Sampling robot, control method thereof and medium

Abstract

The invention discloses a sampling robot and a control method thereof, and a medium, and the method comprises the steps: determining a plurality of initial sampling points according to an obtained region image of a region where a to-be-sampled object is located, and planning an initial sampling path according to the plurality of initial sampling points; in the process of starting to move from the path starting point of the initial sampling path, monitoring environmental factors of each initial sampling point one by one; determining whether adjustment information for adjusting the currently monitored initial sampling point is generated or not according to the environmental factors; and if the adjustment information is generated, updating the initial sampling point and the initial sampling path according to the adjustment information, and sampling the object to be sampled according to the updated initial sampling point and initial sampling path. According to the invention, the initial sampling point and the initial sampling path are updated in combination with the environmental factors, so that more samples which can reflect the quality of the to-be-sampled article more comprehensively are collected through the updating, and the collected samples reflect the overall quality of the to-be-sampled article more comprehensively and accurately.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a sampling robot and a control method thereof, and a medium. Background Art

[0002] With the development of artificial intelligence technology, the role of mobile robots in industry has become increasingly prominent, and they are used in manufacturing, electronic product assembly, warehousing and logistics, etc. Sampling robots, as a type of mobile robot, are specially designed to perform sampling tasks. They can move in various environments and automatically collect samples for quality inspection.

[0003] At present, sampling robots are usually controlled to sample a certain number of products or a certain time interval along a pre-set route, without considering the impact of differences in the sample environment on sample performance, which makes the collected samples unable to fully and accurately reflect the overall quality of the product. Especially for products with strict quality requirements such as food, medicine, feed, and chemicals, if the collected samples cannot fully and accurately reflect the product quality, it will lead to very serious consequences.

[0004] Therefore, how to control the sampling of the sampling robot so that the collected samples can fully and accurately reflect the overall quality of the product is one of the technical problems that urgently need to be solved. Summary of the invention

[0005] The main purpose of the present invention is to provide a sampling robot and a control method thereof, and a medium, aiming to solve the technical problem of how to control the sampling of the sampling robot so that the collected samples fully and accurately reflect the overall quality of the product.

[0006] To achieve the above object, the present invention provides a control method for a sampling robot, wherein the sampling robot comprises a control center, and a moving mechanism, a monitoring sensor, and an actuator that are communicatively connected to the control center. The control method for the sampling robot comprises:

[0007] The control center obtains a regional image of the area where the object to be sampled is located, determines a plurality of initial sampling points according to the regional image, and plans an initial sampling path according to the plurality of initial sampling points;

[0008] The control center controls the moving mechanism to start moving from the path starting point of the initial sampling path, and during the movement, controls the monitoring sensor to monitor the environmental factors of each of the initial sampling points one by one;

[0009] The control center receives the environmental factor transmitted back by the monitoring sensor, and determines whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factor;

[0010] If the adjustment information is generated, the initial sampling point and the initial sampling path are updated according to the adjustment information, and the actuator is controlled to extend and retract to sample the object to be sampled according to the updated initial sampling point and the initial sampling path.

[0011] Preferably, the step of determining whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factors comprises:

[0012] Obtain the historical environmental temperature and historical environmental humidity in the historical environmental factors corresponding to the initial sampling point of the previous monitoring;

[0013] Generate a temperature difference between the ambient temperature in the environmental factor and the historical ambient temperature, and a humidity difference between the ambient humidity in the environmental factor and the historical ambient humidity;

[0014] Determine whether the temperature difference is greater than a preset temperature threshold, and whether the humidity difference is greater than a preset humidity threshold;

[0015] If the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the adjustment information is generated.

[0016] Preferably, if the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the step of generating the adjustment information includes:

[0017] Generate a first magnitude relationship between the temperature difference and a preset temperature threshold, and / or generate a second magnitude relationship between the humidity difference and a preset humidity threshold;

[0018] Determine the number of newly added sampling points according to the first size relationship and / or the second size relationship;

[0019] Determine a newly added position corresponding to each of the newly added sampling points according to a sampling path between the last monitored initial sampling point and the currently monitored initial sampling point;

[0020] The newly added quantity and each of the newly added positions are generated as the adjustment information.

[0021] Preferably, the step of updating the initial sampling point and the initial sampling path according to the adjustment information includes:

[0022] Determine the sampling point position of the currently monitored initial sampling point as the starting point, connect all the newly added positions in series through different paths to form multiple complete paths to reach the next initial sampling point, and calculate the path distance of each complete path. The calculation formula is:

[0023]

[0024] Among them, S i represents the path distance of the ith complete path, n represents the number of sampling point locations in the complete path, (x ki ,y ki ) represents the coordinate value of the kth sampling point in the i-th complete path in the image coordinate system, (x ki+1 ,y ki+1 ) represents the coordinate value of the k+1th sampling point in the i-th complete path in the image coordinate system, n i represents the number of obstacles formed by the items to be sampled in the i-th complete path, D represents the increased straight-line distance corresponding to each obstacle, m i represents the number of obstacle turns in the ith complete path, θ represents the obstacle turning angle, (e θ *cosθ) represents the distance parameter corresponding to the turning angle, and d represents the increasing turning distance corresponding to each turning angle;

[0025] The minimum value among the path distances is determined, and the initial sampling path and the initial sampling point are updated according to the complete path and the newly added position corresponding to the minimum value.

[0026] Preferably, the step of determining a plurality of initial sampling points according to the regional image comprises:

[0027] Identify whether the imaging of the object to be sampled in the area image is regular imaging, and if it is regular imaging, determine the sampling quantity of the object to be sampled according to the quantity of the object to be sampled and a preset sampling ratio;

[0028] Dividing the regional image into regional sub-images corresponding to the sampling number, determining the target object imaging in the regional sub-images, and taking the position of the to-be-sampled object corresponding to the target object imaging as the initial sampling point;

[0029] If the imaging of the object is irregular, the imaging of the object is clustered to generate multiple clusters. For each cluster, the sampling probability of each element in the cluster is calculated according to the position coordinates of each element in the cluster in the image coordinate system. The calculation formula is:

[0030]

[0031] Among them, p j represents the sampling probability of the jth element, x j Indicates the x-coordinate value of the position coordinate of the jth element in the image coordinate system, y j Indicates the y coordinate value of the position coordinate of the jth element in the image coordinate system, xc Indicates the x-coordinate value of the cluster center in the image coordinate system, y c Indicates the y coordinate value of the cluster center in the image coordinate system, x τ Represents the average x-coordinate of the position coordinates of each element in the cluster in the image coordinate system, y τ It represents the average y-coordinate value of the position coordinates of each element in the cluster in the image coordinate system, v1 represents the center weight value of the cluster center, and v2 represents the average weight value of the mean coordinates corresponding to the position coordinates of each element in the image coordinate system;

[0032] The cluster sampling quantity of each cluster is determined according to the number of elements in the cluster and a preset sampling ratio, and the initial sampling point is determined according to the cluster sampling quantity and each sampling probability.

[0033] Preferably, the sampling robot further includes a communication module, and the step of controlling the actuator to extend and retract to sample the object to be sampled includes:

[0034] Transmitting the execution force data of the sampling performed by the actuator to a sampling management platform in communication connection with the sampling robot based on the communication module, and the sampling management platform evaluating whether the execution force data is data to be corrected based on the environmental factors;

[0035] If the control center receives feedback information that the execution force data is data to be corrected, the execution mechanism is controlled to resample the object to be sampled according to the correction reference data corresponding to the data to be corrected in the feedback information.

