Laser weeding robot interaction method and system based on environmental information force sense feedback

Abstract

The invention belongs to the technical field of weeding robots, and particularly relates to a laser weeding robot interaction method and system based on environmental information force sense feedback. A multi-dimensional matrix is formed by collected environment information, a principal component analysis method is used, feature vectors with feature values in the first three rows are extracted to form a new three-dimensional matrix which is called as an offset direction matrix, a robot coordinate system serves as a basic coordinate system, pitching, rolling and yaw angles between the offset direction matrix and the robot basic matrix are calculated, and the angle of pitch, rolling and yaw between the offset direction matrix and the robot basic matrix is calculated. A virtual spring-damping model is used, a resistance field is calculated, then resistance field information is input into a rocker with force sense feedback, corresponding resistance is generated, an operator feels the characterization resistance formed by the weeding operation environment, and therefore the operation mode is adjusted, and the robot completes weeding operation. The laser weeding robot is used for meeting the requirements for laser weeding and the working environment, simplifying the operation process, improving the interaction efficiency and reducing the use difficulty of the laser weeding robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of weeding robots, and in particular relates to a laser weeding robot interaction method based on environmental information force feedback and a system thereof. Background Art

[0002] Currently, chemical methods are the main means of weed control, but improper application of herbicides can cause environmental pollution and serious pesticide damage to sensitive crops in the following crops. Mechanical weeding can reduce the application of herbicides and reduce the risk of pesticide damage, but the operation accuracy is low (centimeter level), the seedling injury rate is high, and the weeding effect between seedlings is poor. Laser weeding, as a targeted weeding technology, has millimeter-level operation accuracy, can perform weeding between seedlings / rows, has a low seedling injury rate, and realizes pesticide-free weeding operations.

[0003] Weed control is a key step in crop planting. Weeds compete with crops for nutrients, affecting crop growth, resulting in reduced yields and threatening national food security. Traditional weed control methods mainly rely on chemical weed control, that is, spraying herbicides. The application of herbicides can easily lead to serious pesticide damage to sensitive crops in subsequent crops, causing environmental pollution, which is not conducive to the development of green agriculture and threatens the health of the people. Mechanical weeding can reduce the application of herbicides and reduce the risk of pesticide damage, but the operation accuracy is low (centimeter level), the seedling injury rate is high, and the weeding effect between seedlings is poor. Laser weeding, as a targeted weeding technology, has millimeter-level operation accuracy, can perform weeding between seedlings / rows, has a low seedling injury rate, and realizes pesticide-free weeding operations.

[0004] The environment faced by laser weeding robots is quite different from that of factories. The weed growth position, density and shape vary greatly. The terrain fluctuations also affect the laser focusing operation, and it is impossible to complete the weeding task in the pre-set working mode. In situations where autonomous movement is limited, such as when the satellite positioning signal is blocked, the operator needs to manually operate the laser weeding robot to complete the weeding task.

[0005] Since laser burning takes a certain amount of time and the laser also takes a certain amount of time to adjust its focal length, when the ground is densely covered with weeds or the terrain is undulating frequently, the operator should appropriately slow down the robot's movement speed to allow the laser equipment sufficient reaction time to meet the requirements of weed removal. However, since it is difficult for operators to intuitively feel environmental changes, they can usually only judge the current working environment through data information, which leads to a longer operation judgment time, easily causing operator fatigue and reducing the interactive experience with the robot. Summary of the invention

[0006] The present invention provides a laser weeding robot interaction method based on environmental information force feedback, which solves the problems of laser weeding requirements and operating environment, simplifies the operation process, improves the interaction efficiency, and reduces the difficulty of using the laser weeding robot.

[0007] The present invention provides a laser weeding robot interaction system based on force feedback of environmental information, which is used to realize a laser weeding robot interaction method based on force feedback of environmental information.

[0008] The present invention is achieved through the following technical solutions:

[0009] A laser weeding robot interaction method based on force feedback of environmental information, the method specifically comprises the following steps: collecting environmental information to form a multidimensional matrix, using the principal component analysis method to extract eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called an offset direction matrix, taking the robot's own coordinate system as the basic coordinate system, calculating the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, using a virtual spring-damper model to calculate the resistance field, and then inputting the resistance field information into a joystick with force feedback to generate corresponding resistance, so that the operator can feel the characteristic resistance formed by the weeding operation environment, thereby adjusting the operation mode and enabling the robot to complete the weeding operation.

