A pepper picking robot and control method

Abstract

The present invention discloses a pepper picking robot and a control method, and relates to the technical field of program-controlled manipulators. First, collecting environmental information of pepper growing areas and growth status data of peppers in each path area is helpful to evaluate the growth status of peppers, and provide data support for picking path planning and adjustment of operating parameters. Then, analyzing and obtaining the growth status index values ​​of peppers in each path area is helpful to more accurately identify the maturity and health status of each pepper plant, and then analyzing and obtaining the pepper picking planning path, which can effectively optimize the picking sequence and improve the picking efficiency. Finally, matching and obtaining the operating parameters of the pepper picking robot, and then controlling the pepper picking robot, can reduce the damage to peppers or plants during the picking process, and improve the efficiency and quality of pepper picking.

Description

Technical Field

[0001] The invention relates to the technical field of program-controlled manipulators, and in particular to a pepper picking robot and a control method thereof. Background Art

[0002] A harvesting robot is an automated device used in agriculture. In the field of agricultural production technology, a harvesting robot can replace traditional manual harvesting, helping to improve production efficiency and reduce labor costs. In areas with labor shortages or high labor costs, a harvesting robot can be an economical and efficient solution to enhance the competitiveness and sustainability of agriculture, reduce direct human intervention in agricultural operations, and help reduce soil erosion and chemical use, thereby having a positive impact on the environment.

[0003] The prior art, such as a pepper picking method, device, electronic device and storage medium disclosed in the invention patent announcement with announcement number: CN114347044B, wherein the pepper picking method is used for a control system of a pepper strip picking robot, wherein the picking robot comprises a binocular camera and a two-finger gripper, and comprises the following steps: obtaining a left image and a right image through a binocular camera; obtaining an equivalent central axis segment corresponding to all picking objects according to the left image; obtaining a lower claw angle of the two-finger gripper corresponding to each picking object according to the equivalent central axis segment corresponding to each picking object; obtaining a grasping point of the two-finger gripper corresponding to each picking object according to the equivalent central axis segment corresponding to each picking object; and controlling the two-finger gripper to pick each picking object.

[0004] Prior art, such as a fruit and vegetable picking robot and its control method, is disclosed in the invention patent announcement with announcement number: CN109773788B. The system includes a mobile platform, a picking mechanical arm, a picking hand, a control system and a trailer; the mobile platform is connected to the trailer; the picking mechanical arm is installed on the mobile platform, and the picking hand is installed at the end of the picking mechanical arm; an eye-in-hand camera for obtaining the posture information of the target object is installed on the edge of the picking hand, and a vacuum picker for picking fruits and vegetables is installed on the picking hand, and the vacuum picker transports the fruits and vegetables to the trailer through a vacuum tube; the parallel adjustment mechanism is driven by six servo electric cylinders to realize the six-degree-of-freedom posture adjustment of the camera. The control system is used to process the camera image information and generate and send posture adjustment instructions.

[0005] In combination with the above scheme, it is found that currently in the field of picking robots, usually only the grasping points of the picking machine and the movement route of the machine are analyzed according to the picking object, which may cause damage to the surface of the picking object and fail to reduce the damage caused to the picking object by the picking process. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a pepper picking robot and a control method, which can effectively solve the problems involved in the above-mentioned background technology.

[0007] To achieve the above objectives, the first aspect of the present invention is implemented through the following technical solutions: a pepper picking robot control method, including an agricultural data analysis platform, which collects environmental information of the pepper growing area and growth status data of peppers in each path area.

[0008] The environmental information of the pepper growing area and the growth status data of the peppers in each path area are analyzed to obtain the growth status index value of the peppers in each path area.

[0009] According to the growth status index values ​​of peppers in each path area, the planned path for picking peppers is analyzed.

[0010] The operating parameters of the pepper picking robot are obtained by matching the growth status index values ​​of the peppers in each path area, and then the pepper picking robot is controlled.

[0011] Furthermore, the environmental information of the pepper growing area includes soil humidity and wind speed in the pepper growing areas of each path.

[0012] Furthermore, the analyzing of the environmental information of the pepper growing area and the growth status data of the peppers in each path area includes analyzing the environmental information of the pepper growing area and analyzing the growth status data of the peppers in each path area.

[0013] The environmental information of the pepper growing area is analyzed, and the specific analysis process is: collecting images of the pepper growing areas of each path, comparing the images of the pepper growing areas of each path with the set standard images of the pepper growing areas of each path, and obtaining the number of obstacles in the pepper growing areas of each path.

