Pose adjusting method and device of spraying robot, electronic equipment and storage medium

Abstract

The invention discloses a pose adjustment method and device of a spraying robot, electronic equipment and a storage medium, and the method comprises the steps: obtaining a spraying process of the spraying robot for spraying a to-be-sprayed unmanned aerial vehicle, and determining a current spraying node of the to-be-sprayed unmanned aerial vehicle; the spraying robot is controlled to move to the operation position corresponding to the current spraying node; acquiring a scene image acquired by a camera arranged in the spraying scene, and identifying an unmanned aerial vehicle workpiece contained in the scene image to obtain a workpiece point cloud of the identified reference workpiece; acquiring image information including a reference workpiece acquired by an image acquisition device arranged on the spraying robot, and constructing world coordinates according to the image information to obtain coordinate information of the reference workpiece; and according to the workpiece point cloud and the coordinate information, position and posture adjustment information of the spraying robot is determined, and position and posture adjustment is conducted on the spraying robot according to the position and posture adjustment information. And the accuracy of position and posture adjustment of the spraying robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned robot control and adjustment, and particularly to a method, device, electronic device and storage medium for adjusting the pose of a spraying robot. Background Art

[0002] With the development of society and technology, many industrial processes have gradually achieved automation, and automated processing can effectively improve work efficiency.

[0003] Currently, in the industrial production of unmanned aerial vehicle (UAV) spraying, the spraying process is usually completed manually. Operators input commands to relevant equipment based on experience, so that the relevant equipment performs spraying processing on the UAV according to the input control commands. However, manual operation not only has the problem of poor spraying efficiency, but also has the problem of low spraying accuracy. For example, inaccurate spraying positions and uneven spraying are all caused by inaccurate adjustment.

[0004] Therefore, there is an urgent need for a method for adjusting the pose of a spraying robot to improve spraying efficiency. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method, device, electronic device and storage medium for adjusting the pose of a spraying robot to solve the technical problems of poor spraying effect and efficiency of UAV spraying in related technologies.

[0006] In a first aspect, the embodiments of the present application provide a method for adjusting the pose of a spraying robot, including:

[0007] Obtain the spraying process of the spraying robot for spraying the UAV to be sprayed, and determine the current spraying node of the UAV to be sprayed. Among them, the spraying process includes several spraying nodes, and there is a spraying sequence between the spraying nodes;

[0008] Control the spraying robot to move to the working position corresponding to the current spraying node;

[0009] Obtain the scene image collected by the camera set in the spraying scene, and identify the UAV workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece;

[0010] Obtain the image information including the reference workpiece collected by the image acquisition device set on the spraying robot, and construct the world coordinate according to the image information to obtain the coordinate information of the reference workpiece;

[0011] Determine the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and adjust the pose of the spraying robot according to the pose adjustment information.

[0012] In a second aspect, an embodiment of the present application provides a pose adjustment device for a spraying robot, including:

[0013] A node determination module, configured to obtain a spraying process for the spraying robot to perform spraying treatment on an unmanned aerial vehicle to be sprayed, and determine a current spraying node of the unmanned aerial vehicle to be sprayed, where the spraying process includes a plurality of the spraying nodes, and there is a spraying sequence between the spraying nodes;

[0014] A movement control module, configured to control the spraying robot to move to an operation position corresponding to the current spraying node;

[0015] A first processing module, configured to obtain a scene image collected by a camera arranged in a spraying scene, and identify an unmanned aerial vehicle workpiece included in the scene image to obtain a workpiece point cloud of a recognized reference workpiece;

[0016] A second processing module, configured to obtain image information including the reference workpiece collected by an image acquisition device arranged on the spraying robot, and construct a world coordinate based on the image information to obtain coordinate information of the reference workpiece;

[0017] A pose adjustment module, configured to determine pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and perform pose adjustment on the spraying robot according to the pose adjustment information.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a computer program or an embedded program stored in the internal storage of the memory and executable on the processor. When the processor executes the computer program or the embedded program, the steps in the pose adjustment method of the spraying robot described in any one of the above are implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program or an embedded program. When the computer program or the embedded program is executed by a processor, the steps in the pose adjustment method of the spraying robot described in any one of the above are implemented.

[0020] The embodiment of the present application provides a method, a device, an electronic device and a storage medium for adjusting the pose of a spraying robot, which includes obtaining the spraying process of the spraying robot for spraying a to-be-sprayed unmanned aerial vehicle (UAV), and determining the current spraying node of the to-be-sprayed UAV. The spraying process includes several spraying nodes, and there is a spraying sequence between the spraying nodes; controlling the spraying robot to move to the operation position corresponding to the current spraying node; obtaining the scene image collected by a camera set in the spraying scene, and identifying the UAV workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece; obtaining the image information including the reference workpiece collected by an image acquisition device set on the spraying robot, and constructing the world coordinates according to the image information to obtain the coordinate information of the reference workpiece; determining the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and adjusting the pose of the spraying robot according to the pose adjustment information. By obtaining the scene image in the spraying scene and the image information from the perspective of the spraying robot, and analyzing and processing to determine how to adjust the pose of the spraying robot, the accuracy of the pose adjustment of the spraying robot is improved. Description of the Drawings