[0010] Furthermore, the information in the multidimensional matrix formed by the collected environmental information is the distribution of weeds on the ground and the undulation of the terrain in the direction of movement sensed by the height sensor.

[0011] Furthermore, the acquired multiple groups of multi-source information are arranged in parallel to form a matrix D = [x1, x2, ..., xn], where the subscripts 1, 2, ..., n represent the types of data collected, and the letter x is a column vector, representing all data of the i-th type of data in the interactive control period.

[0012] Furthermore, the principal component analysis method is used to extract the main change direction of the above data matrix information, and the eigenvalues ​​are arranged according to the size of the calculated eigenvalues. The eigenvectors corresponding to the top three eigenvalues ​​are extracted to represent the main change direction of the collected data in the three-dimensional space. The three eigenvectors are arranged to form an offset direction matrix:

[0013]

[0014] Among them, the three column vectors a, b, and c are the three eigenvectors mentioned above.

[0015] Furthermore, the robot's own fixed coordinate system is used as the basic coordinate system to calculate the roll, pitch and yaw angles of the three characteristic vectors obtained above relative to the basic coordinate system. The calculation method is as follows:

[0016] θ=arcsin(b z )

[0017] α=-arctan 2(a z ,c z )

[0018] β=-arctan 2(b x , b y )

[0019] Among them, θ, α, β represent the pitch, roll and yaw angles respectively.

[0020] Furthermore, the virtual offset torque is calculated according to the angular deviation relative to the basic coordinates. The calculation model is based on a three-dimensional virtual spring-damper model. The specific calculation method is as follows:

[0021]

[0022] Among them, k represents rotational elasticity, b represents rotational damping, Δ represents the change in angle between the previous moment and the current moment. The settings of k and b are based on the maximum output force that the force feedback device can provide, ensuring that the offset torque τ at each moment is less than or equal to the maximum output force of the device, and T constitutes a resistance field in three-dimensional space.

[0023] Furthermore, when the weed growth direction is the same as the robot running direction, the angle between the characteristic matrix and the basic matrix is ​​small, and the weed density is small, the virtual offset force generated is small, and the operator can smoothly push the joystick to control the robot to move forward;

[0024] When the angle between the feature matrix and the basic matrix is ​​large, or the weed density is large, or the terrain undulation changes greatly, the virtual offset force generated is large, and the operator will be subjected to large resistance, thereby slowing down the operator's operating tendency in this direction, thereby slowing down the robot's speed in this direction, giving the weeding system more execution time to remove a large number of weeds.

[0025] A laser weeding robot interaction system based on force feedback of environmental information, the system uses the laser weeding robot interaction method based on force feedback of environmental information as described above, the system comprises:

[0026] The environmental information collected by the acquisition module is constructed into a multidimensional matrix. The principal component analysis method is used in the extraction module to extract the eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called the offset direction matrix, so as to achieve the purpose of extracting environmental information characteristics; the resistance field information module uses the robot's own coordinate system as the basic coordinate system, calculates the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, and uses a virtual spring-damper model to calculate the resistance field. The resistance field information is then input into the joystick with force feedback to generate corresponding resistance, so that the operator can feel the characteristic resistance formed by the weeding operation environment, thereby adjusting the operation mode to enable the robot to complete the weeding operation.

[0027] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the above method is implemented.

[0028] A computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0029] The beneficial effects of the present invention are:

[0030] The present invention converts environmental information into virtual resistance field information, and assists and guides the operator in the form of three-dimensional force feedback, thereby simplifying the operator's operation judgment and reducing the difficulty of operation.

[0031] The method of the present invention aims at the characteristics of laser weeding tasks. By collecting environmental information and extracting the main direction of information change, the core influencing factors such as weed distribution and terrain undulation are converted into a resistance field, and the resistance is displayed through a force sensing device, so that the operator can more intuitively feel the environmental changes faced by the robot based on force sensing interaction. At the same time, the formed resistance can also guide the operator to act in the correct direction of operation change, reducing the burden of the operator to judge how to operate more effectively by viewing various data information, simplifying the operation difficulty of the laser weeding robot, and improving the interaction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the method of the present invention.

[0033] Figure 2 It is a schematic diagram of the force feedback rocker of the present invention.

[0034] Figure 3 It is a flow chart of the method of the present invention.