[0014] The time difference between sending and receiving ultrasonic pulses between the pepper picking robot and each pepper plant in the pepper growing area of ​​each path is collected and recorded as the sending and receiving time difference of each ultrasonic pulse in the pepper growing area of ​​each path, and the speed of sound wave propagation in the air is extracted. The product of the sending and receiving time difference of each ultrasonic pulse in the pepper growing area of ​​each path and the speed of sound wave propagation in the air is taken as the picking distance between each pepper plant in the pepper growing area of ​​each path and the pepper picking robot, and the optimal picking distance of the pepper plants in the pepper growing area of ​​each path is obtained by analysis.

[0015] Arrange a monitoring cycle, set several monitoring time periods in the monitoring cycle, extract the wind speed of the pepper growing area on each path in each monitoring time period, accumulate the wind speed of the pepper growing area on each path in each monitoring time period, extract the total number of monitoring time periods, and obtain the average wind speed of the pepper growing area on each path.

[0016] The soil moisture of each pepper growing area in the environmental information of the pepper growing area is extracted, and the first growth status index value of the peppers in each path area is obtained by comprehensive analysis based on the number of obstacles in the pepper growing area in each path, the optimal picking distance of the pepper plants in the pepper growing area in each path, and the average wind speed in the pepper growing area in each path.

[0017] Furthermore, the first growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the environmental information of the pepper growth area, and is used to quantify the influence of the pepper growth environment on the pepper picking path planning.

[0018] Furthermore, the growth status data of the peppers in each path area are analyzed, and the specific analysis process is: extracting the growth status data of the peppers in each path area to obtain a growth status data set of the peppers in each path area, extracting a growth status comparison data set of the peppers in each path area stored in a pepper growth database, and comprehensively analyzing to obtain a second growth status index value of the peppers in each path area.

[0019] The growth status data set of the peppers in each path area includes the growth status data of the peppers in each path area, and the growth status data of the peppers in each path area includes the plant density of the peppers in each path area, the number of peppers on each pepper plant, the height of each pepper plant, the average saturation change value of the peppers on each pepper plant, and the average volume of peppers on each pepper plant.

[0020] The second growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the growth state data of the peppers in each path area, and is used to quantify the influence of the growth state of the peppers on the pepper picking path planning.

[0021] Furthermore, the specific process of obtaining the growth status index value of the peppers in each path area is as follows: based on the first growth status index value of the peppers in each path area and the second growth status index value of the peppers in each path area, a comprehensive analysis is performed to obtain the growth status index value of the peppers in each path area.

[0022] Furthermore, the analysis obtains a planned path for picking peppers, and the specific analysis process is: comparing the growth status index value of the peppers in each path area with the set growth status index threshold of the peppers in each path area; if the growth status index value of the peppers in a certain path area is higher than or equal to the set growth status index threshold of the peppers in each path area, then the path area is marked as a marked path area, and all marked path areas are traversed to obtain the growth status index value of the peppers in each marked path area.

[0023] The growth status index values ​​of the peppers in each marked path area are numbered in descending order, and the corresponding marked path areas are arranged according to the numbers. The arranged paths are used as the planned picking paths for the peppers.

[0024] Furthermore, the operating parameters of the pepper picking robot are obtained according to the matching of the growth status index values ​​of the peppers in each path area, and then the pepper picking robot is controlled. The specific process is: comparing the growth status index values ​​of the peppers in each path area with the operating parameter ranges of the pepper picking robot corresponding to the set growth status index values ​​of the peppers in each path area, to obtain the operating parameters of the pepper picking robot, and controlling the pepper picking robot according to the operating parameters of the pepper picking robot.

[0025] Furthermore, the growth status index value of peppers in each path area is specifically analyzed under the following conditions:

[0026] ; In the formula, represents the growth status index value of pepper in the i-th path area, represents the first growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set first growth status indicator value, represents the second growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set second growth state index value, e is a natural constant, Indicates the number of each path area, , Indicates the total number of route areas.

[0027] The second aspect of the present invention provides a pepper picking robot, including a visual recognition system, a robotic arm, a positioning system and a control system, wherein: the visual recognition system is used to collect environmental information of the pepper growing area and growth status data of the peppers in each path area.

[0028] The robotic arm, a device used to perform picking actions, can accurately move to the position of the pepper fruit based on the data collected by the visual recognition system and perform stable and accurate picking actions.

[0029] The positioning system is used to locate the target path area according to the pepper picking planning path obtained by analysis.

[0030] The control system is used to control the mechanical arm of the pepper picking robot according to the matching operating parameters of the pepper picking robot.