[0021] Figure 1 is a flowchart of the steps of the method for adjusting the pose of the spraying robot provided by the embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the movement control of the spraying robot provided by the embodiment of the present application;

[0023] Figure 3 is a flowchart of the steps of the pose adjustment provided by the embodiment of the present application;

[0024] Figure 4 is a schematic structural diagram of the device for adjusting the pose of the spraying robot provided by the embodiment of the present application;

[0025] Figure 5 is a schematic structural diagram of the electronic device provided by the embodiment of the present application;

[0026] Figure 6 is another schematic structural diagram of the electronic device provided by the embodiment of the present application. Detailed Embodiments

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0028] It should be understood that the various steps described in the method embodiments disclosed in this application can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope disclosed in this application is not limited in this regard.

[0029] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0030] In the related art, in the industrial production of UAV spraying, the spraying process is usually completed manually. Operators input commands to relevant equipment according to experience, so that the relevant equipment performs spraying treatment on the UAV according to the input control commands. However, manual operation not only has the problem of poor spraying efficiency, but also has the problem of low spraying accuracy. For example, inaccurate spraying position, uneven spraying, etc. are all caused by inaccurate adjustment.

[0031] To solve the technical problems existing in the related art, the embodiments of this application provide a method for adjusting the pose of a spraying robot. Please refer to Figure 1 , Figure 1 which is a schematic flow chart of the steps of the method for adjusting the pose of the spraying robot provided by the embodiments of this application. The method includes steps 101 to 105.

[0032] Step 101, obtain the spraying process of the spraying robot for spraying the UAV to be sprayed, and determine the current spraying node of the UAV to be sprayed. Among them, the spraying process includes several spraying nodes, and there is a spraying order between the spraying nodes.

[0033] Actually, when using the spraying robot to spray the UAV to be sprayed, the UAV to be sprayed is moved to the corresponding spraying scene, and then the set spraying robot is used to spray the UAV to be sprayed according to actual needs. During the actual spraying process, the spraying robot adjusts its position and posture according to actual spraying needs to meet different spraying requirements. Therefore, during the actual spraying process, it is necessary to adjust the spraying robot in real time according to actual spraying needs and the actual spraying situation of the UAV to be sprayed, including adjusting the position and posture, so as to complete the spraying operation of the UAV to be sprayed more intelligently and conveniently.

[0034] In one embodiment, when performing spraying treatment on a drone to be sprayed, first determine the spraying process of the spraying robot when performing spraying treatment on the drone to be sprayed, and determine the current spraying node of the drone to be sprayed. Specifically, when the spraying robot performs spraying treatment on the drone to be sprayed, it needs to perform spraying treatment on several positions of the drone to be sprayed. When performing spraying treatment on different positions, it is necessary to control the spraying robot to be in different states, including different positions and different postures, to meet different spraying requirements at different positions.

[0035] Exemplarily, when controlling the spraying robot to perform spraying treatment, it is necessary to spray corresponding images or texts on a certain or some positions of the drone to be sprayed. Therefore, before performing spraying treatment, adjust the position of the spraying robot, adjust the spraying robot to a suitable position, and at the same time adjust its posture to ensure spraying accuracy. For example, finely adjust the angle and distance of the spray gun of the spraying robot to ensure the clarity and accuracy of the image or text.

[0036] Furthermore, determining the current spraying node of the drone to be sprayed will be used to initially adjust the position of the spraying robot, adjust the spraying robot to the working position corresponding to the current spraying node, where the working position can be a position area, and then further finely adjust the position and posture of the spraying robot according to the actual spraying requirements. Specifically, when obtaining the spraying process and determining the current spraying node, it includes: obtaining the first image of the drone to be sprayed collected by the image acquisition device, and performing recognition and analysis processing on the first image to obtain the drone identifier of the drone to be sprayed; querying and matching in the spraying process list according to the drone identifier to obtain the spraying process of the drone to be sprayed; and determining the current spraying node of the spraying robot for performing spraying treatment on the drone to be sprayed according to the spraying process.

[0037] Specifically, obtain the first image of the drone to be sprayed collected by the set image acquisition device, perform recognition and analysis processing on the first image to obtain the drone identifier of the drone to be sprayed, and then query and match according to the obtained drone identifier to obtain the spraying process for performing spraying treatment on the drone to be sprayed, and accurately determine the current spraying node according to this process.

[0038] Exemplarily, after the drone to be sprayed enters the spraying area for spraying treatment, the image acquisition device set in the spraying area, such as a camera, will collect images to obtain the first image containing the drone to be sprayed, and then through the analysis and processing of the first image, identify the specific model and identification information of the drone. Subsequently, the system automatically searches for the corresponding spraying process in the spraying process list to ensure that each spraying operation is carried out strictly in accordance with the preset process, thereby ensuring the spraying quality and efficiency.

