switches and PID control to ensure that the robot walks straight along the seedbed, and fits a straight line of the center position of the flower core as the target position for the robot to stop working. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The three-dimensional structure diagram of the pineapple flower targeting water spraying robot of the present application is shown;

[0034] Figure 2 The top view of the pineapple flower targeting water spraying robot of the present application is shown;

[0035] Figure 3 The schematic diagram of water supply by a mobile water supply reel of the present application is shown;

[0036] Figure 4 The schematic diagram of the targeting water spraying mechanism of the present application is shown Figure 1 ;

[0037] Figure 5 The schematic diagram of the targeting water spraying mechanism of the present application is shown Figure 2 ;

[0038] Figure 6 The pressure regulation principle diagram of the present application is shown;

[0039] Figure 7 The hardware schematic diagram of the control system of the present application is shown;

[0040] Figure 8 The schematic diagram of the pineapple flower of the present application is shown;

[0041] Figure 9 The water spraying position adjustment schematic diagram of the present application is shown;

[0042] Figure 10This is a schematic diagram of the servo motor's target angle according to the present invention;

[0043] In the diagram: 1. Water tank; 2. Base plate; 3. Frame; 4. Water pipe; 5. Battery; 6. Water spray pressure regulating unit; 6-1. Diaphragm pump; 6-2. Pressure sensor; 6-3. Electric regulating valve; 6-4. One-to-six water distributor; 6-5. One-to-two water distributor A; 6-6. Overflow valve; 6-7. Solenoid valve; 6-8. One-to-two water distributor B; 7. Support plate; 8. Control box; 9. Telescopic rod; 10. Depth camera; 11. Target spraying mechanism; 11-1. Sliding rail; 11-2 11-3. Orientation slider; 11-4. Position dispersion plate; 11-5. Lead screw slider; 11-6. Lead screw; 11-7. Servo mounting plate; 11-8. Two-degree-of-freedom steering servo; 11-9. Nozzle; 11-10. Sliding module; 11-11. Motor; 11-12. Motor mounting plate; 13. Proximity switch A; 14. Digital servo; 15. Front fork; 16. Hub motor; 17. Seedbed; 18. Mobile water supply reel; 19. Longitudinal beam; 20. T-shaped crossbeam; 111. Proximity switch B. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0045] The present invention discloses a target-spraying robot for pineapple flowers, comprising a moving device, a detection and positioning device, a spraying device, and a control system; the moving device enables the target-spraying robot to move along the seedbed; the positioning device enables the target-spraying robot to identify the pineapple flower core and locate its position coordinates; the spraying device enables the target-spraying robot to control the nozzle to target the flower core according to the obtained flower core position information, and then perform variable pressure spraying.

[0046] like Figure 1 As shown, the mobile device includes a digital servo motor 13, a front fork 14, a hub motor 15, a base plate 2, a frame 3, a battery 5, and a support plate 7. The frame 3 is a gantry structure. The hub motor 15 is bolted to the front fork 14; the shaft of the digital servo motor 13 is fastened to the front fork 14 via a key; the digital servo motor 13 is bolted to the base plate 2; the base plate 2 is bolted to the frame 3; the support plate 7 is bolted to the top of the frame 3; and the battery 5 is fixedly mounted on top of the support plate 7. The hub motor 15 provides power, and the digital servo motor 13 controls steering.

[0047] like Figure 1 , 3As shown in the figure, the detection positioning device includes a depth camera 10, a proximity switch A 12 and a proximity switch B 20. The longitudinal beam 18 is bolted above the support plate 7; the other end of the longitudinal beam 18 is bolted with the T-shaped cross beam 19; the depth camera 10 is bolted below the T-shaped cross beam 19; the proximity switch A 12 is fixed on the cross beam on both sides of the rack 3. The depth camera 10 is above the middle of the robot, which can obtain the image information of a row of pots from top to bottom; the proximity switch A 12 is used to control the distance between the rack 3 and the seedbed 16 on both sides, to ensure that the robot walks along the longitudinal direction of the seedbed 16. The proximity switch B 20 is fixed on the front end of the T-shaped cross beam 19, which detects the distance between the robot and the front wall when the robot reaches the end of the seedbed 16, and is used to control the robot to return.