[0031] The present invention has the following beneficial effects:

[0032] (1) The present invention provides a control method for a pepper picking robot. First, environmental information of the pepper growing area and growth status data of peppers in each path area are collected, which helps to accurately understand the growth status of pepper plants. Then, the growth status index values ​​of peppers in each path area are analyzed to provide data support for the optimization of the picking path. Then, the pepper picking planning path is analyzed to help improve the pepper picking efficiency. Finally, the operating parameters of the pepper picking robot are matched and controlled to help reduce the damage to the peppers caused by the picking process.

[0033] (2) The present invention obtains the growth status index value of peppers in each path area by analyzing, which can provide data support for the planning path of pepper picking, and can more accurately identify the maturity and health status of each pepper plant, thereby effectively reducing the damage and waste of peppers and improving the quality of peppers picked by the pepper picking robot.

[0034] (3) The present invention analyzes the growth status index values ​​of peppers in each path area to obtain a planned picking path for peppers, which helps to improve the accuracy of the pepper picking robot in adjusting the path during the picking process. The picking sequence can be arranged according to the growth status of each pepper plant, which helps to reduce incorrect path selection and unnecessary movement, improve picking efficiency, and effectively reduce the energy consumption and operating time of the pepper picking robot.

[0035] (4) The present invention matches the operating parameters of the pepper picking robot and then controls the pepper picking robot, which can effectively reduce the damage caused to the peppers or plants by the pepper picking robot during the picking process, improve the integrity and health of the picked peppers, and by reducing the damage to the peppers, improve the quality of pepper picking and reduce production costs.

[0036] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the method flow of the present invention.

[0038] Figure 2 An example image of growth status indicator values. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1 As shown, an embodiment of the present invention provides a technical solution: a pepper picking robot control method, including an agricultural data analysis platform, which collects environmental information of the pepper growing area and growth status data of peppers in each path area.

[0041] The environmental information of the pepper growing area and the growth status data of the peppers in each path area are analyzed to obtain the growth status index value of the peppers in each path area.

[0042] According to the growth status index values ​​of peppers in each path area, the planned path for picking peppers is analyzed.

[0043] The operating parameters of the pepper picking robot are obtained by matching the growth status index values ​​of the peppers in each path area, and then the pepper picking robot is controlled.

[0044] Specifically, the environmental information of the pepper growing area includes soil humidity and wind speed in the pepper growing area of ​​each path.

[0045] Specifically, analyzing the environmental information of the pepper growing area and the growth status data of the peppers in each path area includes analyzing the environmental information of the pepper growing area and analyzing the growth status data of the peppers in each path area.

[0046] The environmental information of the pepper growing area is analyzed, and the specific analysis process is: collecting images of the pepper growing areas of each path, comparing the images of the pepper growing areas of each path with the set standard images of the pepper growing areas of each path, and obtaining the number of obstacles in the pepper growing areas of each path.

[0047] It should be explained that the number of obstacles in the pepper growing area of ​​each path refers to the number of physical obstacles in the pepper growing area that may affect the operation of the planting and picking robots, such as rocks, trees, buildings, etc. High-resolution images such as drones and satellite images can be used to identify and count obstacles.

[0048] The time difference between sending and receiving ultrasonic pulses between the pepper picking robot and each pepper plant in the pepper growing area of ​​each path is collected and recorded as the sending and receiving time difference of each ultrasonic pulse in the pepper growing area of ​​each path, and the speed of sound wave propagation in the air is extracted. The product of the sending and receiving time difference of each ultrasonic pulse in the pepper growing area of ​​each path and the speed of sound wave propagation in the air is taken as the picking distance between each pepper plant in the pepper growing area of ​​each path and the pepper picking robot, and the optimal picking distance of the pepper plants in the pepper growing area of ​​each path is obtained by analysis.

[0049] It should be noted that the specific process of analyzing and obtaining the optimal picking distance of pepper plants in the pepper growth area of ​​each path is to use a drone to collect images of the pepper growth area of ​​each path, and use the image of the pepper growth area as a graph. In the graph, different pepper plants are represented by nodes, and the picking distance between each pepper plant and the pepper picking robot is represented by an edge. The starting position of the pepper picking robot is set as the initial node, and the optimal picking distance of the pepper plants in the pepper growth area of ​​each path is obtained according to the Dijkstra algorithm. Starting from the initial node, the shortest path length of the nodes adjacent to the node is gradually updated according to the shortest length between the currently known node and the initial node. For each node, all connected edges are considered, and the shortest path length is updated by comparing the path length from the initial node to the adjacent node. This step is continued until the shortest path length of all nodes is updated. When the shortest path length of all nodes is determined, the optimal path to each pepper plant is selected so that the robot can move as efficiently as possible during the picking process, and the optimal picking distance of the pepper plants in the pepper growth area of ​​each path is obtained.