[0039] When determining the current spraying node of the drone to be sprayed, it is necessary to rely on the actual status of the spraying process of the drone to be sprayed, such as which node has been completed. Therefore, when determining the current spraying node according to the spraying process, by obtaining the recorded spraying progress information of the drone to be sprayed and combining real-time status feedback, the current spraying node can be accurately locked.

[0040] Furthermore, when fitting and analyzing the first image to obtain the drone identifier of the drone to be sprayed, it can be determined through processing methods such as image comparison, similarity calculation, feature recognition, and coding information recognition. Specifically, it includes: calculating the similarity between the first image and each image in the drone image library, and using the identifier information of the image corresponding to the highest similarity greater than the preset threshold as the drone identifier of the drone to be sprayed; or, identifying the drone feature information contained in the first image, and performing analysis and processing based on the drone feature information to obtain the drone identifier of the drone to be sprayed; or, identifying the coding information contained in the first image, and performing identification processing on the coding information to obtain the drone identifier of the drone to be sprayed.

[0041] In practical applications, when determining the drone identifier of the drone to be sprayed, multi-dimensional analysis is performed on the collected first image. By using technical means such as image recognition, feature extraction, or coding analysis, accurate identification of the drone identifier is ensured, thus laying a solid foundation for the efficient execution of subsequent spraying processes. Therefore, during processing, the obtained first image can be compared with the pre-set drone image library, combined with real-time status feedback, to accurately lock the drone identifier. It is also possible to identify the drone feature information contained in the first image, such as color, shape, size, etc., and further verify and confirm the specific model and identifier of the drone by comprehensively analyzing these features. It is also possible to identify the coding information contained in the first image, such as QR codes, barcodes, etc., and parse the specific coding content through decoding technology, thereby accurately determining the model and identifier of the drone.

[0042] It should be noted that in order to determine the drone identifier based on the above methods, corresponding pre-processing is required, such as pre-storing or setting the images, feature information, and coding data of each drone, constructing a detailed drone image library, and setting reasonable similarity thresholds and feature recognition algorithms to ensure that the specific model and identifier of the drone to be sprayed can be quickly and accurately identified in practical applications.

[0043] When determining the current spraying node according to the spraying process, the system will determine it by combining the pre-set spraying process flow and the real-time collected data. For example, when the drone to be sprayed just enters the spraying area, the first spraying node in the spraying process is taken as the current spraying node. When the drone to be sprayed is undergoing spraying treatment, it is necessary to determine according to the actual spraying situation, specifically including: determining whether there is a recorded completed process of the spraying robot spraying the drone to be sprayed; when it is determined that there is a recorded completed process, the current spraying node of the spraying robot spraying the drone to be sprayed is obtained in the spraying process according to the completed process and the spraying sequence; when it is determined that there is no recorded completed process, the first spraying node in the spraying process is taken as the current spraying node of the spraying robot spraying the drone to be sprayed.

[0044] Specifically, when determining the current spraying node, it is determined whether there is a recorded spraying result of the drone to be sprayed, including the completed process. Among them, when it is determined that there is a recorded completed process of the drone to be sprayed, it means that the drone to be sprayed has not just entered the spraying scenario. At this time, the current spraying node will be determined according to the completed process and the spraying sequence in the spraying process. When it is determined that there is no recorded completed process, it is defaulted to start from the first spraying node in the spraying process, that is, the first spraying node is determined as the current spraying node.

[0045] Based on the above description, it can be seen that the spraying situation of the drone to be sprayed can be monitored and recorded in real time. Therefore, when performing spraying treatment, it can also include: recording the spraying state of the spraying robot spraying the drone to be sprayed, where the spraying state includes the completion state of each spraying node in the spraying process, and the completion state includes completed and uncompleted.

[0046] That is, when using the spraying robot to spray the drone to be sprayed, record the completion state of each spraying node in the spraying process of the drone to be sprayed, including completed and uncompleted. And for the drone to be sprayed undergoing spraying treatment, a corresponding unique number can be set for it, so that even drones of the same model can be accurately distinguished.

[0047] Step 102, control the spraying robot to move to the working position corresponding to the current spraying node.

[0048] In one embodiment, after determining the current spraying node of the drone to be sprayed, in order to complete the subsequent spraying operation, it is necessary to control the spraying drone to move to the working position corresponding to the current spraying node. At this time, when moving the spraying robot, only its position can be moved, and it can be moved to the working position where the next spraying operation can be completed, so as to facilitate subsequent fine pose adjustment of the spraying robot.

[0049] As Figure 2 shown, after the spraying robot completes the spraying operation corresponding to spraying node 1 at position A, the determined current spraying node is spraying node 2, and spraying node 2 is the next adjacent node of spraying node 1. The spraying robot needs to move from position A to position B corresponding to spraying node 2. At this time, by sending a control instruction to the spraying robot, it is made to move to position B according to a preset path and speed, where the preset path and speed can be set and calculated according to actual requirements.

[0050] Step 103: Obtain the scene image collected by the camera set in the spraying scene, and identify the UAV workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece.