[0036] Preferably, the step of evaluating by the sampling management platform whether the execution strength data is data to be corrected based on the environmental factors includes:

[0037] The sampling management platform obtains reference force data corresponding to the object to be sampled, and calculates the force correction coefficient of the object to be sampled under the environmental factors according to the ambient temperature and ambient humidity in the environmental factors. The calculation formula is:

[0038]

[0039] Wherein, s represents the force correction coefficient, k1 represents the preset temperature weight, k2 represents the preset humidity weight, μ represents the density of the object to be sampled, c represents the specific heat capacity of the object to be sampled, w represents the temperature coefficient corresponding to the object to be sampled, t represents the ambient temperature, p0 represents the compressive strength of the object to be sampled under standard atmospheric pressure, hc represents the saturated humidity, p represents the average compressive strength of the object to be sampled, and h represents the ambient humidity;

[0040] Correcting the reference force data according to the force correction coefficient to generate corrected force data, and determining whether the execution force data matches the corrected force data, and if so, determining that the execution force data is not data to be corrected;

[0041] If the execution force data does not match the correction force data, the execution force data is determined to be data to be corrected, and feedback information indicating that the execution force data is data to be corrected is generated according to the correction force data.

[0042] Preferably, the sampling robot further comprises a cleaning component, and the step of controlling the actuator to extend and retract to sample the object to be sampled comprises:

[0043] Controlling the actuator to extend and retract to a default position, and controlling the actuator to move to an area to be cleaned corresponding to the cleaning component;

[0044] The actuator is controlled to extend from the area to be cleaned into a cleaning chamber of the cleaning component, and the actuator is controlled to be cleaned in the cleaning chamber.

[0045] Furthermore, to achieve the above-mentioned object, the present invention also provides a sampling robot, the sampling robot comprising a control center, and a moving mechanism, a monitoring sensor, an actuator, a communication module and a cleaning component that are communicatively connected to the control center;

[0046] The control center includes a memory, a processor, a communication bus, and a control program stored in the memory:

[0047] The communication bus is used to realize the connection and communication between the processor and the memory;

[0048] The processor is used to execute the control program to implement the steps of the control method of the sampling robot as described above.

[0049] Furthermore, to achieve the above-mentioned purpose, the present invention also provides a medium, which is a readable storage medium, on which a control program is stored, and when the control program is executed by a processor, the steps of the control method of the sampling robot as described above are implemented.

[0050] The sampling robot and its control method, and medium of the present invention, the sampling robot includes a control center, and a mobile mechanism, a monitoring sensor, and an actuator that are connected to the control center in communication. After obtaining the regional image of the area where the sampled object is located, the control center first determines multiple initial sampling points based on the regional image, and plans the initial sampling path based on the multiple initial sampling points; then controls the mobile mechanism to move from the path starting point of the initial sampling path, and during the movement, controls the monitoring sensor to monitor the environmental factors of each initial sampling point one by one; the control center determines whether it is necessary to generate adjustment information for adjusting the currently monitored initial sampling point based on the environmental factors returned by the monitoring sensor; if it is determined that there is a need to generate such adjustment information, then generates such adjustment information and updates the initial sampling point and the initial sampling path based on the generated adjustment information, and then controls the actuator to telescope to sample the sampled object based on the updated initial sampling point and the initial sampling path. In this way, by setting monitoring sensors on the sampling robot, during the sampling process of the sampling robot moving, the monitoring sensors monitor the environmental factors of each initial sampling point one by one. Once the monitored environmental factors reflect that the difference in environmental factors may cause changes in sample performance, adjustment information for adjusting the initial sampling points is generated. The initial sampling points and the initial sampling path are updated by the adjustment information. By updating and collecting more samples that can more comprehensively reflect the quality of the objects to be sampled, the collected samples can more comprehensively and accurately reflect the overall quality of the objects to be sampled. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a first embodiment of a control method for a sampling robot according to the present invention;

[0052] Figure 2 A schematic flow chart of a second embodiment of a control method for a sampling robot according to the present invention;

[0053] Figure 3 A schematic flow chart of a third embodiment of a control method for a sampling robot according to the present invention;

[0054] Figure 4 This is a schematic diagram of the structure of the hardware operating environment involved in an embodiment of the control center of the sampling robot of the present invention.

[0055] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0057] The present invention provides a control method for a sampling robot, please refer to Figure 1 , Figure 1 It is a flowchart of the first embodiment of the control method of the sampling robot of the present invention.

[0058] The embodiment of the present invention provides an embodiment of a control method of a sampling robot. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here. Specifically, the control method of the sampling robot in this embodiment includes:

[0059] In step S10, the control center obtains a regional image of the area where the objects to be sampled are located, determines a plurality of initial sampling points according to the regional image, and plans an initial sampling path according to the plurality of initial sampling points.

[0060] In the control method of the sampling robot of this embodiment, the sampling robot includes a control center, a mobile mechanism, a monitoring sensor and an actuator that are connected to the control center in communication. The mobile mechanism realizes the movement of the sampling robot, the monitoring sensor is used to monitor the environmental factors of the location of the mobile robot, including but not limited to the ambient temperature and ambient humidity, and the actuator is a mechanism for performing sampling.

[0061] When there is a need to sample an item, the item can be any one of food, medicine, feed or chemical items, and the item to be sampled is taken as the item to be sampled. The control center obtains the regional image of the area where the item to be sampled is located, and the acquisition method can be that the user with sampling requirements uploads the regional image, or the sampling robot is connected to a camera device, and the regional image is collected by the camera device and uploaded to the control center.

[0062] Furthermore, the control center identifies the regional image, identifies the imaging distribution of the items to be sampled in the regional image, and determines multiple sampling points based on the imaging distribution. The imaging distribution of the items to be sampled in the regional image may be a regular distribution, indicating that the images to be sampled are arranged neatly and regularly in the region where they are located, or it may be an irregular distribution, indicating that the arrangement of the images to be sampled in the region where they are located is irregular. In this regard, in order to ensure that the determined multiple sampling points can accurately and comprehensively reflect the quality of the items to be sampled, it is necessary to distinguish whether the sampling points are regularly distributed to determine the sampling points. Specifically, the step of determining multiple initial sampling points based on the regional image includes:

[0063] Step S11, identifying whether the imaging of the object to be sampled in the area image is regular imaging, and if it is regular imaging, determining the sampling quantity of the object to be sampled according to the quantity of the object to be sampled and a preset sampling ratio;

[0064] Step S12, dividing the regional image into regional sub-images corresponding to the sampling number, and determining the target object imaging in the regional sub-images, and taking the position of the to-be-sampled object corresponding to the target object imaging as the initial sampling point;

[0065] Step S13, if the imaging of the object is irregular, clustering the imaging of the object to generate a plurality of clusters, and for each cluster, calculating the sampling probability of each element in the cluster according to the position coordinates of each element in the cluster in the image coordinate system;

[0066] Step S14, determining the cluster sampling quantity of each cluster according to the number of elements in the cluster and the preset sampling ratio, and determining the initial sampling point according to the cluster sampling quantity and each sampling probability.

[0067] Furthermore, the control center identifies the regional image to determine whether the imaging of the object to be sampled in the regional image is regular imaging. Regular imaging means that the arrangement of the imaging of each object has a certain regularity, for example, it is arranged according to a certain length interval, width interval and height interval. If it is determined to be regular imaging after identification, the sampling quantity of the objects to be sampled is determined according to the number of objects to be sampled and the preset sampling ratio. Among them, the number of objects to be sampled can be uploaded in advance or obtained through image recognition, and the preset sampling ratio is set in advance based on experience or demand. The sampling quantity of the objects to be sampled can be obtained by multiplying the two.