[0050] Arrange a monitoring cycle, set several monitoring time periods in the monitoring cycle, extract the wind speed of the pepper growing area on each path in each monitoring time period, accumulate the wind speed of the pepper growing area on each path in each monitoring time period, extract the total number of monitoring time periods, and obtain the average wind speed of the pepper growing area on each path.

[0051] The soil moisture of each pepper growing area in the environmental information of the pepper growing area is extracted, and the first growth status index value of the peppers in each path area is obtained by comprehensive analysis based on the number of obstacles in the pepper growing area in each path, the optimal picking distance of the pepper plants in the pepper growing area in each path, and the average wind speed in the pepper growing area in each path.

[0052] It should be explained that the soil moisture in the pepper growing area of ​​each path refers to the water content or moisture content in the soil, which can be directly measured by a soil moisture sensor.

[0053] In this embodiment, the first growth status index value of the pepper in each path area is obtained using the following analysis conditions, specifically:

[0054] ;

[0055] In the formula, represents the first growth status index value of the pepper in the i-th path area, represents the soil moisture in the pepper growing area of ​​the i-th path, Indicates the defined soil moisture. Indicates the impact factor corresponding to the set soil moisture, represents the number of obstacles in the pepper growth area of ​​the i-th path, Indicates the number of reference obstacles set. Indicates the impact factor corresponding to the set number of obstacles, represents the optimal picking distance of the pepper growing area in the i-th path, Indicates the set reference optimal picking distance. Indicates the influencing factor corresponding to the set optimal picking distance, represents the average wind speed in the pepper growing area of ​​the i-th path, Indicates the set reference wind speed, Indicates the impact factor corresponding to the set wind speed, Indicates the number of each path area, , Indicates the total number of route areas.

[0056] It should be explained that when the number of obstacles in the pepper growth area of ​​each path is 0, there is no need to consider the impact of this factor on the first growth status index value of the peppers in each path area, and the impact factor corresponding to the number of obstacles is 0.

[0057] It should be noted that, in the present embodiment, the influencing factors corresponding to the preset soil moisture, the influencing factors corresponding to the number of obstacles, the influencing factors corresponding to the optimal picking distance and the influencing factors corresponding to the wind speed are obtained from the pepper growth database, and the influencing factors corresponding to the soil moisture, the influencing factors corresponding to the number of obstacles, the influencing factors corresponding to the optimal picking distance and the influencing factors corresponding to the wind speed are all numbers between 0 and 1.

[0058] In a specific embodiment, historical data is used to fit the relationship between the soil moisture of the pepper growing areas on each path, the number of obstacles in the pepper growing areas on each path, the optimal picking distance of the pepper plants in the pepper growing areas on each path, the average wind speed in the pepper growing areas on each path, and the first growth state index value of the peppers in each path area to obtain a fitting curve, and the influencing factors corresponding to the soil moisture, the influencing factors corresponding to the number of obstacles, the influencing factors corresponding to the optimal picking distance, and the influencing factors corresponding to the wind speed are determined according to the fitting curve, and the real-time soil moisture of the pepper growing areas on each path, the number of obstacles in the pepper growing areas on each path, the optimal picking distance of the pepper plants in the pepper growing areas on each path, and the average wind speed in the pepper growing areas on each path are substituted into the fitting curve to obtain the corresponding influencing factors.

[0059] It should be explained that the analysis method of this embodiment obtains the first growth status index value of the peppers in each path area by combining the soil moisture of the pepper growing areas on each path, the number of obstacles in the pepper growing areas on each path, the optimal picking distance of the pepper plants in the pepper growing areas on each path, and the average wind speed in the pepper growing areas on each path. This can protect the pepper plants and pepper fruits to the greatest extent, thereby improving the efficiency and quality of picking and optimizing the production management of the pepper growing areas.

[0060] It should be added that the soil moisture in the pepper growing areas of each path, the number of obstacles in the pepper growing areas of each path, the optimal picking distance of the pepper plants in the pepper growing areas of each path and the average wind speed in the pepper growing areas of each path in this formula are correlated and do not exist independently. For example, high humidity usually means a higher soil moisture evaporation rate, which may be affected by the average wind speed. The number of obstacles affects the evaluation of the optimal picking distance. Comprehensive analysis of the soil moisture in the pepper growing areas of each path, the number of obstacles in the pepper growing areas of each path, the optimal picking distance of the pepper plants in the pepper growing areas of each path and the average wind speed in the pepper growing areas of each path can accurately evaluate the first growth status index value of the peppers in each path area.