[0051] In an embodiment, when adjusting the pose of the spraying robot, obtain the scene image collected by the camera set in the spraying scene, and the scene image includes the UAV to be sprayed. Then, perform identification processing on the UAV workpiece of the UAV to be sprayed included in the colonoscopy image to obtain the workpiece point cloud of the identified reference workpiece through point cloud construction.

[0052] Exemplarily, after the image acquisition device such as a camera obtains the scene image, identify and construct the point cloud of the set reference workpiece to obtain the workpiece point cloud of the reference workpiece.

[0053] Step 104: Obtain the image information including the reference workpiece collected by the image acquisition device set on the spraying robot, and construct the world coordinates according to the image information to obtain the coordinate information of the reference workpiece.

[0054] In an embodiment, when adjusting the pose of the spraying robot, in addition to analyzing in combination with the scene image collected by the camera in the spraying scene, it will also analyze and process according to the image collected by the spraying robot itself. Specifically, obtain the image collected by the image acquisition device set on the spraying robot, and the collected image includes the reference workpiece of the UAV to be sprayed, and construct the world coordinates according to the image information to obtain the coordinate information of the reference workpiece.

[0055] Exemplarily, before adjusting the pose of the spraying robot, the spraying robot will be moved to the operation position corresponding to the current spraying node, and then through fine-tuning of the position and posture, the spraying robot is in a suitable pose to complete the spraying operation.

[0056] Among them, when determining how to perform fine-tuning, by comparing the obtained workpiece point cloud and coordinate information, and also combining with the specific requirements during spraying, it is possible to determine how to perform pose adjustment processing on the spraying robot. During actual adjustment processing, for the scene image collected by the camera set in the spraying scene, it is fixed. It is necessary to adjust the position and pose of the spraying robot so that the reference workpiece in the image information collected by the spraying robot is consistent with the workpiece point cloud of the reference workpiece in the scene image, then it is determined that the pose adjustment of the spraying robot is completed.

[0057] Of course, there is a certain conversion relationship between the point cloud coordinates and the coordinate information of the world coordinate system. The difference of the reference workpiece between the two can be determined through the conversion relationship, and then how to perform pose adjustment on the spraying robot can be determined.

[0058] Step 105, determine the pose adjustment information of the spraying robot according to the workpiece point cloud and coordinate information, and perform pose adjustment on the spraying robot according to the pose adjustment information.

[0059] In an embodiment, after obtaining the workpiece point cloud and coordinate information of the reference workpiece, the pose adjustment information for performing pose fine-tuning processing on the spraying robot will be determined according to the workpiece point cloud and coordinate information, and then the spraying robot will be subjected to pose fine-tuning processing according to the obtained pose adjustment information.

[0060] Exemplarily, when determining the pose adjustment information of the spraying robot, through the analysis and processing of the workpiece point cloud and coordinate information, the position deviation and pose deviation of the reference workpiece between the two are determined, and then the pose adjustment information for adjusting the spraying robot is calculated, including relevant parameters such as translation and rotation. Then, the spraying robot is subjected to pose adjustment based on the pose adjustment information.

[0061] Specifically, referring to Figure 3 , Figure 3 is a schematic flow chart of a step for performing pose adjustment provided by an embodiment of the present application. Among them, this step includes Step 301 to Step 303.

[0062] Step 301, obtain the coordinate conversion rule between the point cloud coordinate and the world coordinate;

[0063] Step 302, calculate the pose deviation of the workpiece point cloud and coordinate information according to the coordinate conversion rule to obtain the position deviation and pose deviation of the spraying robot;

[0064] Step 303, obtain the pose adjustment information for adjusting the spraying robot according to the position deviation and pose deviation, and perform pose adjustment on the spraying robot according to the pose adjustment information.

[0065] Exemplarily, when performing the adjustment process, the pose deviation between the workpiece point cloud and the coordinate information is determined according to the coordinate transformation rule between the point cloud coordinates and the world coordinates, and the position deviation and attitude deviation of the spraying robot are obtained, so as to calculate according to the position deviation and attitude deviation to obtain the corresponding pose adjustment information, and then the pose of the spraying robot is adjusted according to the pose adjustment information.

[0066] When calculating the pose deviation, the coordinate transformation rule between the point cloud coordinates and the world coordinates is known, and then through coordinate transformation, such as converting the workpiece point cloud into the corresponding world coordinates and comparing the coordinate information with it to determine the specific value of the pose deviation, that is, taking the workpiece point cloud as the reference to determine the difference between the coordinate information and the workpiece point cloud to obtain the specific deviation. Then, after the spraying robot is adjusted based on the obtained pose adjustment information, the spraying operation of the current spraying node will be executed, and then the execution of the entire spraying process will be completed through continuous loop processing.