[0048] As shown in the figure, Figure 1 , 4 The water spraying device includes a water tank 1, a water pipe 4, a water spraying pressure adjusting unit 6, an extension rod 9 and a target spraying mechanism 11. The water tank 1 is fixed in the space composed of the bottom plate 2 and the rack 3, and can be taken out from above the space; the extension rod 9 is connected below the support plate 7 by bolts, and the other end of the extension rod 9 is connected with the sliding rail 11-1 of the target spraying mechanism 11 by bolts; the water in the water tank 1 is connected with the target spraying mechanism 11 through the water pipe 4 and the water spraying hydraulic pressure adjusting unit 6 in turn.

[0049] As shown in the figure, Figure 4 , 5As shown, the target water spraying mechanism 11 includes a sliding rail 11-1, a directional slider 11-2, a position dispersion plate 11-3, a screw rod slider 11-4, a screw rod 11-5, a steering engine mounting plate 11-6, a two-degree-of-freedom steering engine 11-7, a spray head 11-8, a sliding module 11-9, a motor 11-10, and a motor fixing plate 11-11. In this embodiment, the number of directional sliders 11-2, sliding modules 11-9, and spray heads 11-8 is 6, and the number of motors 11-10, screw rods 11-5, and screw rod sliders 11-4 is 2. The sliding module 11-9 is clamped on one side of the sliding rail 11-1 and can move along the sliding rail 11-1. The directional slider 11-2 is connected to the top of the sliding module 11-9 through the dispersion sliding groove on the position dispersion plate 11-3. The screw rod slider 11-4 is fixed below the position dispersion plate 11-3 by bolts and is sleeved on the screw rod 11-5. The motor fixing plate 11-11 is connected to the sliding rail 11-1 by bolts. The motor 11-10 is installed on the motor fixing plate 11-11, and the output shaft of the motor 11-10 is connected to the screw rod 11-5. The steering engine mounting plate 11-6 is fixed to the sliding module 11-9 by bolts. The two-degree-of-freedom steering engine 11-7 is connected to the steering engine mounting plate 11-6 by bolts. The spray head 11-8 is clamped in the mounting hole of the U-shaped bracket of the two-degree-of-freedom steering engine 11-7. The two-degree-of-freedom steering engine 11-7 is driven by an internal drive motor to adjust the angle in the horizontal and vertical planes. The position dispersion plate 11-3 has a dispersion sliding groove. The rotation of the screw rod 11-5 driven by the motor 11-10 causes the screw rod slider 11-4 to move forward and backward, and the position dispersion plate 11-3 fixed to the screw rod slider 11-4 also moves forward and backward, thereby driving the directional slider 11-2 to move along the dispersion sliding groove, and finally causing the sliding module 11-9 to move along the sliding rail 11-1. The spray head 11-8 is indirectly fixed to the sliding module 11-9, so that the distance between the spray heads 11-8 can be adjusted and the number of spray heads 11-8 can be adjusted (according to actual needs).

[0050] The positioning scheme of the pineapple core is as follows:

[0051] The depth camera 10 acquires image information and point cloud information of the pineapple and transmits them to the control box 8. The jetson embedded device runs the YOLO algorithm for target detection based on a pre-trained pineapple core positioning model. Specifically:

[0052] After recognizing the core, the target box is obtained, and the center point coordinates (u1, v1) are obtained according to the left upper coordinates (u0, v0) of the target box and the width w and height h' of the contour, which are used as the pixel two-dimensional coordinates of the core.