[0061] In this embodiment, analyzing the soil moisture in the pepper growing areas of each path can enable the pepper picking robot to pick peppers under drier conditions, which helps reduce the possibility of soil adhering to the pepper fruits, thereby reducing the risk of fruit damage. Analyzing the number of obstacles in the pepper growing areas of each path helps to rationally plan the paths of the robotic arm or the pepper picking robot to avoid collisions with obstacles, thereby reducing the possibility of damage to the pepper picking robot. Analyzing the optimal picking distance of the pepper plants in the pepper growing areas of each path helps to adjust the strength and position of the robotic arm during the picking process. Analyzing the average wind speed in the pepper growing areas of each path can reduce the impact of unstable factors in the operation, thereby improving the picking quality and efficiency. Analyzing the first growth status index value of the peppers in each path area helps to improve the efficiency and quality of picking.

[0062] Specifically, the first growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the environmental information of the pepper growth area, and is used to quantify the influence of the pepper growth environment on the pepper picking path planning.

[0063] Specifically, the growth status data of the peppers in each path area are analyzed, and the specific analysis process is: extract the growth status data of the peppers in each path area to obtain a growth status data set of the peppers in each path area, extract the growth status comparison data set of the peppers in each path area stored in the pepper growth database, and comprehensively analyze to obtain the second growth status index value of the peppers in each path area.

[0064] It should be noted that the growth status comparison data set of peppers in each path area includes the comparison values ​​of the growth status data of peppers in each path area, and the comparison values ​​of the growth status data of peppers in each path area include the plant density comparison values ​​of peppers in each path area, the number of peppers of each pepper plant, the height comparison values ​​of each pepper plant, the average saturation change value comparison value of peppers of each pepper plant, and the average volume comparison value of peppers of each pepper plant.

[0065] It should be supplemented that the comparison values ​​of the growth status data of peppers in each path area include the comparison values ​​of plant density of peppers in each path area, the comparison values ​​of the number of peppers of each pepper plant, the comparison values ​​of the height of each pepper plant, the comparison values ​​of the average saturation change value of peppers of each pepper plant, and the comparison values ​​of the average volume of peppers of each pepper plant. Each comparison value in the comparison values ​​of the growth status data of peppers in each path area is usually obtained by statistical analysis of historical data. The specific steps are to count the specific values ​​of the growth status data of peppers in each path area in history, and calculate the average value of these values ​​to obtain each comparison value. By way of example, assuming that the average value of the height of each pepper plant in a certain path area in the historical data is 0.9 meters, according to the statistical results, it can be obtained that the height comparison value of each pepper plant in the path area is 0.9 meters.

[0066] It should be added that what needs to be understood here is that the data set of the growth status of peppers in each path area and the data in the comparison data set of the growth status of peppers in each path area correspond to each other.

[0067] In this embodiment, the first growth status index value of the pepper in each path area is obtained using the following analysis conditions, specifically:

[0068] ;

[0069] In the formula, represents the second growth status index value of the pepper in the i-th path area, represents the jth growth status data of the pepper growth area in the i-th path, represents the comparison value of the jth growth status data of the pepper growth area in the i-th path, i represents the number of each path area, , represents the total number of path areas, j represents the number of each growth state data, , Indicates the total number of growth status data.

[0070] The growth status data set of the peppers in each path area includes the growth status data of the peppers in each path area, and the growth status data of the peppers in each path area includes the plant density of the peppers in each path area, the number of peppers on each pepper plant, the height of each pepper plant, the average saturation change value of the peppers on each pepper plant, and the average volume of peppers on each pepper plant.

[0071] It should be noted that the growth status data of peppers in each path area include the plant density of peppers in each path area, the number of peppers on each pepper plant, the height of each pepper plant, the average saturation change value of peppers on each pepper plant, and the average volume of peppers on each pepper plant. The plant density of peppers in each path area refers to the number of pepper plants per unit area or unit volume, which is usually determined by counting the number of pepper plants in a certain area or volume. It can be determined by conducting field surveys and counting in the field, or by using remote sensing technology for automated measurement in large-scale planting situations. The number of peppers on each pepper plant in each path area refers to the number of mature pepper fruits on each pepper plant, which can be used in digital agriculture. Image processing and computer vision technologies are used for automated detection and counting. The height of each pepper plant in each path area refers to the vertical height of the pepper plant from the ground to the highest point, which can be automatically measured using a laser rangefinder or a height measurement sensor equipped with a drone. The average saturation change value of the peppers in each path area refers to the change in color saturation, and image processing technology can be used to analyze the color changes of pepper fruits to calculate the average saturation change value. The average volume of peppers in each path area refers to the average volume of pepper fruits, which can be calculated by measuring the length, width, and thickness of the pepper fruits and applying the volume formula.