[0067] Further, based on Figure 2 It can be seen that after determining the current spraying node, it is necessary to control the spraying robot to move to the operation position corresponding to the current spraying node for subsequent fine-tuning processing. Therefore, during the spraying process, relevant information in the spraying process is obtained as a reference for adjusting the spraying robot. Specifically, during the spraying process, it also includes: obtaining the operation position of the spraying robot to be sprayed at each spraying node in the spraying process; when it is determined that the spraying drone to be sprayed is at the first spraying node in the spraying process, controlling the spraying robot to move to the operation position corresponding to the first spraying node; when it is determined that the spraying node of the spraying drone to be sprayed changes from the first spraying node to the second spraying node, controlling the spraying robot to move from the first operation position to the second operation position, where the first spraying node is not the first spraying node, the first operation position is the operation position corresponding to the spraying robot at the first spraying node, and the second operation position is the operation position corresponding to the spraying robot at the second spraying node.

[0068] In practical applications, the execution of each spraying node in the spraying process requires controlling the spraying robot to be in the corresponding operation position. Therefore, the operation position corresponding to each spraying node will be recorded in the obtained spraying process, and then the position of the spraying robot will be adjusted in a timely manner according to the actual spraying situation during the spraying operation. And when initially adjusting the position of the spraying robot, it can be referred to Figure 2 , when the current spraying node is the first spraying node in the spraying process, the spraying robot can be directly controlled to move to the operation position corresponding to the first spraying node. As the spraying operations of different nodes are continuously completed, the spraying nodes will be sequentially switched according to the set spraying order, and at the same time, the position of the spraying robot will be continuously adjusted, such as combiningFigure 2 When the spraying node 1 is the first spraying node and the spraying node 2 is the second spraying node, after the spraying robot completes the spraying operation corresponding to the spraying node 1, it obtains the position B corresponding to the spraying node 2, so as to perform path planning processing based on the position A and the position B corresponding to the spraying node 1, and control the spraying robot to move based on the obtained planned path.

[0069] It should be noted that when spraying the UAV, the number of spraying robots in the spraying scene is not limited, and each spraying robot can perform spraying operations simultaneously. When combining at least two spraying robots to complete the spraying process of a UAV to be sprayed, different spraying operations can be set for each spraying robot, and each spraying robot completes the spraying process of the UAV to be sprayed after completing its respective spraying operation.

[0070] When multiple spraying robots cooperate, it is necessary to accurately control each spraying robot in combination with the working position, working status, etc. of each spraying robot. For example, to avoid the situation of spraying robot collision. Therefore, when determining the current spraying node of each spraying robot and controlling each spraying robot to move to the corresponding position during the cooperative operation of multiple spraying robots, reasonable path planning processing is required to avoid the situation of spraying robot collision, and at the same time, it is necessary to ensure that there is no situation where the spraying robot collides with the UAV to be sprayed. In multi-robot cooperative operation, the path planning algorithm needs to be updated in real time to ensure that each robot dynamically avoids obstacles and efficiently completes the spraying task.

[0071] In summary, the above embodiment provides a method for adjusting the pose of a spraying robot, which obtains the spraying process of the spraying robot for spraying a UAV to be sprayed, and determines the current spraying node of the UAV to be sprayed. Among them, the spraying process includes several spraying nodes, and there is a spraying sequence between the spraying nodes; controlling the spraying robot to move to the working position corresponding to the current spraying node; obtaining the scene image collected by the camera set in the spraying scene, and identifying the UAV workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece; obtaining the image information including the reference workpiece collected by the image acquisition device set on the spraying robot, and constructing the world coordinates according to the image information to obtain the coordinate information of the reference workpiece; determining the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and adjusting the pose of the spraying robot according to the pose adjustment information. By obtaining the scene image in the spraying scene and the image information from the perspective of the spraying robot, and analyzing and processing to determine how to adjust the pose of the spraying robot, the accuracy of the pose adjustment of the spraying robot is improved.

[0072] According to the method described in the above embodiments, this embodiment will be further described from the perspective of the pose adjustment device of the spraying robot. The pose adjustment device of the spraying robot can be specifically implemented as an independent entity, or can be integrated in an electronic device, such as a terminal. The terminal can include a mobile phone, a tablet computer, etc.

[0073] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a pose adjustment device of a spraying robot provided by an embodiment of the present application. As Figure 4 shown, the pose adjustment device 400 of the spraying robot provided by the embodiment of the present application includes:

[0074] A node determination module 401, configured to obtain the spraying process of the spraying robot for spraying the drone to be sprayed, and determine the current spraying node of the drone to be sprayed. Among them, the spraying process includes several spraying nodes, and there is a spraying sequence between the spraying nodes;

[0075] A movement control module 402, configured to control the spraying robot to move to the operation position corresponding to the current spraying node;

[0076] A first processing module 403, configured to obtain the scene image collected by the camera set in the spraying scene, and identify the drone workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece;

[0077] A second processing module 404, configured to obtain the image information including the reference workpiece collected by the image acquisition device set on the spraying robot, and construct the world coordinate according to the image information to obtain the coordinate information of the reference workpiece;

[0078] A pose adjustment module 405, configured to determine the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and perform pose adjustment on the spraying robot according to the pose adjustment information.

[0079] In an embodiment, the node determination module 401 is further configured to:

[0080] Obtain the first image of the drone to be sprayed collected by the image acquisition device, and perform identification and analysis processing on the first image to obtain the drone identifier of the drone to be sprayed;

[0081] Query and match in the spraying process list according to the drone identifier to obtain the spraying process of the drone to be sprayed;

[0082] Determine the current spraying node of the spraying robot for spraying the drone to be sprayed according to the spraying process.