[0035] In the figure, 1. laser weeding robot, 2. undulating ground to be weeded, 3. operator's palm, 4. operating terminal with force feedback joystick, 5. force feedback right joystick, 6. force feedback left joystick, 7. robot's own basic coordinate system 1, 8. offset direction matrix calculated according to environmental information, 9. joystick, 10. x-axis force feedback motor, 11. y-axis force feedback motor, 12. x-axis joystick connection frame, 13. y-axis joystick constraint frame, 14. middle axis. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0037] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0038] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0039] The following is attached to this application specification Figure 1-3 , the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0041] Implementation Method 1

[0042] The present embodiment provides a laser weeding robot interaction method based on force feedback of environmental information. Specifically, the method comprises: forming a multidimensional matrix with the collected environmental information, using the principal component analysis method, extracting the eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called the offset direction matrix, so as to achieve the purpose of extracting environmental information characteristics; taking the robot's own coordinate system as the basic coordinate system, calculating the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, using a virtual spring-damping model to calculate the resistance field, and then inputting the resistance field information into a joystick with force feedback to generate corresponding resistance force, so that the operator can feel the characteristic resistance force formed by the weeding operation environment, thereby adjusting the operation mode and enabling the robot to better complete the weeding operation.

[0043] Furthermore, the information in the multidimensional matrix formed by the collected environmental information includes but is not limited to the distribution of ground weeds detected by sensors such as cameras, the undulation of the terrain in the direction of movement sensed by height sensors, etc.

[0044] Furthermore, the collection interval of multi-source information can be based on the sensor layout or determined according to the robot performance.

[0045] Taking the picture captured by the camera as an example, the fixed pixel length of the y-axis of the picture can be used as the data collection interval to obtain the distribution of weeds in each interval. At the same time, the actual length corresponding to the fixed pixel length is used as a benchmark to measure the ground undulation changes, thereby obtaining multiple sets of multi-source information.

[0046] Arrange the acquired multiple groups of multi-source information in parallel to form a matrix D = [x1, x2, ..., xn], where the subscripts 1, 2, ..., n represent the types of data collected, and the letter x is a column vector, representing all data of the i-th type of data in the interactive control cycle.

[0047] Furthermore, the principal component analysis method is used to extract the main change direction of the above data matrix information, and the eigenvalues ​​are arranged according to the size of the calculated eigenvalues. The eigenvectors corresponding to the top three eigenvalues ​​are extracted to represent the main change direction of the collected data in the three-dimensional space. The three eigenvectors are arranged to form an offset direction matrix:

[0048]

[0049] Among them, the three column vectors a, b, and c are the three eigenvectors mentioned above.

[0050] Furthermore, the robot's own fixed coordinate system is used as the basic coordinate system to calculate the roll, pitch and yaw angles of the three characteristic vectors obtained above relative to the basic coordinate system. The calculation method is as follows:

[0051] θ=arcsin(bz )

[0052] α=-arctan 2(a z ,c z )

[0053] β=-arctan 2(b x , b y )

[0054] Among them, θ, α, β represent the pitch, roll and yaw angles respectively.

[0055] Furthermore, the virtual offset torque is calculated according to the angular deviation relative to the basic coordinates. The calculation model is based on a three-dimensional virtual spring-damper model. The specific calculation method is as follows:

[0056]

[0057] Among them, k represents rotational elasticity, b represents rotational damping, Δ represents the change in angle between the previous moment and the current moment. The settings of k and b are based on the maximum output force that the force feedback device can provide, ensuring that the offset torque τ at each moment is less than or equal to the maximum output force of the device, and T constitutes a resistance field in three-dimensional space.

[0058] Furthermore, the obtained three-dimensional space resistance field T is input into the force feedback rocker control system. Figure 2 As shown. The xy axes of the joystick are connected to two motor drive systems respectively. The motor system includes a motor and a driver. The motor can be directly connected to the joystick or connected to the joystick through a reducer. Usually, the reduction ratio of the reducer is less than 10. The driver drives the motor to rotate in a torque control manner. Specifically, the three torques τx, τy, and τz of the three-dimensional resistance field T are respectively input into the driver of the corresponding motor system as reference values. The driver uses current feedback control to convert the desired torque into a driving current to drive the motor to generate the corresponding desired resistance torque. The resistance torque acts on the operator's fingers through the joystick, so that the operator feels the resistance. Usually, the force feedback joystick only provides rotational torque in the xy axis. At this time, the z-axis torque can be transmitted to another joystick. When there is only one joystick, the dimension of the virtual force field needs to be reduced.