[0072] It should be added that the growth status dataset of the peppers in each path area contains parameters from multiple aspects, and the various parameters are related to each other and do not exist independently. For example, the density of pepper plants may be related to the number of peppers on each plant. A higher plant density may lead to competition for nutrients and water, affecting the number of peppers on each pepper plant. The height of each pepper plant may directly affect the growth and development of the peppers, thereby affecting the number of peppers on each pepper plant, the average saturation change value of the peppers, and the average volume of the peppers. The average saturation change value of the peppers reflects the maturity and quality of the peppers. There may be a certain relationship between the average saturation change value of the peppers of each pepper plant and the average volume of the peppers. The maturity of the peppers is usually related to the average volume of the peppers.

[0073] The second growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the growth state data of the peppers in each path area, and is used to quantify the influence of the growth state of the peppers on the pepper picking path planning.

[0074] Specifically, the growth status index value of the peppers in each path area is obtained, and the specific process is: according to the first growth status index value of the peppers in each path area and the second growth status index value of the peppers in each path area, a comprehensive analysis is performed to obtain the growth status index value of the peppers in each path area.

[0075] Specifically, the planning path for picking peppers is analyzed, and the specific analysis process is: compare the growth status index value of the peppers in each path area with the set growth status index threshold of the peppers in each path area; if the growth status index value of the peppers in a certain path area is higher than or equal to the set growth status index threshold of the peppers in each path area, then mark the path area as a marked path area, traverse all marked path areas to obtain the growth status index value of the peppers in each marked path area.

[0076] The growth status index values ​​of the peppers in each marked path area are numbered in descending order, and the corresponding marked path areas are arranged according to the numbers. The arranged paths are used as the planned picking paths for the peppers.

[0077] Specifically, the operating parameters of the pepper picking robot are obtained according to the growth status index values ​​of the peppers in each path area, and then the pepper picking robot is controlled. The specific process is: compare the growth status index values ​​of the peppers in each path area with the operating parameter ranges of the pepper picking robot corresponding to the set growth status index values ​​of the peppers in each path area, obtain the operating parameters of the pepper picking robot, and control the pepper picking robot according to the operating parameters of the pepper picking robot.

[0078] Specifically, the growth status index values ​​of peppers in each path area, the specific analysis conditions are:

[0079] ;

[0080] In the formula, represents the growth status index value of pepper in the i-th path area, represents the first growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set first growth status indicator value, represents the second growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set second growth state index value, e is a natural constant, Indicates the number of each path area, , Indicates the total number of route areas.

[0081] In a specific embodiment, Table 1 shows the growth status index values ​​corresponding to the first growth status index value and the second growth status index value of peppers in different path areas. The weight factors corresponding to the first growth status index value and the second growth status index value are both numbers between 0 and 1. In this embodiment, the weight factor corresponding to the first growth status index value is 0.4, and the weight factor corresponding to the second growth status index value is 0.6.

[0082] Table 1 Growth status index values ​​corresponding to the first growth status index value and the second growth status index value of peppers in different path areas

[0083] Number of the route area The first growth status index value Second growth status index value Growth status index value 1 0.7 0.6 1.9279 2 0.9 0.6 2.0751 3 0.7 0.9 2.0421 4 0.9 0.9 2.1905

[0084] It needs to be explained that in Table 1, as the first growth state index value and the second growth state index value increase, the growth state index value increases accordingly. Table 1 lists the first growth state index value and the second growth state index value of peppers in 4 different path areas. The growth state index value is obtained by the formula. These growth state index values ​​provide the degree of influence of the first growth state index value and the second growth state index value of peppers in different path areas on the growth state index value. The growth state index value comprehensively considers the first growth state index value and the second growth state index value, provides data support for the path planning of the picking robot, and improves the picking efficiency.

[0085] It needs to be explained that Figure 2 As shown, Figure 2 : is an example image of the growth status index value, wherein the x-axis represents the first growth status index value, and the y-axis represents the growth status index value. In this embodiment, the weight factor corresponding to the first growth status index value is 0.4, and the weight factor corresponding to the second growth status index value is 0.6. Three different groups of example parameters are defined in the figure, corresponding to different situations of the three curves, respectively represented by solid lines, dashed lines and dotted lines, and the corresponding curve labels are a, b, and c, respectively.