[0068] Furthermore, the regional image is divided according to the number of samples to obtain a plurality of regional sub-images with sampling data. Then, for each regional sub-image, the image of the object to be sampled therein is identified as the target object image. It should be noted that there may be multiple object images of the object to be sampled in one regional sub-image, in which case the image of the object in the middle can be determined from the image of each object as the target object image; there may also be no complete image of the object to be sampled in one regional sub-image, in which case the image of the object with the largest image area among the partial images can be identified as the target object image. After the corresponding target object images are determined in each regional sub-image, the objects to be sampled corresponding to each target object image are searched, and then the position of the object to be sampled in the region is searched, and the found position is the initial sampling point.

[0069] Furthermore, if the object imaging of the identified objects to be sampled in the area does not belong to regular imaging, that is, the objects to be sampled are not placed in the area according to a certain rule, for example, a sub-area in the area has a large number of objects to be sampled, while another sub-area has a small number of objects to be sampled. At this time, in order to ensure the uniformity of sampling, the object imaging is clustered to obtain multiple clusters. Through the clustering of object imaging, the objects to be sampled that are placed together are divided into the same cluster, and the objects to be sampled that are not together are divided into different clusters. Sampling is performed in proportion according to the number of objects to be sampled contained in each cluster, so that the sampling is more uniform and can better reflect the overall quality of the objects to be sampled.

[0070] Furthermore, for clusters, the images of the objects contained therein form elements in the clusters, and the number of elements contained in each cluster is different. Which element is specifically selected as the element corresponding to the sampled object can be determined by calculating the sampling probability of each element. Among them, the captured regional image has a corresponding image coordinate system, for example, a coordinate system formed by taking the point in the upper left corner of the regional image as the coordinate origin and the width and height directions of the regional image as the horizontal and vertical coordinates respectively. Each pixel in the regional image has its own coordinate value relative to the coordinate origin. For each element in the cluster, each is a contour area formed by the imaging of the object in the image coordinate system, and the center coordinates of the contour area can be determined as the position coordinates of the element in the image coordinate system. Then, the sampling probability of each element is calculated based on the position coordinates. The calculation formula can be seen in the following formula (1).

[0071]

[0072] Among them, p j represents the sampling probability of the jth element, x j Indicates the x-coordinate value of the position coordinate of the jth element in the image coordinate system, y j Indicates the y coordinate value of the position coordinate of the jth element in the image coordinate system, x c Indicates the x-coordinate value of the cluster center in the image coordinate system, y c Indicates the y coordinate value of the cluster center in the image coordinate system, x τ Represents the average x-coordinate of the position coordinates of each element in the cluster in the image coordinate system, y τrepresents the average y-coordinate value of the position coordinates of each element in the cluster in the image coordinate system, v1 represents the center weight value of the cluster center, and v2 represents the average weight value of the mean coordinate corresponding to the position coordinates of each element in the image coordinate system. It should be noted that the cluster center is the center of the cluster generated by clustering; and the x-coordinate average value and the y-coordinate average value are generated by the mean operation of the position coordinates of each element, representing the mean coordinates of each element. That is, the x-coordinate value of each element's position coordinate in the image coordinate system is averaged to obtain the X-coordinate average value of each element's position coordinate in the image coordinate system; and the y-coordinate value of each element's position coordinate in the image coordinate system is averaged to obtain the y-coordinate average value of each element's position coordinate in the image coordinate system. At the same time, according to the degree of influence of the cluster center and the mean coordinate on the sampling in the historical sampling process, the center weight corresponding to the cluster center and the average weight value corresponding to the mean coordinate are pre-set. By combining the cluster center and the mean coordinates, we avoid determining the sampling elements based only on the distance from the cluster center, or only on the distance from the mean coordinates, so that the determined sampling elements are related to both the cluster center and the mean coordinates. At the same time, through the weighted processing of the center weight and the average weight, the determined sampling probability is more accurate, which is conducive to accurately screening the sampling elements in each cluster.

[0073] Furthermore, the number of elements in each cluster is determined, and the number of elements includes both complete and incomplete object imaging. Then, based on the number of elements and the preset sampling ratio, the two are multiplied to obtain the sampling data required for sampling in the cluster, that is, the cluster sampling number. Thereafter, the sampling probability of each element in the cluster is arranged in order from large to small values ​​to form a probability sequence. Then, multiple target sampling probabilities arranged in front are screened out from the probability sequence, and the data of the screened target sampling probabilities is the same as the sampling number. Find the target element that generates each target sampling probability, and the object to be sampled corresponding to each target element. The position of the object to be sampled in the area is the initial sampling point, so as to determine multiple initial sampling points based on the cluster sampling number and each sampling probability.

[0074] Furthermore, after determining a plurality of initial sampling points, one sampling point corresponds to the position of an object to be sampled in the area. From each initial sampling point, a boundary sampling point located at the boundary is determined, and then for each boundary sampling point, the adjacent adjacent sampling points around it are determined, and the boundary sampling point is connected with each adjacent sampling point to form a first step sampling path, and then for each adjacent sampling point, the corresponding next level adjacent sampling point is determined, and the adjacent sampling point is connected with each next level adjacent sampling point to form a second step sampling path, and so on. The cycle is extended until each initial sampling point is determined as a neighboring sampling point. By connecting each sampling path, multiple sampling paths corresponding to a certain boundary sampling point as the starting point can be obtained, and the sampling paths are compared to determine the first sampling path with the shortest path. After each boundary sampling point determines the corresponding first sampling path, the first sampling paths are compared to determine the shortest target sampling path. The target sampling path is the shortest path among all sampling paths, which can save sampling time, so it is planned as the initial sampling path.

[0075] In step S20, the control center controls the moving mechanism to start moving from the path starting point of the initial sampling path, and during the moving process, controls the monitoring sensor to monitor the environmental factors of each of the initial sampling points one by one.

[0076] Furthermore, the control center sends a movement instruction to the mobile mechanism of the sampling robot, and controls the mobile mechanism to start moving from the path starting point of the initial sampling path through the movement instruction. During the movement process, if the initial sampling point in the initial sampling path is reached and sampling is required at the initial sampling point, the control center sends a monitoring instruction to the monitoring sensor, and controls the monitoring sensor to monitor the environmental factors of the initial sampling point currently reached through the monitoring instruction. The environmental factors include at least the ambient temperature and the ambient humidity, reflecting the influence of the temperature and humidity on the initial sampling point.

[0077] Step S30: the control center receives the environmental factors transmitted back by the monitoring sensor, and determines whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factors.

[0078] Furthermore, after the monitoring sensor acquires the environmental factors of the currently arrived initial sampling point, it returns the acquired environmental factors to the control center. After receiving the environmental factors, the control center determines whether the initial sampling point needs to be adjusted based on the change relative to other initial sampling points. If the initial sampling point needs to be adjusted, adjustment information is generated; otherwise, if the initial sampling point does not need to be adjusted, sampling is performed according to the original initial sampling point without generating adjustment information.

[0079] Step S40: if the adjustment information is generated, the initial sampling point and the initial sampling path are updated according to the adjustment information, and the actuator is controlled to extend and retract to sample the object to be sampled according to the updated initial sampling point and the initial sampling path.

[0080] Furthermore, if the control center determines that adjustment information needs to be generated, the generated adjustment information includes an adjustment plan for adjusting the initial sampling point. Moreover, the adjustment of the initial sampling point will affect the initial sampling path. For example, if the initial sampling point is increased, the increased initial sampling point needs to be added to the initial sampling path, or if the initial sampling point is reduced, the reduced initial sampling point needs to be deleted from the initial sampling path. Thus, the initial sampling point and the initial sampling path are updated according to the adjustment plan included in the adjustment information, and after the update, the control center controls the actuator to sample the sampled object according to the updated initial sampling point and initial sampling path.