[0053]

[0054] A plurality of offset two-dimensional coordinates are obtained near the pixel two-dimensional coordinates of the flower core, the three-dimensional coordinates corresponding to each of the offset two-dimensional coordinates are obtained according to the point cloud information, and the point with the largest Z-axis coordinate among these points is selected as the final flower core point. Thus, the three-dimensional coordinates (x0, y0, z0) of the flower core point in the camera coordinate system are obtained, and in order to realize independent targeting of each spray head, the camera three-dimensional coordinates of each flower core are converted to the corresponding spray head coordinate system to obtain the flower core coordinates (x1, y1, z1); the conversion of the camera three-dimensional coordinates of each flower core to the corresponding spray head coordinate system is determined based on the positional relationship between the depth camera 10 and the spray heads 11-8, and the specific process is a prior art.

[0055] The movement range of the U-shaped bracket of the two-degree-of-freedom steering engine 11-7 is a hemisphere, and the coordinates (x2, y2, z2) of the spray head point when targeting are obtained from the flower core coordinates (x1, y1, z1) and the movement radius r of the corresponding U-shaped bracket (the distance from the spray head point to the origin of the spray head coordinate system), wherein:

[0056]

[0057] As shown in Figure 10 , the final targeting angles α and β are obtained, wherein α is the rotation angle of the two-degree-of-freedom steering engine 11-7 in the vertical direction, and β is the rotation angle of the two-degree-of-freedom steering engine 11-7 in the horizontal direction. The formula is as follows:

[0058]

[0059] As shown in Figure 2 , 6 , the water pressure adjusting unit 6 includes a diaphragm pump 6-1, a pressure sensor 6-2, an electric regulating valve 6-3, a one-to-two water distributor A 6-5, a one-to-six water distributor 6-4, an overflow valve 6-6, an electromagnetic valve 6-7, and a one-to-two water distributor B 6-8; wherein the diaphragm pump 6-1, the pressure sensor 6-2, the electric regulating valve 6-3, and the overflow valve 6-6 are fixed on the support plate 7, the one-to-two water distributor 6-5 and the one-to-six water distributor 6-4 are bolted to the cross beam of the rack 3 connected with the support plate 7, and the electromagnetic valve 6-7 is bolted to the engine mounting plate 11-6 Figure 4). Two water pipes are drawn from each of the two water tanks 1, one as a return water pipe and the other as an outlet water pipe, and the two return water pipes and the two outlet water pipes form a total return water pipe and a total outlet water pipe through a one-to-two water distributor A6-5 respectively; the total outlet water pipe is connected to the inlet end of the diaphragm pump 6-1, and the outlet end of the diaphragm pump 6-1 is divided into two routes through a one-to-two water distributor B6-8, one of which is connected to the total return water pipe to flow back to the water tank 1 through the overflow valve 6-6, and the other of which is connected to the pressure sensor 6-2 and the electric regulating valve 6-3 and is divided into six branches through a one-to-six water distributor 6-4, and is sequentially connected to the electromagnetic valve 6-7 and the spray head 11-8. According to the phenotypic information of the pineapple flowers, the pineapple flowers are classified according to the growth stage, the pineapple flower core height is obtained by the depth camera 10, the pineapple flower core volume is obtained by the depth camera 10, and the spraying pressure decision is made according to the growth stage of the pineapple flowers; finally, the spraying pressure is dynamically adjusted through the pressure sensor 6-2 and the electric regulating valve 6-3; the spraying amount decision is made according to the growth stage of the pineapple flowers, and finally the spraying amount is controlled by controlling the on-off of the electromagnetic valve 6-7.

[0060] As shown in Figure 1 , 3 , the water tank 1 can be replaced by a mobile water supply reel 17, one end of which directly supplies water to the target spraying robot through the water pipe 4, and the other end is connected to an external water source; the target spraying robot advances along the seedbed 16, returns to the original route after advancing to the end, and then turns right to change lanes; when the target spraying robot changes lanes, the mobile water supply reel 17 follows the right movement to complete the lane change.