[0086] It needs to be explained that when the second growth state index value is 1.1, the functional relationship image between the first growth state index value and the growth state index value is shown as curve a, when the second growth state index value is 1.3, the functional relationship image between the first growth state index value and the growth state index value is shown as curve b, and when the second growth state index value is 1.5, the functional relationship image between the first growth state index value and the growth state index value is shown as curve c. The growth state index value increases with the increase of the first growth state index value, and when the second growth state index value increases, the growth state index value increases accordingly. The growth state index value can be obtained quickly and accurately through the curve, which solves the problem in the prior art that the growth state index value cannot be accurately measured due to the lack of detailed analysis process, thereby realizing precise control of the robotic arm of the picking robot.

[0087] It should be noted that, in the present embodiment, a preset weight factor corresponding to the first growth status index value and a preset weight factor corresponding to the second growth status index value are obtained from the pepper growth database.

[0088] In a specific embodiment, through historical data, the relationship between the first growth status index value of the peppers in each path area, the second growth status index value of the peppers in each path area, and the growth status index value of the peppers in each path area is fitted to obtain a fitting curve, and the weight factor corresponding to the first growth status index value and the weight factor corresponding to the second growth status index value are determined according to the fitting curve, and the real-time first growth status index value of the peppers in each path area and the second growth status index value of the peppers in each path area are substituted into the fitting curve to obtain the corresponding weight factors.

[0089] It should be explained that the analysis method of this embodiment obtains the growth status index value of the peppers in each path area by combining the first growth status index value of the peppers in each path area and the second growth status index value of the peppers in each path area for analysis, which helps to optimize the growth and picking process. By adjusting the operating parameters of the picking robot according to the growth status data of the peppers, damage to the peppers or pepper plants during the picking process can be reduced.

[0090] In this implementation scheme, analyzing the first growth status index value of the peppers in each path area helps to plan the picking path of the pepper picking robot and improve picking efficiency. Analyzing the second growth status index value of the peppers in each path area helps to adjust the strength of the robot arm according to the growth status of the peppers. Analyzing the growth status index value of the peppers in each path area helps to reduce accidental damage to the plants during the picking process.

[0091] The second aspect of the present invention provides a pepper picking robot, including a visual recognition system, a robotic arm, a positioning system and a control system, wherein: the visual recognition system is used to collect environmental information of the pepper growing area and growth status data of the peppers in each path area.

[0092] The robotic arm, a device used to perform picking actions, can accurately move to the position of the pepper fruit based on the data collected by the visual recognition system and perform stable and accurate picking actions.

[0093] The positioning system is used to locate the target path area according to the pepper picking planning path obtained by analysis.

[0094] The control system is used to control the mechanical arm of the pepper picking robot according to the matching operating parameters of the pepper picking robot.

[0095] It should be noted that a pepper picking robot and control method also include a pepper growth database, which is used to store standard images of pepper growth areas in each path obtained by analyzing historical data, defining soil moisture, reference number of obstacles, reference optimal picking distance, reference wind speed, influencing factors corresponding to soil moisture, influencing factors corresponding to the number of obstacles, influencing factors corresponding to the optimal picking distance, influencing factors corresponding to wind speed, growth status comparison data sets of peppers in each path area, growth status index thresholds of peppers in each path area, weight factors corresponding to the first growth status index value, and weight factors corresponding to the second growth status index value.

[0096] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0097] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pepper picking robot control method, characterized in that: include: Agricultural data analysis platform, collecting environmental information of pepper growing areas and growth status data of peppers in each path area; Analyze the environmental information of the pepper growing area and the growth status data of the peppers in each path area to obtain the growth status index value of the peppers in each path area; According to the growth status index values ​​of peppers in each path area, the picking planning path of peppers is analyzed; The operation parameters of the pepper picking robot are obtained according to the growth status index values ​​of the peppers in each path area, and then the pepper picking robot is controlled; The environmental information of the pepper growing area includes soil humidity and wind speed in the pepper growing areas of each path; The analyzing of the environmental information of the pepper growing area and the growth status data of the peppers in each path area includes analyzing the environmental information of the pepper growing area and analyzing the growth status data of the peppers in each path area; The environmental information of the pepper growing area is analyzed, and the specific analysis process is: collecting images of the pepper growing areas of each path, comparing the images of the pepper growing areas of each path with the set standard images of the pepper growing areas of each path, and obtaining the number of obstacles in the pepper growing areas of each path; The time difference between sending and receiving ultrasonic pulses between the pepper picking robot and each pepper plant in each pepper growth area of ​​each path is collected and recorded as the sending and receiving time difference of each ultrasonic pulse in each pepper growth area of ​​each path, and the speed of sound wave propagation in the air is extracted. The product of the sending and receiving time difference of each ultrasonic pulse in each pepper growth area of ​​each path and the speed of sound wave propagation in the air is taken as the picking distance between each pepper plant in each pepper growth area of ​​each path and the pepper picking robot, and the optimal picking distance of pepper plants in each pepper growth area of ​​each path is obtained by analysis; Arrange a monitoring cycle, set a number of monitoring time periods in the monitoring cycle, extract the wind speed of the pepper growing area of ​​each path in each monitoring time period, accumulate the wind speed of the pepper growing area of ​​each path in each monitoring time period, extract the total number of monitoring time periods, and obtain the average wind speed of the pepper growing area of ​​each path; The soil moisture of each pepper growing area in the environmental information of the pepper growing area is extracted, and the first growth status index value of the peppers in each path area is obtained by comprehensive analysis based on the number of obstacles in the pepper growing area in each path, the optimal picking distance of the pepper plants in the pepper growing area in each path, and the average wind speed in the pepper growing area in each path.