[0081] It is understandable that the sampling robot needs to sample multiple items to be sampled during the sampling process, and there may be contamination between the items to be sampled. Therefore, in order to avoid cross-contamination between the items to be sampled, a cleaning component can be set for the sampling robot. After the control center controls the actuator to sample the items to be sampled, the actuator is cleaned by the cleaning component to avoid cross-interference between the items to be sampled. Specifically, the sampling robot also includes a cleaning component, and the step of controlling the actuator to retract and extend to sample the items to be sampled includes:

[0082] Step a1, controlling the actuator to extend to a default position, and controlling the actuator to move to an area to be cleaned corresponding to the cleaning component;

[0083] Step a2, controlling the actuator to extend from the area to be cleaned into the cleaning chamber of the cleaning component, and controlling the actuator to be cleaned in the cleaning chamber.

[0084] Further, the actuator is set as a telescopic mechanism, through which the actuator is extended to a farther distance to grab the distant objects to be sampled; at the same time, the actuator is retracted by the retraction of the telescopic structure to grab the nearby objects to be sampled. In addition, a default position is set for the actuator, and after grabbing the objects to be sampled, the control center controls the actuator to retract to the default position. And after returning to the default position, the actuator is controlled to move to the area to be cleaned corresponding to the cleaning component. The cleaning component can be a component with a cleaning chamber, and a medium for cleaning is provided in the cleaning chamber. The medium varies depending on the objects to be sampled, for example, it can be ultrasound, steam, hot air, etc. A cleaning entrance is provided above or in front of the cavity. The cleaning entrance is used as the area to be cleaned. After the actuator moves to the area to be cleaned, the control center controls the actuator to extend the area to be cleaned into the cleaning chamber, and controls the medium in the cleaning chamber to clean the actuator. In this way, the cleanliness of the actuator when grabbing the next object to be sampled is ensured, and cross contamination between the objects to be sampled is avoided.

[0085] The control method of the sampling robot implemented in this embodiment, the sampling robot includes a control center, and a mobile mechanism, a monitoring sensor, and an actuator that are connected to the control center in communication. After obtaining the regional image of the area where the object to be sampled is located, the control center first determines multiple initial sampling points based on the regional image, and plans the initial sampling path based on the multiple initial sampling points; then controls the mobile mechanism to move from the path starting point of the initial sampling path, and during the movement, controls the monitoring sensor to monitor the environmental factors of each initial sampling point one by one; the control center determines whether it is necessary to generate adjustment information for adjusting the currently monitored initial sampling point based on the environmental factors returned by the monitoring sensor; if it is determined that there is a need to generate such adjustment information, then generates such adjustment information and updates the initial sampling point and the initial sampling path according to the generated adjustment information, and then controls the actuator to extend and retract to sample the object to be sampled based on the updated initial sampling point and the initial sampling path. In this way, by setting monitoring sensors on the sampling robot, during the sampling process of the sampling robot moving, the monitoring sensors monitor the environmental factors of each initial sampling point one by one. Once the monitored environmental factors reflect that the difference in environmental factors may cause changes in sample performance, adjustment information for adjusting the initial sampling points is generated. The initial sampling points and the initial sampling path are updated by the adjustment information. By updating and collecting more samples that can more comprehensively reflect the quality of the objects to be sampled, the collected samples can more comprehensively and accurately reflect the overall quality of the objects to be sampled.

[0086] For further information, please refer to Figure 2 Based on the first embodiment of the control method of the sampling robot of the present invention, a second embodiment of the control method of the sampling robot of the present invention is proposed.

[0087] The difference between the second embodiment of the control method of the sampling robot and the first embodiment of the control method of the sampling robot is that the step of determining whether to generate adjustment information for adjusting the currently monitored initial sampling point according to the environmental factors comprises:

[0088] Step S31, obtaining the historical environmental temperature and historical environmental humidity in the historical environmental factors corresponding to the initial sampling point of the previous monitoring;

[0089] Step S32, generating a temperature difference between the ambient temperature in the environmental factor and the historical ambient temperature, and a humidity difference between the ambient humidity in the environmental factor and the historical ambient humidity;

[0090] Step S33, determining whether the temperature difference is greater than a preset temperature threshold, and whether the humidity difference is greater than a preset humidity threshold;

[0091] Step S34: if the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the adjustment information is generated.

[0092] Furthermore, whether the current initial sampling point is adjusted or not depends on the change in the environmental factors between the current initial sampling point and the environmental factors of the previous initial sampling point. If the change is large, it means that the current initial sampling point is affected by environmental factors differently from the previous initial sampling point. In order to accurately reflect the performance quality of the items to be sampled in the current initial sampling point, the number of current initial sampling points needs to be increased. Therefore, after receiving the environmental factors collected and transmitted back by the monitoring sensor for the current initial sampling point, the control center uses the environmental factors collected for the last monitored initial sampling point as historical environmental factors to obtain the historical environmental temperature and historical environmental humidity contained therein. Then, the environmental temperature in the environmental factors is subtracted from the historical environmental temperature to obtain the temperature difference between the two. At the same time, the environmental humidity in the environmental factors is subtracted from the historical environmental humidity to obtain the humidity difference between the two.

[0093] Furthermore, in order to indicate the difference between the temperature difference and the humidity difference, the corresponding preset temperature threshold and preset humidity threshold are set in advance based on the previous historical sampling data. The temperature difference is compared with the preset temperature threshold to determine whether the temperature difference is greater than the preset temperature threshold; and the humidity difference is compared with the preset humidity threshold to determine whether the humidity difference is greater than the preset humidity threshold. If the temperature difference is greater than the preset temperature threshold, or the humidity difference is greater than the preset humidity threshold, or the humidity difference is greater than the preset humidity threshold while the temperature difference is greater than the preset temperature threshold, it means that the environmental factors of the current initial sampling point have changed greatly relative to the environmental factors of the previous initial sampling point, and the environmental factors may have a greater impact on the instruction performance of the items to be sampled at the current initial sampling point. At this time, in order to accurately reflect the performance quality of the items to be sampled around the current initial sampling point, it is necessary to increase the number of items to be sampled corresponding to the current initial sampling point, so the control center generates adjustment information. On the contrary, if the temperature difference is determined to be no greater than the preset temperature threshold and the humidity difference is no greater than the preset temperature threshold through comparison, it means that the environmental factors of the current initial sampling point have not changed much compared with the environmental factors of the previous initial sampling point. The current initial sampling point does not need to be adjusted and the actuator can be directly controlled for sampling.

[0094] It is understandable that the generated adjustment information includes at least the number of newly added initial sampling points, the newly added positions, and whether the positions of the current initial sampling points need to be updated and adjusted. Therefore, if the temperature difference is greater than the preset temperature threshold, and / or the humidity difference is greater than the preset humidity threshold, the step of generating the adjustment information includes:

[0095] Step S341, generating a first magnitude relationship between the temperature difference and a preset temperature threshold, and / or generating a second magnitude relationship between the humidity difference and a preset humidity threshold;

[0096] Step S342, determining the number of newly added sampling points according to the first size relationship and / or the second size relationship;

[0097] Step S343, determining a newly added position corresponding to each of the newly added sampling points according to a sampling path between the last monitored initial sampling point and the currently monitored initial sampling point;

[0098] Step S344: Generate the newly added quantity and each of the newly added positions as the adjustment information.