[0083] In an embodiment, the node determination module 401 is further configured to:

[0084] Calculate the similarity between the first image and each image in the UAV image library, and use the identification information of the image corresponding to the highest similarity greater than the preset threshold as the UAV identification of the UAV to be sprayed; or

[0085] Identify the UAV feature information contained in the first image, and perform analysis and processing based on the UAV feature information to obtain the UAV identification of the UAV to be sprayed; or

[0086] Identify the coding information contained in the first image, and perform identification processing on the coding information to obtain the UAV identification of the UAV to be sprayed.

[0087] In an embodiment, the node determination module 401 is further configured to:

[0088] Determine whether there is a recorded completed process of the spraying robot for spraying the UAV to be sprayed;

[0089] When it is determined that there is a recorded completed process, obtain the current spraying node of the spraying robot for spraying the UAV to be sprayed in the spraying process according to the completed process and the spraying sequence;

[0090] When it is determined that there is no recorded completed process, use the first spraying node in the spraying process as the current spraying node of the spraying robot for spraying the UAV to be sprayed.

[0091] In an embodiment, the pose adjustment device 400 of the spraying robot further includes a moving module for:

[0092] Obtain the working position of the UAV to be sprayed at each spraying node in the spraying process;

[0093] When it is determined that the UAV to be sprayed is at the first spraying node in the spraying process, control the spraying robot to move to the working position corresponding to the first spraying node;

[0094] When it is determined that the spraying node of the UAV to be sprayed enters the second spraying node from the first spraying node, control the spraying robot to move from the first working position to the second working position, where the first spraying node is not the first spraying node, the first working position is the working position corresponding to the spraying robot at the first spraying node, and the second working position is the working position corresponding to the spraying robot at the second spraying node.

[0095] In an embodiment, the pose adjustment module 405 is further configured to:

[0096] Obtain the coordinate conversion rule between the point cloud coordinates and the world coordinates;

[0097] Calculate the pose deviation of the workpiece point cloud and coordinate information according to the coordinate transformation rules to obtain the position deviation and attitude deviation of the spraying robot;

[0098] Obtain the pose adjustment information for adjusting the spraying robot according to the position deviation and attitude deviation, and perform pose adjustment on the spraying robot according to the pose adjustment information.

[0099] In one embodiment, the pose adjustment device 400 of the spraying robot further includes a recording module for:

[0100] Record the spraying state of the spraying robot for spraying the drone to be sprayed, where the spraying state includes the completion status of each spraying node in the spraying process, and the completion status includes completed and uncompleted.

[0101] In addition, please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5 shown, the electronic device 500 includes a processor 501 and a memory 502. Among them, the processor 501 is electrically connected to the memory 502.

[0102] The processor 501 is the control center of the electronic device 500, connects various parts of the entire electronic device through various interfaces and circuits, etc., runs or loads the application program stored in the internal flash of the memory 502, and the application program can be an embedded program, and calls the data stored in the memory 502 to complete the pose adjustment of the spraying robot according to the above-described pose adjustment method of the spraying robot.

[0103] In this embodiment, the processor 501 in the electronic device 500 will load the instructions corresponding to the processes of one or more application programs into the memory 502 according to the steps in the above-described pose adjustment method of the spraying robot, and the processor 501 will run the application program stored in the memory 502 to realize the pose adjustment and analysis of the spraying robot.

[0104] The electronic device 500 can implement the steps in any embodiment of the pose adjustment method of the spraying robot provided by the embodiments of the present application. Therefore, it can achieve the beneficial effects that any pose adjustment method of the spraying robot provided by the embodiments of the present application can achieve. For details, please refer to the previous embodiments and will not be repeated here.

[0105] Please refer to Figure 6 , Figure 6 which is another schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 6 shown, Figure 6The specific structural block diagram of the electronic device provided by the embodiment of the present application is shown. This electronic device can be used to implement the pose adjustment method of the spraying robot provided in the above embodiment.

[0106] The RF circuit 610 is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, so as to communicate with a communication network or other devices. The RF circuit 610 may include various existing circuit elements for performing these functions. For example, antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, subscriber identity module (SIM) cards, memories, and so on. The RF circuit 610 can communicate with various networks such as the Internet, enterprise intranets, wireless networks or communicate with other devices through wireless networks. The above wireless networks may include cellular phone networks, wireless local area networks or metropolitan area networks. The above wireless networks can use various communication standards, protocols and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as Institute of Electrical and Electronics Engineers standards IEEE 802.11a, IEEE 802.11b, IEEE 802.11g and / or IEEE 802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging and short messages, and any other suitable communication protocols, even including those protocols that have not been developed yet.

[0107] The memory 620 can be used to store software programs and modules, such as the program instructions / modules corresponding to the pose adjustment method of the spraying robot in the above embodiments. The processor 680 executes various functional applications to implement the pose adjustment method of the spraying robot by running the dual-mode module stored in the internal flash of the memory 620 and the program for controlling the dual-mode module. Among them, the program for controlling the dual-mode module can be an embedded program and is stored in the internal flash of the memory 620.