2. A pepper picking robot control method according to claim 1, characterized in that: The first growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the environmental information of the pepper growth area, and is used to quantify the influence of the pepper growth environment on the pepper picking path planning.

3. The pepper picking robot control method according to claim 1, characterized in that: The specific analysis process of analyzing the growth status data of peppers in each path area is as follows: Extracting the growth status data of peppers in each path area to obtain a growth status data set of peppers in each path area, extracting a growth status comparison data set of peppers in each path area stored in a pepper growth database, and comprehensively analyzing to obtain a second growth status index value of peppers in each path area; The growth status data set of peppers in each path area includes the growth status data of peppers in each path area, and the growth status data of peppers in each path area includes the plant density of peppers in each path area, the number of peppers in each pepper plant, the height of each pepper plant, the average saturation change value of peppers in each pepper plant, and the average volume of peppers in each pepper plant; The second growth state index value of the peppers in each path area represents a numerical quantification result obtained by analyzing the growth state data of the peppers in each path area, and is used to quantify the influence of the growth state of the peppers on the pepper picking path planning.

4. The pepper picking robot control method according to claim 1, characterized in that: The specific process of obtaining the growth status index value of peppers in each path area is as follows: Based on the first growth status index value of the peppers in each path area and the second growth status index value of the peppers in each path area, a comprehensive analysis is performed to obtain the growth status index value of the peppers in each path area.

5. The pepper picking robot control method according to claim 1, characterized in that: The analysis obtains the planned path for picking peppers, and the specific analysis process is as follows: The growth status index value of the pepper in each path area is compared with the set growth status index threshold of the pepper in each path area. If the growth status index value of the pepper in a certain path area is higher than or equal to the set growth status index threshold of the pepper in each path area, the path area is marked as a marked path area, and all marked path areas are traversed to obtain the growth status index value of the pepper in each marked path area; The growth status index values ​​of the peppers in each marked path area are numbered in descending order, and the corresponding marked path areas are arranged according to the numbers. The arranged paths are used as the planned picking paths for the peppers.

6. The pepper picking robot control method according to claim 1, characterized in that: The operation parameters of the pepper picking robot are obtained by matching the growth status index values ​​of peppers in each path area, and then the pepper picking robot is controlled. The specific process is as follows: The growth status index value of the peppers in each path area is compared with the operating parameter range of the pepper picking robot corresponding to the set growth status index value of the peppers in each path area to obtain the operating parameters of the pepper picking robot, and the pepper picking robot is controlled according to the operating parameters of the pepper picking robot.

7. A pepper picking robot control method according to claim 4, characterized in that: The growth status index values ​​of peppers in each path area are specifically analyzed under the following conditions: ； In the formula, represents the growth status index value of pepper in the i-th path area, represents the first growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set first growth status indicator value, represents the second growth status index value of the pepper in the i-th path area, represents the weight factor corresponding to the set second growth state index value, e is a natural constant, Indicates the number of each path area, , Indicates the total number of route areas.

8. A pepper picking robot using the pepper picking robot control method according to any one of claims 1 to 7, comprising a visual recognition system, a robotic arm, a positioning system and a control system, wherein: A visual recognition system is used to collect environmental information about the pepper growing area and growth status data of peppers in each path area; The robotic arm, a device used to perform the picking action, can accurately move to the location of the pepper fruit based on the data collected by the visual recognition system and perform stable and accurate picking actions; A positioning system is used to locate the target path area according to the pepper picking planning path obtained by analysis; The control system is used to control the mechanical arm of the pepper picking robot according to the matching operating parameters of the pepper picking robot.

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