[0099] Further, the number of newly added initial sampling points is related to the change in environmental factors between the current initial sampling point and the previous initial sampling point. The greater the change, the more the number to be added. Therefore, a first size relationship between the temperature difference and the preset temperature threshold is generated, and / or a second size relationship between the humidity difference and the preset humidity threshold is generated. At the same time, the corresponding relationship between temperature, humidity and the newly added number is pre-set, including a first corresponding relationship between the temperature interval and the newly added number, a second corresponding relationship between the humidity interval and the newly added number, and a third corresponding relationship between the temperature interval and the humidity interval and the newly added number. If there is only one item in the first size relationship and the second size relationship, the corresponding corresponding relationship is searched according to the type of the existing item, such as the first size relationship of the temperature type, the first corresponding relationship is searched, the temperature interval where the first size relationship is located is determined, and then the newly added number corresponding to the temperature interval is searched. If the first size relationship and the second size relationship exist at the same time, the corresponding temperature interval and humidity interval, and the corresponding newly added number are searched from the third corresponding relationship. The newly added number determined by the search is the newly added number of the newly added sampling points.

[0100] Furthermore, after determining the number of newly added sampling points, it is necessary to determine the location of each newly added sampling point. Specifically, the path between the last monitored initial sampling point and the currently monitored initial sampling point is determined, and the path is the moving path of the sampling robot between the two initial sampling points. Then, based on the path, the newly added positions of each newly added sampling point are determined. Specifically, the corresponding relationship between the position distance and the newly added number can be set with the currently monitored initial sampling point as the center. For example, within a certain number range, each newly added sampling point of the number is set on a circle with a certain distance as the radius with the currently monitored initial sampling point as the center, and each number of newly added sampling points can be evenly distributed on the circumference, but a new sampling point needs to be set at the intersection of the path and the circumference, so as to facilitate the shortening of the sampling path while sampling evenly. For a larger number range, it can be set with the currently monitored initial sampling point as the center, and two circles with different radii can be set, so that the sampling is more uniform and the quality performance of the items to be sampled is more accurately and comprehensively reflected.

[0101] Furthermore, after each newly added position is determined, each newly added position and the newly added quantity can be generated as adjustment information, so that the control center can update the initial sampling point and the initial sampling path according to the newly added data and each newly added position in the adjustment information. Specifically, the step of updating the initial sampling point and the initial sampling path according to the adjustment information includes:

[0102] Step S41, determining multiple complete paths formed by connecting all newly added positions in series through different paths to the next initial sampling point with the sampling point position of the currently monitored initial sampling point as the starting point, and calculating the path distance of each of the complete paths;

[0103] Step S42, determining the minimum value among the path distances, and updating the initial sampling path and the initial sampling point according to the complete path and the newly added position corresponding to the minimum value.

[0104] Understandably, the sampling robot is at the position of the initial sampling point currently monitored. When the control center updates the initial sampling point and the initial sampling path according to the adjustment information, it needs to be based on the initial sampling point currently monitored. Specifically, the sampling point position where the initial sampling point currently monitored is located is used as the starting point, and the first-level path between the starting point and each newly added position is determined; then each newly added position is used as a new starting point, and other newly added positions are connected one by one to obtain multiple second-level paths; for the last newly added position, it is connected with the next initial sampling point to form a third-level path. Finally, the first-level path, the second-level path, and the third-level path are used to realize the multiple complete paths formed by taking the sampling point position of the initial sampling point currently monitored as the starting point, and connecting all newly added positions in series through different paths to reach the next initial sampling point. For example, if the starting point is A, and the newly added positions include B, C, and D, then the first-level paths are AB, AC, and AD. After that, B, C, and D are used as new starting points to form multiple second-level paths. For B, the second-level paths from B to C and then to D, and the second-level paths from B to D and then to C are connected one by one. For the third-level path, it includes from D to the next initial sampling point, and from C to the next initial sampling point. For C and D, the processing method is the same as B. Finally, the three first-level paths, six second-level paths, and six third-level paths are connected in series to form multiple complete paths.

[0105] Furthermore, in order to determine the shortest path from a plurality of complete paths, a preset calculation formula is provided in advance, and the path distance of each complete path is calculated by the preset calculation formula. The preset calculation formula can be referred to as the following formula (2).

[0106]

[0107] Among them, S i represents the path distance of the ith complete path, n represents the number of sampling point locations in the complete path, (x ki ,y ki ) represents the coordinate value of the kth sampling point in the i-th complete path in the image coordinate system, (x ki+1 ,y ki+1) represents the coordinate value of the k+1th sampling point in the i-th complete path in the image coordinate system, n i represents the number of obstacles formed by the items to be sampled in the i-th complete path, D represents the increased straight-line distance corresponding to each obstacle, m i represents the number of obstacle turns in the ith complete path, θ represents the obstacle turning angle, (e θ *cosθ) represents the distance parameter corresponding to the turning angle, and d represents the turning distance corresponding to each turning. The sampling point positions in the complete path include the sampling point positions of the initial sampling point and each newly added position, as well as the sampling point positions where the next initial sampling point is located, and the number thereof is the sum of the number of such positions. Such positions have their own corresponding pixel coordinate values ​​in the image coordinate system. The straight-line distance between the two adjacent sampling point positions is calculated by the coordinate values ​​of the two adjacent sampling point positions in the image coordinate system, and the straight-line distance is the shortest path formed between the two adjacent sampling points. However, there may be items to be sampled that do not belong to the sampling points placed in the formed path, and the sampling robot needs to bypass the items to be sampled. That is, such items to be sampled constitute obstacles. For such obstacles, the detour of the sampling robot includes two aspects, one is a straight line passing, and the other is a detour at the corner of such items to be sampled. However, not every obstacle will have a corner detour, for example, passing through two obstacles side by side in succession and then turning a corner. That is, the number of obstacles and the number of corners are not consistent. Therefore, the number of obstacles formed by the items to be sampled in the i-th complete path and the number of obstacle turns formed by each obstacle to be sampled are counted. Then, the calculated shortest distance is corrected by combining the pre-set straight line distance added by the obstacle and the corner distance added by the corner, so that the final calculated path distance is more accurate.

[0108] Furthermore, after calculating each complete distance to obtain the respective path distance, the path distances are compared to determine the minimum value. The complete path corresponding to the minimum value is the path with the shortest moving time for the sampling robot. Therefore, the complete path corresponding to the minimum value is found, and based on the positions of the first and last sampling points in the complete path in the original initial sampling path, the complete path is added to the initial sampling path to update the initial sampling path. After the initial sampling path is updated, the newly added sampling points contained therein realize the update of the initial sampling points.

[0109] In this embodiment, when the environmental factors of the currently monitored initial sampling point change greatly compared with the historical environmental factors of the previous initial sampling point, adjustment information for adjusting the initial sampling point is generated, and then the initial sampling point and the initial sampling path are updated by the number and position of the newly added sampling points in the adjustment information, so that the collected samples can better reflect the impact of the environment, more accurately and comprehensively reflect the quality of the items, have an optimal sampling path, the sampling robot has the shortest moving path, and the sampling efficiency is high.

[0110] For further information, please refer to Figure 3 Based on the first and second embodiments of the control method of the sampling robot of the present invention, a third embodiment of the control method of the sampling robot of the present invention is proposed.