[0108] The memory 620 may include a high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some examples, the memory 620 may further include a memory remotely located relative to the processor 680, and these remote memories can be connected to the electronic device 600 through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0109] The input unit 630 can be used to receive uploaded digital or character information and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function controls. Specifically, the input unit 630 may include a touch-sensitive surface 631 and other input devices 632. The touch-sensitive surface 631, also known as a touch display screen or touchpad, can collect touch operations of the user thereon or nearby (such as operations of the user using a finger, stylus, or any suitable object or accessory on or near the touch-sensitive surface 631), and drive the corresponding connection device according to a pre-set program. Optionally, the touch-sensitive surface 631 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the touch orientation of the user and detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the processor 680, and can receive and execute commands sent by the processor 680. In addition, various types such as resistive, capacitive, infrared, and surface acoustic wave can be used to implement the touch-sensitive surface 631. In addition to the touch-sensitive surface 631, the input unit 630 may further include other input devices 632. Specifically, the other input devices 632 may include but are not limited to one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, joysticks, etc.

[0110] The display unit 640 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the electronic device 600. These graphical user interfaces can be composed of graphics, text, icons, videos, and any combination thereof. The display unit 640 may include a display panel 641. Optionally, the display panel 641 can be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 631 can cover the display panel 641. When the touch-sensitive surface 631 detects a touch operation on or near it, it is transmitted to the processor 680 to determine the type of touch event. Subsequently, the processor 680 provides a corresponding visual output on the display panel 641 according to the type of touch event. Although in the figure, the touch-sensitive surface 631 and the display panel 641 are implemented as two independent components to achieve input and output functions, in some embodiments, the touch-sensitive surface 631 and the display panel 641 can be integrated to achieve input and output functions.

[0111] The electronic device 600 may further include at least one sensor 650, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. Among them, the ambient light sensor can adjust the brightness of the display panel 641 according to the brightness of the ambient light, and the proximity sensor can generate an interruption when the flip cover is closed or opened. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used in applications for identifying the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc. As for other sensors such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors that the electronic device 600 can also be configured with, they will not be elaborated here.

[0112] The audio circuit 660, the speaker 661, and the microphone 662 can provide an audio interface between the user and the electronic device 600. The audio circuit 660 can transmit the electrical signal converted from the received audio data to the speaker 661, and the speaker 661 converts it into a sound signal for output. On the other hand, the microphone 662 converts the collected sound signal into an electrical signal, which is received by the audio circuit 660 and converted into audio data. Then, after the audio data is output to the processor 680 for processing, it is sent through the RF circuit 610 to, for example, another terminal, or the audio data is output to the memory 620 for further processing. The audio circuit 660 may also include an earphone jack to provide communication between the external earphone and the electronic device 600.

[0113] The electronic device 600 can help users receive requests, send information, etc. through a transmission module 670 (such as a Wi-Fi module), which provides users with wireless broadband Internet access. Although the transmission module 670 is shown in the figure, it can be understood that it does not belong to the essential components of the electronic device 600 and can be omitted entirely within the scope of not changing the essence of the invention as needed.

[0114] The processor 680 is the control center of the electronic device 600, connecting various parts of the entire mobile phone through various interfaces and circuits. By running or executing software programs and / or modules stored in the memory 620, and by calling the data stored in the memory 620, it executes various functions of the electronic device 600 and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 680 may include one or more processing cores; in some embodiments, the processor 680 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 680 either.

[0115] The electronic device 600 further includes a power source 690 (such as a battery) that powers each component. In some embodiments, the power source can be logically connected to the processor 680 through a power management system, thereby implementing functions such as management of charging, discharging, and power consumption management through the power management system. The power source 690 may also include any components such as one or more DC or AC power sources, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0116] Specifically in this embodiment, the display unit of the electronic device is a touch screen display. The mobile terminal further includes a memory, and one or more programs, where one or more programs are stored in the memory and are configured to be executed by one or more processors to implement any step in the pose adjustment method of the spraying robot provided in the above embodiment.

[0117] During specific implementation, the above-mentioned various modules can be implemented as independent entities, or can be combined arbitrarily and implemented as the same or several entities. For the specific implementation of the above-mentioned various modules, reference can be made to the method embodiments described above, and details will not be elaborated here.

[0118] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions or by controlling relevant hardware through instructions. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium storing multiple instructions, and when the instructions can be executed by a processor, any step in the pose adjustment method of the spraying robot provided in the above embodiments can be implemented.

[0119] Among them, the storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc. Specifically, the storage medium may be the internal flash, that is, the embedded program for controlling the implementation of the above-mentioned pose adjustment method of the spraying robot can be stored in the internal flash.

[0120] Since the instructions stored in the storage medium can execute the steps in any embodiment of the pose adjustment method of the spraying robot provided in the embodiments of the present application, the beneficial effects achievable by any pose adjustment method of the spraying robot provided in the embodiments of the present application can be achieved. For details, please refer to the previous embodiments and will not be elaborated here.

