Navigation method and equipment for plant protection robot and medium

Abstract

The invention relates to a navigation method and device for a plant protection robot and a medium. The navigation method comprises the steps of starting a vehicle head navigation system, collecting signals, calculating the angle average value of included angles between center lines of left and right driving wheels of the robot and visual fitting navigation lines on the corresponding sides, comparing the angle average value with a stop threshold value, and making decision judgment to enable the robot to enter a straight moving mode. In the straight running mode, a visual course angle is obtained according to the successful number of the visual signals and the collision signals received by the robot, and a comprehensive course angle is obtained in combination with the collision boot signals. And finally making a decision by combining a distance signal of ultrasonic ranging and the comprehensive course angle. And when the robot arrives at the preset terminal point, the vehicle tail navigation system is switched to return. Compared with the prior art, the method has the advantages of high precision, comprehensive decision, high safety and the like.

Description

Technical Field

[0001] The present invention relates to the field of plant protection robots, and in particular to a navigation method, equipment and medium for a plant protection robot. Background Art

[0002] At present, plant protection robots are playing an increasingly important role in the agricultural field. However, traditional navigation strategies are often limited by a single signal source and lack of effective conflict resolution strategies. These limitations restrict the performance of robots in complex environments. Traditional methods often rely on limited sensors or specific navigation sources, which leads to insufficient navigation accuracy and incomplete decision-making in some scenarios. Traditional plant protection robot navigation strategies mostly rely on a single navigation method, such as GPS navigation or visual navigation. However, GPS navigation is susceptible to signal interference in complex environments, resulting in inaccurate positioning; while visual navigation relies on image recognition technology, which is easily affected by factors such as lighting, shadows, and crop occlusion, resulting in difficulty in crop row identification. In addition, traditional navigation strategies lack effective conflict resolution methods when facing multiple signal conflicts, causing robots to make wrong or invalid decisions in specific scenarios. Therefore, how to enable plant protection robots to make correct, effective and real-time decisions in complex environments and under multi-sensor decision conflicts is a technical problem that needs to be solved. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a navigation method, equipment and medium for a plant protection robot, which improves the navigation accuracy and decision-making comprehensiveness of the plant protection robot in complex environments by comprehensively utilizing multiple signal sources and information, combining visual navigation, collision sensors and ultrasonic information, and accurate identification and alignment of crop rows.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] According to one aspect of the present invention, a navigation method for a plant protection robot is provided, and the specific steps include:

[0006] S1. Turn on the vehicle navigation system and collect visual signals through the camera, including the coordinates of the crop rows, the angles between the boundary lines, and the offset distance of the robot relative to the target path; collect collision signals through the collision sensor and collect distance signals through the ultrasonic ranging sensor;

[0007] S2, respectively calculate the average of the angles between the center lines of the left and right driving wheels of the robot and the visual fitting navigation line on the corresponding side, and compare them with the stop threshold to make a decision and make the robot enter the straight-ahead mode;

[0008] S3, in the straight mode, the visual heading angle is obtained according to the successful number of visual signals and collision signals received by the robot, and the comprehensive heading angle is obtained by combining the collision boot signal;

[0009] S4, making a final decision by combining the distance signal of ultrasonic ranging and the comprehensive heading angle;

[0010] S5. When the robot reaches the predetermined destination, the front navigation system is turned off and the rear navigation system is turned on. The robot returns using the navigation methods of S1, S2, S3 and S4.

[0011] Furthermore, in S1, after the vehicle navigation system is turned on, the camera performs self-checking and determines the crop row recognition status, wherein the determination of the crop row recognition status is to identify the field ditch between two ridges and align the robot wheels with the field ditch.

[0012] Furthermore, in S2, the visual fitting navigation line is the boundary line of the marginal crops obtained by fitting the coordinates and angles of the crop rows collected in S1;

[0013] When the coordinates and angles of the crop rows collected on the left and right sides are within the preset effective range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side to obtain the left deviation angle and the right deviation angle; the deviation angle is marked, the left deviation is recorded as positive, and the right deviation is recorded as negative; the average value of the left deviation angle and the right deviation angle is calculated as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight mode; otherwise, repeat S2;

[0014] When only one side of the coordinates and angles of the crop rows collected on the left and right sides is within the preset valid range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side according to the feedback from the valid side to obtain a unique deviation angle as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight-ahead mode; otherwise, repeat S2.

[0015] Furthermore, in S3, when the signals collected by the camera are all within the effective range, the visual signal is recorded as a success signal; when the four groups of collision sensors all detect valid collision signals, the collision shoe signal is recorded as a success signal.