[0111] The difference between the third embodiment of the control method of the sampling robot and the first and second embodiments of the control method of the sampling robot is that the sampling robot further includes a communication module, and the step of controlling the actuator to extend and retract to sample the object to be sampled includes:

[0112] Step S50, based on the communication module, the execution force data of the sampling performed by the actuator is transmitted to the sampling management platform which is in communication connection with the sampling robot, and the sampling management platform evaluates whether the execution force data is data to be corrected based on the environmental factors;

[0113] Understandably, the actuator of the sampling robot has a certain grasping force when grasping the object to be sampled. Different types of objects to be sampled have different corresponding grasping forces. Even for the same type of objects to be sampled, the grasping forces they can withstand are different due to the influence of environmental factors at different locations. For example, the grasping force that an object to be sampled at a location with high humidity can withstand is smaller. Therefore, in order to avoid the influence of the grasping force of the actuator on the object to be sampled, this embodiment is provided with a mechanism for feedback and correction of the grasping force data after the actuator samples the object to be sampled.

[0114] Specifically, in order to conduct a unified and accurate analysis of the grabbing force data, a sampling management platform is provided. The sampling management platform can be connected to multiple sampling robots. Each sampling robot is provided with a communication module, which is communicated with the sampling management platform through the communication module. In the process of the sampling robot controlling its actuator to extend and retract to sample the sampled items, the actuator records the force data used for this sampling grabbing operation as the execution force data. After the sampling operation is completed, the execution force data is transmitted to the sampling management platform through the communication module. The sampling management platform evaluates the execution force data based on environmental factors to determine whether the sampling force represented by the execution force data is too large or too small, and whether correction is required. That is, evaluate whether the execution force data is data to be corrected. Specifically, the step of evaluating whether the execution force data is data to be corrected based on the environmental factors by the sampling management platform includes:

[0115] Step S51, the sampling management platform obtains reference force data corresponding to the object to be sampled, and calculates the force correction coefficient of the object to be sampled under the environmental factors according to the ambient temperature and ambient humidity in the environmental factors;

[0116] Step S52, correcting the reference force data according to the force correction coefficient to generate corrected force data, and determining whether the execution force data matches the corrected force data; if so, determining that the execution force data is not data to be corrected;

[0117] Step S53: if the execution force data does not match the correction force data, the execution force data is determined to be data to be corrected, and feedback information indicating that the execution force data is data to be corrected is generated according to the correction force data.

[0118] Furthermore, corresponding reference force data is pre-set for each type of object to be sampled, and the reference force data is the minimum force required to grab the object to be sampled. For the currently sampled object to be sampled, the sampling management platform searches for the reference force data corresponding to the object to be sampled. At the same time, the influence of environmental factors on the grabbing force of the object to be sampled is considered, and the force correction coefficient of the object to be sampled under the environmental factors is calculated through the ambient temperature and ambient humidity in the environmental factors. Among them, the calculation formula for calculating the force correction coefficient can be found in the following formula (3).

[0119]

[0120] Among them, s represents the force correction coefficient, k1 represents the preset temperature weight, k2 represents the preset humidity weight, μ represents the density of the object to be sampled, c represents the specific heat capacity of the object to be sampled, w represents the temperature coefficient corresponding to the object to be sampled, t represents the ambient temperature, p0 represents the compressive strength of the object to be sampled under standard atmospheric pressure, hc represents the saturated humidity, p represents the average compressive strength of the object to be sampled, and h represents the ambient humidity. By combining the ambient temperature and ambient humidity of the environment where the object to be sampled is located, the force correction coefficient reflecting the change in the grasping force of the object to be sampled due to the influence of the environment is calculated.

[0121] Furthermore, the force correction coefficient obtained by calculation is used to correct the reference force data of the sampled object to generate corrected force data. The corrected force data reflects the minimum grasping force of the sampled object that changes due to environmental factors. Then, the execution force data of the actuator grasping the sampled object is compared with the corrected force data to determine whether the execution force data and the corrected force data match. Among them, the matching can be determined by setting a data interval. That is, it is determined whether the difference between the execution force data and the corrected force data is within the data interval. If it is within the data interval, it means that the difference between the execution force data and the corrected force data is small, and the two are determined to match. On the contrary, if the difference between the two exceeds the data interval, it means that the difference between the execution force data and the corrected force data is large, and the two are determined to be mismatched.

[0122] Furthermore, if it is determined that the execution force data matches the correction force data, it means that the force of the actuator to grab the object to be sampled is appropriate, and will not affect the quality performance of the object to be sampled. There is no need to correct the force of the actuator to grab the object to be sampled, so it is determined that the execution force data does not belong to the data to be corrected. Anyway, if it is determined that the execution force data does not match the correction force data, it means that the force of the actuator to grab the object to be sampled is not appropriate, which may affect the quality performance of the object to be sampled, so it is necessary to correct the force of the actuator to grab the object to be sampled, and at this time it is determined that the execution force data belongs to the data to be corrected. Then, feedback information that the execution force data belongs to the data to be corrected is generated based on the correction force data, and the generated feedback information is transmitted to the sampling robot, so that the sampling robot controls the gripping force of the actuator to be adjusted to the correction force data based on the feedback information, and grabs the object to be sampled with a more appropriate gripping force.

[0123] Step S60: If the control center receives feedback information that the execution force data is data to be corrected, the execution mechanism is controlled to resample the object to be sampled according to the correction reference data corresponding to the data to be corrected in the feedback information.

[0124] Furthermore, after receiving the feedback information that the execution force data belongs to the data to be corrected, the control center reads the correction force data from the feedback information as the correction reference data corresponding to the data to be corrected, and controls the actuator according to the correction reference data, and controls the actuator to re-sample the sampled object with the correction reference data. Among them, the position of the re-sampled sampled object is adjacent to the position of the sampled object sampled by the actuator last time. By selecting the adjacent sampled object for re-sampling with the correction reference data, the inappropriate sampling force can be avoided from affecting the performance of the sampled object, and the performance difference of the sampled objects at different positions can be avoided, so as to ensure that the original performance of the collected sample is not affected by the sampling force of the actuator.

[0125] This embodiment obtains the execution force data of the sampling performed by the actuator, and evaluates whether it needs to be corrected in combination with the influence of environmental factors, so that the corrected execution force can grab the sampled object but will not affect the performance quality of the sampled object, thereby ensuring the originality of the sampled object and facilitating the accurate reflection of the overall performance quality of the object through the collected samples.

[0126] In addition, an embodiment of the present invention also provides a sampling robot. The sampling robot includes a control center, a mobile mechanism connected to the control center for communication, a monitoring sensor, an actuator, a communication module, and a cleaning component. Figure 4 , Figure 4 It is a structural diagram of the equipment hardware operating environment involved in the control center implementation scheme of the sampling robot of the present invention.

[0127] like Figure 4 As shown, the control center of the sampling robot may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0128] Those skilled in the art will understand that Figure 4The hardware structure of the control center of the sampling robot shown in the figure does not constitute a limitation of the control center of the sampling robot, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0129] like Figure 4 As shown, the memory 1005 as a medium may include an operating system, a network communication module, a user interface module and a control program. The operating system is a program for managing and controlling the control center and software resources of the sampling robot, and supports the operation of the network communication module, the user interface module, the control program and other programs or software; the network communication module is used to manage and control the network interface 1004; the user interface module is used to manage and control the user interface 1003.

[0130] exist Figure 4 In the hardware structure of the control center of the sampling robot shown in the figure, the network interface 1004 is mainly used to connect to the system server and perform data communication with the system server; the user interface 1003 is mainly used to connect to the client (user end) and perform data communication with the client; the processor 1001 can call the control program stored in the memory 1005 and perform the following operations:

[0131] The control center obtains a regional image of the area where the object to be sampled is located, determines a plurality of initial sampling points according to the regional image, and plans an initial sampling path according to the plurality of initial sampling points;

[0132] The control center controls the moving mechanism to start moving from the path starting point of the initial sampling path, and during the movement, controls the monitoring sensor to monitor the environmental factors of each of the initial sampling points one by one;

[0133] The control center receives the environmental factor transmitted back by the monitoring sensor, and determines whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factor;

[0134] If the adjustment information is generated, the initial sampling point and the initial sampling path are updated according to the adjustment information, and the actuator is controlled to extend and retract to sample the object to be sampled according to the updated initial sampling point and the initial sampling path.