[0061] As shown in Figure 1 , 2 , 4, 5, 7, the control system includes a control box 8, and the control box 8 has an upper computer, a lower computer, a relay, a motor driver and a wheel hub motor driver; the lower computer adopts a single-chip microcomputer (or PLC), the single-chip microcomputer is connected with the wheel hub motor driver and the wheel hub motor 15 in sequence, and is used for controlling the rotation of the wheels; the single-chip microcomputer is connected with the motor driver and the motor 11-10 in sequence, and is used for controlling the rotation of the lead screw 11-5, and finally adjusting the distance between the spray heads 11-8; the single-chip microcomputer is connected with the two-degree-of-freedom steering rudder 11-7, and is used for controlling the targeting of the spray heads 11-8; the single-chip microcomputer is connected with the telescopic rod 9, and is used for controlling the height of the target spraying mechanism 11; the single-chip microcomputer is connected with the relay and the electromagnetic valve 6-7 in sequence, and is used for controlling the flow of water spraying; the single-chip microcomputer is connected with the relay and the electric regulating valve 6-3 in sequence, and is used for controlling the spraying pressure; the single-chip microcomputer is also connected with the digital rudder 13, and is used for controlling the steering of the wheels; the upper computer is a jetson embedded device, the jetson embedded device is connected with the single-chip microcomputer, and is used for controlling the advancing and spraying actions of the robot; the jetson embedded device is connected with the detection and positioning device, and is used for receiving the data collected and uploaded by the detection and positioning device, and making a decision on the movement of the target spraying.

[0062] AsFigure 8 As shown, the process of obtaining the core volume is as follows: according to the flower core positioning target frame information obtained by the depth camera 10, local point cloud extraction is performed to obtain the point cloud information of the corresponding pineapple flower core, the point cloud data is first denoised, then the leaf cup is three-dimensionally reconstructed by extracting the boundary points of the point cloud, and finally the volume of the leaf cup is calculated by the slice method, that is, the water capacity corresponding to the flower core.

[0063] In order to make the position of the robot when irrigating six pots of pineapple flowers as reasonable as possible, the parking and water spraying position of the robot is adjusted by the following method:

[0064] As shown in Figure 9 , the center point coordinates of the multiple pots of flowers in a row are obtained by the depth camera 10, a straight line is fitted by the least square method, the two center points of the edge are taken as the end points to form a line segment, and the midpoint of the line segment is taken as the fitting point as the marker for the robot to park and work. In addition, a detection line perpendicular to the forward direction is generated in the image where the center point coordinates of the flower core are located (i.e. the position of the origin of the spray head coordinate system). When the distance between the fitting point and the detection line is less than or equal to the set distance h, the moving device slows down and advances, the hub motor 15 is controlled by PID to make the speed of the spray head 11-8 approaching the flower core be 0, and at this time the detection line should coincide with the fitting point. At this moment, the distance between each flower core and the corresponding spray head will not be too large.

[0065] The working principle of the target spraying robot for pineapple flowers of the present application is as follows:

[0066] Step one, the battery 5 powers on the robot, the depth camera 10 obtains images in real time, and the lower computer controls the target spraying robot to move forward along the seedbed 16.

[0067] Step two, the upper computer calculates the position of the robot based on the information collected by the depth camera 10, when the pineapple flowers appear in the field of view of the depth camera 10, and the distance between the fitting point and the detection line is less than or equal to h, the lower computer controls the robot to gradually slow down and stop at the specified position.

[0068] Step three, according to the identified height of the flower core, the lower computer controls the telescopic rod 9 to adjust the height of the spray head 11-8; according to the position of the flower core, the lower computer controls the motor 11-10 to adjust the distance between the spray heads 11-8; according to the target angle calculated by the upper computer, the lower computer controls the two-degree-of-freedom rudder 11-7 to rotate and target.

[0069] Step four, after targeting is completed, according to the growth stage of the pineapple flowers, the volume of the flower core and the height of the flower core, the upper computer makes a decision on the water spraying pressure and the water spraying amount, the lower computer controls the electric regulating valve 6-3 to regulate the pressure, and controls the opening time of the electromagnetic valve 6-7 to control the water spraying amount.

[0070] Step five, after the water spray is completed, the two-degree-of-freedom steering engine 11-7 is reset, and steps one to five are repeated.