[0016] Furthermore, in S3, the step of obtaining the visual heading angle is:

[0017] When the number of successful signals is zero, the visual heading angle is 0 degrees, and the straight-ahead strategy is executed; when the number of successful signals is one, the visual heading angle is calculated based on the unique successful signal; when the number of successful signals is two, the deviation between the two signals and the corresponding preset values ​​is recorded as positive for the left deviation and negative for the right deviation, and the average value of the deviation is calculated to obtain the visual heading angle.

[0018] Furthermore, the collision shoe signal in S3 is obtained by four collision sensors.

[0019] When the collision sensor has no signal feedback, no collision boot signal is generated; when the collision sensor feedbacks collision signals from the left front and right front, or from the left rear and right rear, and the signal duration reaches 1 second, the collision boot signal is a severe collision, and the robot brakes immediately; when the collision sensor feedbacks a collision signal from the left front, left front and left rear, left front and right rear, or right rear, the robot executes a right turn strategy, and the collision boot signal is a right turn; when the collision sensor feedbacks a collision signal from the right front, right front and left rear, right front and right rear, or left rear, the robot executes a left turn strategy, and the collision boot signal is a left turn.

[0020] Furthermore, in S3, the step of obtaining the comprehensive heading angle is:

[0021] When there is no collision shoe signal, the visual heading angle is used as the comprehensive heading angle; when the collision shoe signal indicates a serious collision, the robot brakes immediately;

[0022] When there is a collision boot signal and it is not a serious collision, if the visual heading angle is consistent with the collision boot signal direction, the visual heading angle is used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has an angle, the visual heading angle is inverted and used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has no angle, the current visual heading angle is deflected by a preset angle toward the collision boot signal direction and used as the comprehensive heading angle.

[0023] Furthermore, in S4, when the decision obtained by the integrated heading angle is consistent with the decision obtained by the ultrasonic ranging signal, the integrated heading angle is used as the final decision; when the decision obtained by the integrated heading angle is inconsistent with the decision obtained by the ultrasonic ranging signal, the distance values ​​obtained by ten groups of continuous ultrasonic ranging signals are selected to calculate the confidence, and the fluctuation degree of the integrated heading angle is calculated for confidence, and the one with the largest confidence is used as the final decision.

[0024] According to a second aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the method described above is implemented when the processor executes the program.

[0025] According to a third aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program implements the method described above when executed by a processor.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) Improving navigation accuracy: The camera collects the coordinates of the crop rows, the angles between the boundary lines, and the offset distance of the robot relative to the target path, and uses this information to fit the visual fitting navigation line. By comparing the angle between the visual fitting navigation line and the center line of the robot's driving wheel, decision-making is made, thereby improving the navigation accuracy of the plant protection robot in complex farmland environments. By accurately collecting and analyzing crop row information with multiple types of sensors, the robot can adjust its position in real time to ensure that it moves along the correct path, thereby improving work efficiency and accuracy.

[0028] (2) Enhanced decision-making comprehensiveness: The robot not only relies on visual signals for navigation, but also combines collision boot sensors and ultrasonic signals to make multiple decisions, which enhances the comprehensiveness of the plant protection robot's decision-making when facing multiple signal conflicts. By comprehensively utilizing information from multiple sensors, the robot can perceive the surrounding environment more comprehensively and make more accurate and effective decisions. When the data collected by a certain type of sensor is not accurate enough, the robot can still ensure the comprehensiveness and correctness of the decision, which helps the robot avoid collisions and bypass obstacles in complex environments, thereby ensuring operational safety.

[0029] (3) Improved operation safety: The collision shoe signal is obtained by four collision sensors, which can detect the collision of the robot in front, behind, left and right directions. When the collision sensor detects a serious collision signal, the robot will brake immediately. According to the direction of the collision signal, the robot will execute the corresponding steering strategy, which improves the safety of the plant protection robot during operation. By monitoring the collision situation in real time, the robot can respond quickly and avoid potential collision hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a navigation method for a plant protection robot;

[0031] Figure 2 This is the navigation system self-check flow chart;

[0032] Figure 3 A decision flow chart for entering straight-ahead mode;

[0033] Figure 4 Flow chart to obtain the integrated heading angle;

[0034] Figure 5 Flowchart for the final decision. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] like Figure 1 As shown in the figure, a navigation method for a plant protection robot is used. By comprehensively utilizing information from multiple sensors, the robot can fully perceive the surrounding environment. When the data collected by a certain type of sensor is not accurate enough, such as when the light is dim and the camera cannot collect visual signals, the robot can still ensure the comprehensiveness and correctness of the decision, which helps the robot avoid collisions and bypass obstacles in complex environments to ensure safe operation. The specific steps include:

[0037] S1. Turn on the vehicle navigation system and collect visual signals through the camera, including the coordinates of the crop rows, the angles between the boundary lines, and the offset distance of the robot relative to the target path; collect collision signals through the collision sensor and collect distance signals through the ultrasonic ranging sensor;