[0135] Further, the step of determining whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factors includes:

[0136] Obtain the historical environmental temperature and historical environmental humidity in the historical environmental factors corresponding to the initial sampling point of the previous monitoring;

[0137] Generate a temperature difference between the ambient temperature in the environmental factor and the historical ambient temperature, and a humidity difference between the ambient humidity in the environmental factor and the historical ambient humidity;

[0138] Determine whether the temperature difference is greater than a preset temperature threshold, and whether the humidity difference is greater than a preset humidity threshold;

[0139] If the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the adjustment information is generated.

[0140] Further, if the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the step of generating the adjustment information includes:

[0141] Generate a first magnitude relationship between the temperature difference and a preset temperature threshold, and / or generate a second magnitude relationship between the humidity difference and a preset humidity threshold;

[0142] Determine the number of newly added sampling points according to the first size relationship and / or the second size relationship;

[0143] Determine a newly added position corresponding to each of the newly added sampling points according to a sampling path between the last monitored initial sampling point and the currently monitored initial sampling point;

[0144] The newly added quantity and each of the newly added positions are generated as the adjustment information.

[0145] Further, the step of updating the initial sampling point and the initial sampling path according to the adjustment information includes:

[0146] Determine the sampling point position of the currently monitored initial sampling point as the starting point, connect all the newly added positions in series through different paths to form multiple complete paths to reach the next initial sampling point, and calculate the path distance of each complete path. The calculation formula is:

[0147]

[0148] Among them, S i represents the path distance of the ith complete path, n represents the number of sampling point locations in the complete path, (x ki ,y ki ) represents the coordinate value of the kth sampling point in the i-th complete path in the image coordinate system, (x ki+1 ,y ki+1 ) represents the coordinate value of the k+1th sampling point in the i-th complete path in the image coordinate system, n irepresents the number of obstacles formed by the items to be sampled in the i-th complete path, D represents the increased straight-line distance corresponding to each obstacle, m i represents the number of obstacle turns in the ith complete path, θ represents the obstacle turning angle, (e θ *cosθ) represents the distance parameter corresponding to the turning angle, and d represents the increasing turning distance corresponding to each turning angle;

[0149] The minimum value among the path distances is determined, and the initial sampling path and the initial sampling point are updated according to the complete path and the newly added position corresponding to the minimum value.

[0150] Furthermore, the step of determining a plurality of initial sampling points according to the regional image comprises:

[0151] Identify whether the imaging of the object to be sampled in the area image is regular imaging, and if it is regular imaging, determine the sampling quantity of the object to be sampled according to the quantity of the object to be sampled and a preset sampling ratio;

[0152] Dividing the regional image into regional sub-images corresponding to the sampling number, determining the target object imaging in the regional sub-images, and taking the position of the to-be-sampled object corresponding to the target object imaging as the initial sampling point;

[0153] If the imaging of the object is irregular, the imaging of the object is clustered to generate multiple clusters. For each cluster, the sampling probability of each element in the cluster is calculated according to the position coordinates of each element in the cluster in the image coordinate system. The calculation formula is:

[0154]

[0155] Among them, p j represents the sampling probability of the jth element, x j Indicates the x-coordinate value of the position coordinate of the jth element in the image coordinate system, y j Indicates the y coordinate value of the position coordinate of the jth element in the image coordinate system, x c Indicates the x-coordinate value of the cluster center in the image coordinate system, y c Indicates the y coordinate value of the cluster center in the image coordinate system, x τ Represents the average x-coordinate of the position coordinates of each element in the cluster in the image coordinate system, y τ It represents the average y-coordinate value of the position coordinates of each element in the cluster in the image coordinate system, v1 represents the center weight value of the cluster center, and v2 represents the average weight value of the mean coordinates corresponding to the position coordinates of each element in the image coordinate system;

[0156] The cluster sampling quantity of each cluster is determined according to the number of elements in the cluster and a preset sampling ratio, and the initial sampling point is determined according to the cluster sampling quantity and each sampling probability.

[0157] Furthermore, the sampling robot further includes a communication module. After the step of controlling the actuator to extend and retract to sample the object to be sampled, the processor 1001 may call the control program stored in the memory 1005 and perform the following operations:

[0158] Transmitting the execution force data of the sampling performed by the actuator to a sampling management platform in communication connection with the sampling robot based on the communication module, and the sampling management platform evaluating whether the execution force data is data to be corrected based on the environmental factors;

[0159] If the control center receives feedback information that the execution force data is data to be corrected, the execution mechanism is controlled to resample the object to be sampled according to the correction reference data corresponding to the data to be corrected in the feedback information.

[0160] Furthermore, the step of evaluating by the sampling management platform whether the execution strength data is data to be corrected based on the environmental factors includes:

[0161] The sampling management platform obtains reference force data corresponding to the object to be sampled, and calculates the force correction coefficient of the object to be sampled under the environmental factors according to the ambient temperature and ambient humidity in the environmental factors. The calculation formula is:

[0162]

[0163] Wherein, s represents the force correction coefficient, k1 represents the preset temperature weight, k2 represents the preset humidity weight, μ represents the density of the object to be sampled, c represents the specific heat capacity of the object to be sampled, w represents the temperature coefficient corresponding to the object to be sampled, t represents the ambient temperature, p0 represents the compressive strength of the object to be sampled under standard atmospheric pressure, hc represents the saturated humidity, p represents the average compressive strength of the object to be sampled, and h represents the ambient humidity;

[0164] Correcting the reference force data according to the force correction coefficient to generate corrected force data, and determining whether the execution force data matches the corrected force data, and if so, determining that the execution force data is not data to be corrected;

[0165] If the execution force data does not match the correction force data, the execution force data is determined to be data to be corrected, and feedback information indicating that the execution force data is data to be corrected is generated according to the correction force data.

[0166] Furthermore, the sampling robot further includes a cleaning component. After the step of controlling the actuator to extend and retract to sample the object to be sampled, the processor 1001 may call the control program stored in the memory 1005 and perform the following operations:

[0167] Controlling the actuator to extend and retract to a default position, and controlling the actuator to move to an area to be cleaned corresponding to the cleaning component;

[0168] The actuator is controlled to extend from the area to be cleaned into a cleaning chamber of the cleaning component, and the actuator is controlled to be cleaned in the cleaning chamber.

[0169] The specific implementation of the control center of the sampling robot of the present invention is basically the same as the various embodiments of the control method of the sampling robot mentioned above, and will not be repeated here.

[0170] The embodiment of the present invention further provides a medium. The medium is a readable storage medium, on which a control program is stored, and when the control program is executed by a processor, the steps of the control method of the sampling robot are implemented.

[0171] The storage medium of the present invention may be a computer-readable storage medium, and its implementation method is substantially the same as the various embodiments of the control method of the sampling robot described above, and will not be described in detail herein.

[0172] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims. All equivalent structures or equivalent process changes made using the contents of the specification and drawings of the present invention, or directly or indirectly used in other related technical fields, are protected by the present invention.