[0071] When the target water spraying robot moves to the end of the seedbed 16, the lower computer receives a signal from the proximity switch B20 fixed at the front end of the T-shaped beam 19, the lower computer controls the wheel hub motor 15 to reverse, the robot returns to a specified distance (the length of the seedbed) and stops; then the digital steering engine 13 is controlled to rotate 90°, and the robot advances by a specified distance (the width of the seedbed) and stops; finally, the digital steering engine 13 is rotated by 90°, at which time the robot completes the line change.

[0072] The above embodiments are the preferred embodiments of the present application, but the present application is not limited to the above embodiments, and any obvious improvements, replacements or modifications made by those skilled in the art without departing from the essential content of the present application shall fall within the protection scope of the present application.

Claims

1. A control method for a target-oriented water-spraying robot for pineapple flowers, characterized by, The pineapple flower-oriented target spraying robot comprises: a moving device, so that the target spraying robot moves along the seedbed; a detection positioning device, which identifies the pineapple flower core and locates the position coordinates; a water spraying device, which controls the spray head to target spray according to the flower core position, and then variable pressure and variable volume spraying is performed; a control system, which comprises a control box (8) for receiving the information obtained by the detection positioning device, and then controlling the spray head to target spray and variable pressure and variable volume spraying, and the control box (8) is also used for controlling the moving device to turn and walk; the water spraying device comprises a water tank (1), a water pipe (4), a water spraying pressure adjusting unit (6), a telescopic rod (9) and a target spraying mechanism (11), the water tank (1) is arranged on the moving device and is connected with the target spraying mechanism (11) through the water pipe (4) in sequence, and the target spraying mechanism (11) is connected to the middle position of the upper part of the moving device through the telescopic rod (9); the control method is specifically as follows: step one, the pineapple flower-oriented target spraying robot is powered on, and the depth camera (10) obtains images in real time, and the lower computer controls the pineapple flower-oriented target spraying robot to move forward along the seedbed (16); step two, the upper computer calculates the position of the pineapple flower-oriented target spraying robot based on the information collected by the depth camera (10), when the pineapple flower appears in the field of view of the depth camera (10) and the distance between the fitting point and the detection line is less than or equal to the set distance, the lower computer controls the pineapple flower-oriented target spraying robot to gradually slow down and stop at the specified position; step three, according to the height of the flower core, the lower computer controls the telescopic rod (9) to adjust the height of the spray head (11-8); according to the position of the flower core, the lower computer controls the motor (11-10) to adjust the distance between the multiple spray heads (11-8); according to the target angle calculated by the upper computer, the lower computer controls the two-degree-of-freedom rudder (11-7) to rotate and target spray; step four, after the target spraying is completed, the upper computer makes a decision on the water spraying pressure and the water spraying volume according to the growth stage of the pineapple flower, the volume of the flower core and the height of the flower core, the lower computer controls the electric regulating valve (6-3) to adjust the pressure, and controls the water spraying volume by controlling the opening time of the electromagnetic valve (6-7); step five, after the water spraying is completed, the two-degree-of-freedom rudder (11-7) is reset, and steps one to five are repeated; the method for obtaining the volume of the flower core is as follows: the target frame information of the flower core positioning obtained by the depth camera (10) is used to extract local point cloud information, the point cloud information of the flower core is obtained, the point cloud data is denoised, the three-dimensional reconstruction of the leaf cup is performed by extracting the boundary points of the point cloud, and finally the volume of the leaf cup, that is, the volume of the flower core, is calculated; the process for obtaining the position of the flower core is as follows: the target frame is obtained after the flower core is identified, the center point coordinates are obtained according to the left upper coordinates of the target frame and the width and height of the contour, and the pixel two-dimensional coordinates of the flower core are taken as the pixel two-dimensional coordinates of the flower core; a plurality of offset two-dimensional coordinates are obtained near the pixel two-dimensional coordinates of the flower core, the three-dimensional coordinates corresponding to each offset two-dimensional coordinate are obtained according to the point cloud information, the point with the largest Z-axis coordinate among these points is selected as the final flower core point, the three-dimensional coordinates of the flower core point in the camera coordinate system are obtained, and the camera three-dimensional coordinates of each flower core are converted to the corresponding spray head coordinate system to obtain the flower core coordinates.