[0059] The x-axis force feedback motor 10 is fixedly connected to the x-axis rocker connecting frame 12, the rocker 9 is inserted into the x-axis rocker connecting frame 12, the middle axis 14 passes through the x-axis rocker connecting frame 12 and is connected to the rocker 9, the rocker 9 is connected to the x-axis rocker connecting frame 12, so that the rocker 9 can rotate along the y-axis direction relative to the x-axis rocker connecting frame 12; then the y-axis force feedback motor 11 is fixedly connected to the y-axis rocker constraint frame 13; the y-axis rocker constraint frame 13 has a groove in the middle, the width of which is the same as the rod diameter of the rocker 9;

[0060] The rocker 9 passes through the middle groove of the y-axis rocker constraint frame 13. When the y-axis force feedback motor 11 rotates, it drives the y-axis rocker constraint frame 13 to rotate along the y-axis. At this time, the middle groove of the y-axis rocker constraint frame 13 constrains the rocker 9, so that the rocker 9 can rotate along the y-axis.

[0061] At this point, the force feedback rocker realizes rotational movement on the x and y axes; when the control algorithm issues control instructions to the motors of each axis, that is, driving current, the motors of each axis will generate simulated force, and the force of each motor is transmitted to the x-axis rocker connection frame 12 and the y-axis rocker constraint frame 13, and then transmitted to the rocker 9, so that the operator can feel the simulated force and realize force feedback.

[0062] When the weed growth direction is the same as the robot's running direction and the weed density is small, the angle between the feature matrix and the robot's own basic matrix is ​​small, and the virtual offset force generated is small, and the operator can push the joystick more smoothly to control the robot to move forward; when the angle between the feature matrix and the basic matrix is ​​large, or the weed density is large, or the terrain undulations are large, the virtual offset force generated is large, and the operator will be subject to greater resistance, thereby slowing down the operator's operating tendency in this direction, thereby slowing down the robot's speed in this direction, giving the weeding system more execution time to better remove weeds.

[0063] Specifically, the present invention collects environmental information to form a multi-dimensional environmental information field, and then uses principal component analysis to reduce dimensionality and transform features to convert the environmental information field into virtual force field information, which assists and guides the operator in the form of three-dimensional force feedback, thereby simplifying the operator's operation judgment and reducing the difficulty of operation.

[0064] Implementation Method 2

[0065] This embodiment provides a laser weeding robot interaction system based on force feedback of environmental information. The system uses a laser weeding robot interaction method based on force feedback of environmental information as described in Embodiment 1. The system includes:

[0066] The environmental information collected by the acquisition module is constructed into a multidimensional matrix. The principal component analysis method is used in the extraction module to extract the eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called the offset direction matrix, so as to achieve the purpose of extracting environmental information characteristics; the resistance field information module uses the robot's own coordinate system as the basic coordinate system, calculates the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, and uses a virtual spring-damper model to calculate the resistance field. The resistance field information is then input into the joystick with force feedback to generate corresponding resistance, so that the operator can feel the characteristic resistance formed by the weeding operation environment, thereby adjusting the operation mode to enable the robot to better complete the weeding operation.

[0067] Specifically, the information collected by the collection module includes, but is not limited to, the distribution of ground weeds detected by sensors such as cameras, the undulation of terrain in the direction of movement sensed by height sensors, and the like.

[0068] Furthermore, the collection interval of multi-source information can be based on the sensor layout or determined according to the robot performance.

[0069] Taking the picture captured by the camera as an example, the fixed pixel length of the y-axis of the picture can be used as the data collection interval to obtain the distribution of weeds in each interval. At the same time, the actual length corresponding to the fixed pixel length is used as a benchmark to measure the ground undulation changes, thereby obtaining multiple sets of multi-source information.

[0070] Arrange the acquired multiple sets of multi-source information in parallel to form a matrix D = [x1, x2, ..., xn], where the subscripts 1, 2, ..., n represent the types of data collected, and the letter x is a column vector, representing all the data of the i-th type of data in the interactive control period;

[0071] Furthermore, the principal component analysis method is used in the extraction module to extract the main change direction of the above data matrix information, and the eigenvalues ​​are arranged by the calculated size, and the eigenvectors corresponding to the top three eigenvalues ​​are extracted to represent the main change direction of the collected data in the three-dimensional space. The three eigenvectors are arranged to form an offset direction matrix:

[0072]

[0073] Among them, the three column vectors a, b, and c are the three eigenvectors mentioned above.