Claims

1. A control method for a sampling robot, characterized in that: The sampling robot includes a control center, and a moving mechanism, a monitoring sensor, and an actuator that are communicatively connected to the control center. The control method of the sampling robot includes: The control center obtains a regional image of the area where the object to be sampled is located, determines a plurality of initial sampling points according to the regional image, and plans an initial sampling path according to the plurality of initial sampling points; The control center controls the moving mechanism to start moving from the path starting point of the initial sampling path, and during the movement, controls the monitoring sensor to monitor the environmental factors of each of the initial sampling points one by one; The control center receives the environmental factor transmitted back by the monitoring sensor, and determines whether to generate adjustment information for adjusting the initial sampling point currently monitored according to the environmental factor; If the adjustment information is generated, the initial sampling point and the initial sampling path are updated according to the adjustment information, and the actuator is controlled to extend and retract to sample the object to be sampled according to the updated initial sampling point and the initial sampling path.

2. The control method of the sampling robot according to claim 1, characterized in that: The step of determining whether to generate adjustment information for adjusting the currently monitored initial sampling point according to the environmental factors comprises: Obtain the historical environmental temperature and historical environmental humidity in the historical environmental factors corresponding to the initial sampling point of the previous monitoring; Generate a temperature difference between the ambient temperature in the environmental factor and the historical ambient temperature, and a humidity difference between the ambient humidity in the environmental factor and the historical ambient humidity; Determine whether the temperature difference is greater than a preset temperature threshold, and whether the humidity difference is greater than a preset humidity threshold; If the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the adjustment information is generated.

3. The control method of the sampling robot according to claim 2, characterized in that: If the temperature difference is greater than a preset temperature threshold, and / or the humidity difference is greater than a preset humidity threshold, the step of generating the adjustment information includes: Generate a first magnitude relationship between the temperature difference and a preset temperature threshold, and / or generate a second magnitude relationship between the humidity difference and a preset humidity threshold; Determine the number of newly added sampling points according to the first size relationship and / or the second size relationship; Determine a newly added position corresponding to each of the newly added sampling points according to a sampling path between the last monitored initial sampling point and the currently monitored initial sampling point; The newly added quantity and each of the newly added positions are generated as the adjustment information.

4. The control method of the sampling robot according to claim 3, characterized in that: The step of updating the initial sampling point and the initial sampling path according to the adjustment information comprises: Determine the sampling point position of the currently monitored initial sampling point as the starting point, connect all the newly added positions in series through different paths to form multiple complete paths to reach the next initial sampling point, and calculate the path distance of each complete path. The calculation formula is: Among them, S i represents the path distance of the ith complete path, n represents the number of sampling point locations in the complete path, (x ki ,y ki ) represents the coordinate value of the kth sampling point in the i-th complete path in the image coordinate system, (x ki+1 ,y ki+1 ) represents the coordinate value of the k+1th sampling point in the i-th complete path in the image coordinate system, n i represents the number of obstacles formed by the items to be sampled in the i-th complete path, D represents the increased straight-line distance corresponding to each obstacle, m i represents the number of obstacle turns in the ith complete path, θ represents the obstacle turning angle, (e θ *cosθ) represents the distance parameter corresponding to the turning angle, and d represents the increasing turning distance corresponding to each turning angle; The minimum value among the path distances is determined, and the initial sampling path and the initial sampling point are updated according to the complete path and the newly added position corresponding to the minimum value.

5. The control method of the sampling robot according to claim 1, characterized in that: The step of determining a plurality of initial sampling points according to the regional image comprises: Identify whether the imaging of the object to be sampled in the area image is regular imaging, and if it is regular imaging, determine the sampling quantity of the object to be sampled according to the quantity of the object to be sampled and a preset sampling ratio; Dividing the regional image into regional sub-images corresponding to the sampling number, determining the target object imaging in the regional sub-images, and taking the position of the to-be-sampled object corresponding to the target object imaging as the initial sampling point; If the imaging of the object is irregular, the imaging of the object is clustered to generate multiple clusters. For each cluster, the sampling probability of each element in the cluster is calculated according to the position coordinates of each element in the cluster in the image coordinate system. The calculation formula is: Among them, p j represents the sampling probability of the jth element, x j Indicates the x-coordinate value of the position coordinate of the jth element in the image coordinate system, y j Indicates the y coordinate value of the position coordinate of the jth element in the image coordinate system, x c Indicates the x-coordinate value of the cluster center in the image coordinate system, y c Indicates the y coordinate value of the cluster center in the image coordinate system, x τ Represents the average x-coordinate of the position coordinates of each element in the cluster in the image coordinate system, y τ It represents the average y-coordinate value of the position coordinates of each element in the cluster in the image coordinate system, v1 represents the center weight value of the cluster center, and v2 represents the average weight value of the mean coordinates corresponding to the position coordinates of each element in the image coordinate system; The cluster sampling quantity of each cluster is determined according to the number of elements in the cluster and a preset sampling ratio, and the initial sampling point is determined according to the cluster sampling quantity and each sampling probability.

6. The control method of the sampling robot according to any one of claims 1 to 5, characterized in that: The sampling robot further includes a communication module, and the step of controlling the actuator to extend and retract to sample the object to be sampled includes: Transmitting the execution force data of the sampling performed by the actuator to a sampling management platform in communication connection with the sampling robot based on the communication module, and the sampling management platform evaluating whether the execution force data is data to be corrected based on the environmental factors; If the control center receives feedback information that the execution force data is data to be corrected, the execution mechanism is controlled to resample the object to be sampled according to the correction reference data corresponding to the data to be corrected in the feedback information.

7. The control method of the sampling robot according to claim 6, characterized in that: The step of evaluating whether the execution strength data is data to be corrected based on the environmental factors by the sampling management platform includes: The sampling management platform obtains reference force data corresponding to the object to be sampled, and calculates the force correction coefficient of the object to be sampled under the environmental factors according to the ambient temperature and ambient humidity in the environmental factors. The calculation formula is: Wherein, s represents the force correction coefficient, k1 represents the preset temperature weight, k2 represents the preset humidity weight, μ represents the density of the object to be sampled, c represents the specific heat capacity of the object to be sampled, w represents the temperature coefficient corresponding to the object to be sampled, t represents the ambient temperature, p0 represents the compressive strength of the object to be sampled under standard atmospheric pressure, hc represents the saturated humidity, p represents the average compressive strength of the object to be sampled, and h represents the ambient humidity; Correcting the reference force data according to the force correction coefficient to generate corrected force data, and determining whether the execution force data matches the corrected force data, and if so, determining that the execution force data is not data to be corrected; If the execution force data does not match the correction force data, the execution force data is determined to be data to be corrected, and feedback information indicating that the execution force data is data to be corrected is generated according to the correction force data.

8. The control method of the sampling robot according to any one of claims 1 to 5, characterized in that: The sampling robot further includes a cleaning component, and the step of controlling the actuator to extend and retract to sample the object to be sampled includes: Controlling the actuator to extend and retract to a default position, and controlling the actuator to move to an area to be cleaned corresponding to the cleaning component; The actuator is controlled to extend from the area to be cleaned into a cleaning chamber of the cleaning component, and the actuator is controlled to be cleaned in the cleaning chamber.

9. A sampling robot, characterized in that: The sampling robot includes a control center, and a moving mechanism, a monitoring sensor, an actuator, a communication module and a cleaning component that are communicatively connected to the control center; The control center includes a memory, a processor, a communication bus, and a control program stored in the memory: The communication bus is used to realize the connection and communication between the processor and the memory; The processor is used to execute the control program to implement the steps of the control method of the sampling robot according to any one of claims 1-8.

10. A medium, characterized in that The medium is a readable storage medium on which a control program is stored. When the control program is executed by a processor, the steps of the control method for the sampling robot according to any one of claims 1 to 8 are implemented.

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