[0038] S2, respectively calculate the average of the angles between the center lines of the left and right driving wheels of the robot and the visual fitting navigation line on the corresponding side, and compare them with the stop threshold to make a decision and make the robot enter the straight-ahead mode;

[0039] S3, in the straight mode, the visual heading angle is obtained according to the successful number of visual signals and collision signals received by the robot, and the comprehensive heading angle is obtained by combining the collision boot signal;

[0040] S4, combining the distance signal of ultrasonic ranging and the comprehensive heading angle to make a final decision;

[0041] S5. When the robot reaches the predetermined destination, the front navigation system is turned off and the rear navigation system is turned on. The robot returns using the navigation methods of S1, S2, S3 and S4.

[0042] like Figure 2 As shown, in S1, the camera first performs relevant function checks, and after confirming that its own functions are correct, it sends a normal self-check signal. After receiving the signal, the plant protection robot starts the front visual navigation program. The plant protection robot waits for the crop row recognition success signal in a loop, and after receiving it, sends a switch lateral mode command to the wheel drive device, and determines that the crop row recognition situation is the field ditch between two ridges, so that the robot wheels are aligned with the field ditch.

[0043] like Figure 3 As shown, in S2, the visual fitting navigation line is the boundary line of the marginal crops obtained by fitting the coordinates and angles of the crop rows collected in S1.

[0044] When the coordinates and angles of the crop rows collected on the left and right sides are within the preset effective range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side to obtain the left deviation angle and the right deviation angle; the variation angle is marked, the left deviation is recorded as positive, and the right deviation is recorded as negative; the average value of the left deviation angle and the right deviation angle is calculated as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight mode; otherwise, repeat S2.

[0045] When only one side of the coordinates and angles of the crop rows collected on the left and right sides is within the preset valid range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side according to the feedback from the valid side to obtain a unique deviation angle as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight-ahead mode; otherwise, repeat S2.

[0046] like Figure 4 As shown, in S3, when the signals collected by the camera are all within the effective range, the visual signal is recorded as a success signal; when the four groups of collision sensors all detect valid collision signals, the collision shoe signal is recorded as a success signal.

[0047] In S3, the steps for obtaining the visual heading angle are as follows: when the number of successful signals is zero, the visual heading angle is 0 degrees, and the straight-ahead strategy is executed; when the number of successful signals is one, the visual heading angle is calculated based on the unique successful signal; when the number of successful signals is two, the visual heading angle is obtained based on the deviation between the two signals and the corresponding preset values, with the left deviation recorded as positive and the right deviation recorded as negative, and the average value of the deviation is calculated to obtain the visual heading angle.

[0048] The collision shoe signal in S3 is obtained by four collision sensors. When there is no signal feedback from the collision sensor, no collision shoe signal is generated; when the collision sensor feedbacks the collision signal of the left front and right front, or the left rear and right rear, and the signal duration reaches 1 second, the collision shoe signal is a serious collision, and the robot brakes immediately; when the collision sensor feedbacks the collision signal of the left front, left front and left rear, left front and right rear, or right rear, the robot executes the right turn strategy, and the collision shoe signal is a right turn; when the collision sensor feedbacks the collision signal of the right front, right front and left rear, right front and right rear, or left rear, the robot executes the left turn strategy, and the collision shoe signal is a left turn.

[0049] In S3, the steps to obtain the integrated heading angle are:

[0050] When there is no collision shoe signal, the visual heading angle is used as the comprehensive heading angle; when the collision shoe signal indicates a serious collision, the robot brakes immediately;

[0051] When there is a collision boot signal and it is not a serious collision, if the visual heading angle is consistent with the collision boot signal direction, the visual heading angle is used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has an angle, the visual heading angle is inverted and used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has no angle, the current visual heading angle is deflected by a preset angle toward the collision boot signal direction and used as the comprehensive heading angle.

[0052] like Figure 5 As shown, in S4, when the decision obtained by the integrated heading angle is consistent with that obtained by the ultrasonic ranging signal, the integrated heading angle is used as the final decision; when the decision obtained by the integrated heading angle is inconsistent with that obtained by the ultrasonic ranging signal, the distance values ​​obtained by ten groups of continuous ultrasonic ranging signals are selected to calculate the confidence, and the fluctuation degree of the integrated heading angle is calculated for confidence, and the one with the largest confidence is used as the final decision.