[0074] Furthermore, the resistance field information module uses the robot's own fixed coordinate system as the basic coordinate system to calculate the rolling, pitching and yaw angles of the three characteristic vectors obtained above relative to the basic coordinate system. The calculation method is as follows:

[0075] θ=arcsin(b z )

[0076] α=-arctan 2(a z ,c z )

[0077] β=-arctan 2(b x , b y )

[0078] Among them, θ, α, β represent the pitch, roll and yaw angles respectively.

[0079] Furthermore, the virtual offset torque is calculated according to the angular deviation relative to the basic coordinates. The calculation model is based on a three-dimensional virtual spring-damper model. The specific calculation method is as follows:

[0080]

[0081] Among them, k represents rotational elasticity, b represents rotational damping, Δ represents the change in angle between the previous moment and the current moment. The settings of k and b are based on the maximum output force that the force feedback device can provide, ensuring that the offset torque τ at each moment is less than or equal to the maximum output force of the device, and T constitutes a resistance field in three-dimensional space.

[0082] Furthermore, when the weed growth direction is the same as the robot running direction, the angle between the characteristic matrix and the basic matrix is ​​small, and the weed density is small, the virtual offset force generated is small, and the operator can push the joystick smoothly to control the robot to move forward;

[0083] When the angle between the feature matrix and the basic matrix is ​​large, or the weed density is large, or the terrain undulation changes greatly, the virtual offset force generated is large, and the operator will be subjected to greater resistance, thereby slowing down the operator's operating tendency in this direction, thereby slowing down the robot's speed in this direction, giving the weeding system more execution time to better remove a large number of weeds.

[0084] The x-axis force feedback motor 10 is fixedly connected to the x-axis rocker connecting frame 12, the rocker 9 is inserted into the x-axis rocker connecting frame 12, the middle axis 14 passes through the x-axis rocker connecting frame 12 and is connected to the rocker 9, the rocker 9 is connected to the x-axis rocker connecting frame 12, so that the rocker 9 can rotate along the y-axis direction relative to the x-axis rocker connecting frame 12; then the y-axis force feedback motor 11 is fixedly connected to the y-axis rocker constraint frame 13; the y-axis rocker constraint frame 13 has a groove in the middle, the width of which is the same as the rod diameter of the rocker 9;

[0085] The rocker 9 passes through the middle groove of the y-axis rocker constraint frame 13. When the y-axis force feedback motor 11 rotates, it drives the y-axis rocker constraint frame 13 to rotate along the y-axis. At this time, the middle groove of the y-axis rocker constraint frame 13 constrains the rocker 9, so that the rocker 9 can rotate along the y-axis.

[0086] At this point, the force feedback rocker realizes rotational movement on the x and y axes; when the control algorithm issues control instructions to the motors of each axis, that is, driving current, the motors of each axis will generate simulated force, and the force of each motor is transmitted to the x-axis rocker connection frame 12 and the y-axis rocker constraint frame 13, and then transmitted to the rocker 9, so that the operator can feel the simulated force and realize force feedback.

[0087] Figure 29 is an operating joystick, 10 is a motor system for providing force feedback in the x-axis direction, and 11 is a motor system for providing force feedback in the y-axis direction. The motors in each direction are directly connected to the joystick or through a reducer with a reduction ratio of less than 10 to achieve a direct drive or quasi-direct drive effect.

[0088] Implementation Method 3

[0089] An embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the memory is used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory and the processor are connected via a bus. Specifically, the processor implements any step in the first embodiment above by running the computer program stored in the memory.

[0090] It should be understood that in the embodiments of the present invention, the processor referred to may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0091] The memory may include a read-only memory, a flash memory, and a random access memory, and provides instructions and data to the processor. A part or all of the memory may also include a nonvolatile random access memory.

[0092] It can be seen from the above that the electronic device provided in the embodiment of the present invention can implement the laser weeding robot interaction method based on environmental information force feedback as described in embodiment 1 by running a computer program, thereby obtaining a new weeding method, which enables the operator to feel the characteristic resistance formed by the weeding operation environment, thereby adjusting the operation mode and enabling the robot to better complete the weeding operation.

[0093] It should be understood that if the above-mentioned integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method implementations when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0094] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein.

[0095] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0096] It should be noted that the methods and detailed examples provided in the above embodiments can be combined with the devices and equipment provided in the embodiments, and references can be made to each other, and no further details will be given.