2. The control method according to claim 1, characterized by, The method for obtaining the specified position is that a depth camera (10) obtains the center point coordinates of multiple flower cores in a row, fits the center points into a straight line, forms a line segment with the two center points of the edge as the endpoints, and takes the midpoint of the line segment as the fitting point; a line perpendicular to the forward direction is generated in the image where the center point coordinates of the flower core are located, as a detection line, and when the detection line coincides with the fitting point, the robot is exactly at the specified position.

3. The control method according to claim 1, characterized by, The water spraying mechanism (11) comprises a sliding rail (11-1), a directional sliding block (11-2), a position dispersion plate (11-3), a screw rod sliding block (11-4), a screw rod (11-5), a two-degree-of-freedom steering rudder (11-7), a spray head (11-8), a sliding module (11-9) and a motor (11-10); the sliding module (11-9) is clamped on one side of the sliding rail (11-1) and can move along the sliding rail (11-1); the directional sliding block (11-2) is connected to the top of the sliding module (11-9) through a dispersion sliding groove on the position dispersion plate (11-3); the screw rod sliding block (11-4) is fixed below the position dispersion plate (11-3) and is sleeved on the screw rod (11-5); the motor (11-10) is installed on the sliding rail (11-1) through a motor fixing plate (11-11), and the screw rod (11-5) is connected with the output shaft of the motor (11-10); the two-degree-of-freedom steering rudder (11-7) is installed on the sliding module (11-9) through a rudder fixing plate (11-6); and the spray head (11-8) is clamped in the mounting hole of the U-shaped support of the two-degree-of-freedom steering rudder (11-7).

4. The control method according to claim 1, characterized by, The water spraying pressure adjusting unit (6) comprises a diaphragm pump (6-1), a pressure sensor (6-2), an electric regulating valve (6-3), a one-to-six water distributor (6-4), a one-to-two water distributor A (6-5), an overflow valve (6-6), an electromagnetic valve (6-7) and a one-to-two water distributor B (6-8); two water pipes are led from two water tanks (1), one of which is used as a return water pipe and the other as an outlet water pipe, and the two return water pipes and the two outlet water pipes form a total return water pipe and a total outlet water pipe through a one-to-two water distributor A (6-5) respectively; the total outlet water pipe is connected with the inlet end of the diaphragm pump (6-1), the outlet end of the diaphragm pump (6-1) divides the pipeline into two branches through a one-to-two water distributor B (6-8), one of which is connected with the total return water pipe through the overflow valve (6-6) to flow back to the water tank (1), and the other is connected with the pressure sensor (6-2) and the electric regulating valve (6-3) and is divided into six branches through the one-to-six water distributor (6-4), and then connected with the electromagnetic valve (6-7) and the spray head (11-8) in sequence.

5. The control method according to claim 1, characterized by, The mobile device comprises a digital steering engine (13), a front fork (14), a wheel hub motor (15), a bottom plate (2) and a frame (3), the frame (3) is a gantry structure; the frame (3) is fixedly connected to the upper part of the bottom plate (2), the bottom plate (2) is fixedly connected with the digital steering engine (13) on both sides, the rotating shaft of the digital steering engine (13) is connected with the upper part of the front fork (14), and the inner side of the front fork (14) is fixedly connected with the wheel hub motor (15).

6. The control method according to claim 5, characterized by The detection positioning device comprises a depth camera (10), a proximity switch A (12) and a proximity switch B (20), the depth camera (10) and the proximity switch B (20) are installed on the middle position of the upper part of the frame (3), and the proximity switch A (12) is fixed on the cross beam on both sides of the frame (3).

7. The control method according to claim 1, characterized by, The water tank (1) is replaced by a mobile water supply reel (17), one end of the mobile water supply reel (17) is used for supplying water to the target spraying robot by the water pipe (4), and the other end is communicated with an external water source.

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