[0121] The above has introduced in detail a pose adjustment method, device, electronic device, and storage medium of a spraying robot provided by an embodiment of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application. Moreover, for those of ordinary skill in the technical field, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A method for adjusting the pose of a spraying robot, characterized in that, Including: Obtain the spraying process of the spraying robot for spraying the drone to be sprayed, and determine the current spraying node of the drone to be sprayed, where the spraying process includes a number of the spraying nodes, and there is a spraying order between the spraying nodes; Control the spraying robot to move to the working position corresponding to the current spraying node; Obtain the scene image collected by the camera set in the spraying scene, and identify the drone workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece; Obtain the image information including the reference workpiece collected by the image acquisition device set on the spraying robot, and construct the world coordinates according to the image information to obtain the coordinate information of the reference workpiece; Determine the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and adjust the pose of the spraying robot according to the pose adjustment information.

2. The method according to claim 1, wherein The obtaining the spraying process of the spraying robot for spraying the drone to be sprayed, and determining the current spraying node of the drone to be sprayed, includes: Obtain the first image of the drone to be sprayed collected by the image acquisition device, and perform identification and analysis processing on the first image to obtain the drone identifier of the drone to be sprayed; Query and match according to the drone identifier in the spraying process list to obtain the spraying process of the drone to be sprayed; Determine the current spraying node of the spraying robot for spraying the drone to be sprayed according to the spraying process.

3. The method according to claim 2, wherein The performing identification and analysis processing on the first image to obtain the drone identifier of the drone to be sprayed, includes: Calculate the similarity between the first image and each image in the drone image library, and use the identifier information of the image corresponding to the highest similarity greater than the preset threshold as the drone identifier of the drone to be sprayed; or Identify the drone feature information included in the first image, and perform analysis processing according to the drone feature information to obtain the drone identifier of the drone to be sprayed; or Identify the coding information included in the first image, and perform identification processing on the coding information to obtain the drone identifier of the drone to be sprayed.

4. The method according to claim 2, wherein The determining the current spraying node of the spraying robot for spraying the drone to be sprayed according to the spraying process, includes: Determine whether there is a recorded completed process of the spraying robot for spraying the drone to be sprayed; When it is determined that there is a recorded completed process, obtain the current spraying node of the spraying robot for spraying the drone to be sprayed in the spraying process according to the completed process and the spraying order; When it is determined that there is no recorded completed process, use the first spraying node in the spraying process as the current spraying node of the spraying robot for spraying the drone to be sprayed.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the working position of the drone to be sprayed at each spraying node in the spraying process; When it is determined that the drone to be sprayed is at the first spraying node in the spraying process, control the spraying robot to move to the working position corresponding to the first spraying node; When it is determined that the spraying node of the drone to be sprayed enters the second spraying node from the first spraying node, control the spraying robot to move from the first working position to the second working position, where the first spraying node is not the first spraying node, the first working position is the working position corresponding to the spraying robot under the first spraying node, and the second working position is the working position corresponding to the spraying robot under the second spraying node.

6. The method according to claim 1, characterized in that, The determining the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and performing pose adjustment on the spraying robot according to the pose adjustment information includes: Obtain the coordinate conversion rule between the point cloud coordinate and the world coordinate; Calculate the pose deviation of the workpiece point cloud and the coordinate information according to the coordinate conversion rule to obtain the position deviation and the attitude deviation of the spraying robot; Obtain the pose adjustment information for adjusting the spraying robot according to the position deviation and the attitude deviation, and perform pose adjustment on the spraying robot according to the pose adjustment information.

7. The method according to claim 1, wherein The method further includes: Record the spraying state of the spraying robot for spraying the drone to be sprayed, where the spraying state includes the completion state of each spraying node in the spraying process, and the completion state includes completed and uncompleted.

8. A pose adjustment device for a spraying robot, characterized in that, including: A node determination module, configured to obtain the spraying process of the spraying robot for spraying the drone to be sprayed, and determine the current spraying node of the drone to be sprayed, where the spraying process includes a plurality of the spraying nodes, and there is a spraying order between the spraying nodes; A movement control module, configured to control the spraying robot to move to the working position corresponding to the current spraying node; A first processing module, configured to obtain the scene image collected by the camera arranged in the spraying scene, and identify the drone workpiece included in the scene image to obtain the workpiece point cloud of the identified reference workpiece; A second processing module, configured to obtain the image information including the reference workpiece collected by the image acquisition device arranged on the spraying robot, and construct the world coordinate according to the image information to obtain the coordinate information of the reference workpiece; A pose adjustment module, configured to determine the pose adjustment information of the spraying robot according to the workpiece point cloud and the coordinate information, and perform pose adjustment on the spraying robot according to the pose adjustment information.

9. An electronic device, characterized in that, The electronic device includes a processor, a memory, and a computer program or an embedded program stored in the internal storage of the memory and executable on the processor. When the processor executes the computer program or the embedded program, the steps in the method according to any one of claims 1 to 7 are implemented.

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

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