[0053] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0054] The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0055] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0056] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0057] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A navigation method for a plant protection robot, characterized in that: The specific steps include: S1. Turn on the vehicle navigation system and collect visual signals through the camera, including the coordinates of the crop rows, the angles between the boundary lines, and the offset distance of the robot relative to the target path; collect collision signals through the collision sensor and collect distance signals through the ultrasonic ranging sensor; S2, respectively calculate the average of the angles between the center lines of the left and right driving wheels of the robot and the visual fitting navigation line on the corresponding side, and compare them with the stop threshold to make a decision and make the robot enter the straight-ahead mode; S3, in the straight mode, the visual heading angle is obtained according to the successful number of visual signals and collision signals received by the robot, and the comprehensive heading angle is obtained by combining the collision boot signal; S4, making a final decision by combining the distance signal of ultrasonic ranging and the comprehensive heading angle; S5. When the robot reaches the predetermined destination, the front navigation system is turned off and the rear navigation system is turned on. The robot returns using the navigation methods of S1, S2, S3 and S4.

2. A navigation method for a plant protection robot according to claim 1, characterized in that: In S1, after the vehicle navigation system is turned on, the camera performs self-checking and determines the crop row recognition status. The determination of the crop row recognition status is to identify the field ditch between two ridges and align the robot wheels with the field ditch.

3. A navigation method for a plant protection robot according to claim 1, characterized in that: In S2, the visual fitting navigation line is the boundary line of the marginal crops obtained by fitting the coordinates and angles of the crop rows collected in S1; When the coordinates and angles of the crop rows collected on the left and right sides are within the preset effective range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side to obtain the left deviation angle and the right deviation angle; the deviation angle is marked, the left deviation is recorded as positive, and the right deviation is recorded as negative; the average value of the left deviation angle and the right deviation angle is calculated as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight mode; otherwise, repeat S2; When only one side of the coordinates and angles of the crop rows collected on the left and right sides is within the preset valid range, the visual fitting navigation line is compared with the center line of the driving wheel on the corresponding side according to the feedback from the valid side to obtain a unique deviation angle as the translation amount; when the translation amount is within the allowable range of the stop threshold, the robot switches to the straight-ahead mode; otherwise, repeat S2.

4. A navigation method for a plant protection robot according to claim 1, characterized in that: In S3, when the signals collected by the camera are all within the effective range, the visual signal is recorded as a success signal; when the four groups of collision sensors all detect valid collision signals, the collision shoe signal is recorded as a success signal.

5. The navigation method for a plant protection robot according to claim 1, characterized in that: In S3, the step of obtaining the visual heading angle is: When the number of successful signals is zero, the visual heading angle is 0 degrees, and the straight-ahead strategy is executed; when the number of successful signals is one, the visual heading angle is calculated based on the unique successful signal; when the number of successful signals is two, the deviation between the two signals and the corresponding preset values ​​is recorded as positive for the left deviation and negative for the right deviation, and the average value of the deviation is calculated to obtain the visual heading angle.

6. A navigation method for a plant protection robot according to claim 1, characterized in that: The collision shoe signal in S3 is obtained by four collision sensors. When the collision sensor has no signal feedback, no collision boot signal is generated; when the collision sensor feedbacks collision signals from the left front and right front, or from the left rear and right rear, and the signal duration reaches 1 second, the collision boot signal is a severe collision, and the robot brakes immediately; when the collision sensor feedbacks a collision signal from the left front, left front and left rear, left front and right rear, or right rear, the robot executes a right turn strategy, and the collision boot signal is a right turn; when the collision sensor feedbacks a collision signal from the right front, right front and left rear, right front and right rear, or left rear, the robot executes a left turn strategy, and the collision boot signal is a left turn.

7. A navigation method for a plant protection robot according to claim 1, characterized in that: In S3, the steps of obtaining the comprehensive heading angle are: When there is no collision shoe signal, the visual heading angle is used as the comprehensive heading angle; when the collision shoe signal indicates a serious collision, the robot brakes immediately; When there is a collision boot signal and it is not a serious collision, if the visual heading angle is consistent with the collision boot signal direction, the visual heading angle is used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has an angle, the visual heading angle is inverted and used as the comprehensive heading angle; if the visual heading angle is inconsistent with the collision signal direction and the visual heading angle has no angle, the current visual heading angle is deflected by a preset angle toward the collision boot signal direction and used as the comprehensive heading angle.

8. The navigation method for a plant protection robot according to claim 1, characterized in that: In S4, when the decision obtained by the integrated heading angle is consistent with that obtained by the ultrasonic ranging signal, the integrated heading angle is used as the final decision; when the decision obtained by the integrated heading angle is inconsistent with that obtained by the ultrasonic ranging signal, the distance values ​​obtained by ten groups of continuous ultrasonic ranging signals are selected to calculate the confidence, and the fluctuation degree of the integrated heading angle is calculated for confidence, and the one with the largest confidence is used as the final decision.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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