[0097] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0098] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal equipment and method can be implemented in other ways. For example, the device / equipment implementation described above is only illustrative, for example, the division of the above modules or units is only a logical function division, and in actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0099] The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above-mentioned embodiments, or replace some of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A laser weeding robot interaction method based on environmental information force feedback, characterized in that: The method specifically comprises the following steps: forming a multidimensional matrix from the collected environmental information, using the principal component analysis method, extracting the eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called the offset direction matrix, taking the robot's own coordinate system as the basic coordinate system, calculating the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, using a virtual spring-damper model to calculate the resistance field, and then inputting the resistance field information into a joystick with force feedback to generate a corresponding resistance force, so that the operator can feel the characteristic resistance force formed by the weeding operation environment, thereby adjusting the operation mode and enabling the robot to complete the weeding operation.

2. The laser weeding robot interaction method according to claim 1, characterized in that: The information in the multidimensional matrix formed by the collected environmental information includes the distribution of weeds on the ground and the undulation of the terrain in the direction of movement sensed by the height sensor.

3. The laser weeding robot interaction method according to claim 2, characterized in that: Arrange the acquired multiple groups of multi-source information in parallel to form a matrix D = [x1, x2, ..., xn], where the subscripts 1, 2, ..., n represent the types of data collected, and the letter x is a column vector, representing all data of the i-th type of data in the interactive control cycle.

4. The laser weeding robot interaction method according to claim 1, characterized in that: The principal component analysis method is used to extract the main change direction of the above data matrix information, and the eigenvalues ​​are arranged by the calculated size. The eigenvectors corresponding to the top three eigenvalues ​​are extracted to represent the main change direction of the collected data in three-dimensional space. The three eigenvectors are arranged to form an offset direction matrix: Among them, the three column vectors a, b, and c are the three eigenvectors mentioned above.

5. The laser weeding robot interaction method according to claim 4, characterized in that: Taking the robot's own fixed coordinate system as the basic coordinate system, calculate the roll, pitch and yaw angles of the three eigenvectors obtained above relative to the basic coordinate system. The calculation method is as follows: 0 = arcsin(bz) α=-arctan2(a,c.) β=-arctan2(b,b,) Among them, θ, α, β represent the pitch, roll and yaw angles respectively.

6. The laser weeding robot interaction method according to claim 5, characterized in that: According to the angular deviation relative to the basic coordinates, the virtual offset torque is calculated. The calculation model is based on the three-dimensional virtual spring-damper model. The specific calculation method is as follows: Among them, k represents rotational elasticity, b represents rotational damping, Δ represents the change in angle between the previous moment and the current moment. The settings of k and b are based on the maximum output force that the force feedback device can provide, ensuring that the offset torque τ at each moment is less than or equal to the maximum output force of the device, and T constitutes a resistance field in three-dimensional space.

7. The laser weeding robot interaction method according to claim 6, characterized in that: When the weed growth direction is the same as the robot's running direction, the angle between the characteristic matrix and the basic matrix is ​​small, and the weed density is small, the virtual offset force generated is small, and the operator can smoothly push the joystick to control the robot to move forward; When the angle between the feature matrix and the basic matrix is ​​large, or the weed density is large, or the terrain undulation changes greatly, the virtual offset force generated is large, and the operator will be subjected to large resistance, thereby slowing down the operator's operating tendency in this direction, thereby slowing down the robot's speed in this direction, giving the weeding system more execution time to remove a large amount of weeds.

8. A laser weeding robot interactive system based on environmental information force feedback, characterized in that: The system uses a laser weeding robot interaction method based on environmental information force feedback as claimed in claim 1, and the system includes: The environmental information collected by the acquisition module is formed into a multidimensional matrix. The principal component analysis method is used in the extraction module to extract the eigenvectors with the top three eigenvalues ​​to form a new three-dimensional matrix, called the offset direction matrix, so as to achieve the purpose of extracting environmental information features. The resistance field information module uses the robot's own coordinate system as the basic coordinate system, calculates the pitch, roll and yaw angles between the offset direction matrix and the robot's basic matrix, and uses a virtual spring-damper model to calculate the resistance field. The resistance field information is then input into the joystick with force feedback to generate corresponding resistance, allowing the operator to feel the representative resistance formed by the weeding operation environment, thereby adjusting the operation mode and enabling the robot to complete the weeding operation.

9. A computer device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images