Crop shelf carrying process shake compensation method and system of automatic robot

Abstract

The invention provides a crop shelf carrying process shake compensation method and system of an automatic robot, and relates to the technical field of computer vision. The compensation method comprises the following steps: acquiring an image of a preset distance in front of the moving direction of the automatic robot; analyzing the image, and determining a driving environment; analyzing the driving environment, and determining a pre-compensation parameter based on an analysis result; and controlling the balance mechanism to act based on the pre-compensation parameter. According to the crop shelf carrying process shake compensation method and system of the automatic robot, before shake occurs, the image in front of the robot is analyzed and pre-judged, shake preprocessing is carried out, and when shake occurs, shake in carrying is effectively restrained by sensing shake parameters in real time and rapidly carrying out compensation action, and crop transportation safety is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer vision, in particular to a crop shelf carrying process swing compensation method and system of automatic robot. BACKGROUND

[0002] With the development of science and technology, automatic agriculture in greenhouse, warehouse and other scenes emerges as the times require. In the production process of automatic agriculture, when the substrate culture frame is sent to the designated floor, the automatic robot is used to lift and move the crop shelf to be transported. The swing of the shelf during the moving process is one of the main factors of the moving risk of the automatic robot. The existing automatic robot compensates when the swing occurs to ensure the stable operation of the automatic robot carrying operation. The response time of the swing processing belongs to the post-processing of the swing. In order to better cope with the swing problem, it is urgent to provide a processing method to realize the advance of swing processing so as to better cope with the occurrence of swing. SUMMARY

[0003] One of the purposes of the present application is to provide a crop shelf carrying process swing compensation method and system of automatic robot to solve the above technical problems.

[0004] The crop shelf carrying process swing compensation method of automatic robot provided by the embodiment of the present application comprises: acquiring an image of a preset distance in front of the moving direction of the automatic robot; analyzing the image to determine the driving environment; analyzing the driving environment and determining the pre-compensation parameters based on the analysis results; controlling the balancing mechanism to act based on the pre-compensation parameters.

[0005] Preferably, the automatic robot comprises a walking mechanism and an automatic jacking mechanism arranged on the walking mechanism. The walking mechanism comprises a main platform, walking wheels arranged at the bottom of the main platform, a navigation module, a control module and a driving module. The driving module drives the walking wheels to act. The navigation module and the driving module are electrically connected to the control module. The automatic jacking mechanism comprises a telescopic main rod and a bracket arranged on the telescopic main rod. The sensor module is arranged on the surface of the bracket in contact with the crop shelf and located at the end of the arm.

[0006] Preferably, the balancing mechanism comprises a telescopic balancing rod arranged between the bracket and the upper surface of the main platform.

[0007] Preferably, the balancing mechanism comprises a suspension with adjustable height. The walking wheels are connected to the main platform through the suspension.

[0008] Preferably, the crop shelf carrying process swing compensation method of the automatic robot further comprises: The swing parameter of the crop shelf is monitored through the sensor module arranged on the bracket of the automatic robot for supporting the crop shelf; The compensation parameter is determined based on the swing parameter; The balancing mechanism is controlled to act based on the compensation parameter.

[0009] The application further provides a crop shelf carrying process swing compensation system of an automatic robot, which comprises an image acquisition module, an image analysis module, a pre-compensation module and a control module; the image acquisition module acquires an image of a preset distance in front of the moving direction of the automatic robot; the image analysis module analyzes the image to determine the driving environment; the pre-compensation module analyzes the driving environment and determines the pre-compensation parameter based on the analysis result; and the control module controls the balancing mechanism to act based on the pre-compensation parameter.

[0010] Preferably, the automatic robot comprises a walking mechanism and an automatic jacking mechanism arranged on the walking mechanism. The walking mechanism comprises a main platform, walking wheels arranged at the bottom of the main platform, a navigation module, a control module and a driving module; the driving module drives the walking wheels to act; and the navigation module and the driving module are electrically connected to the control module. The automatic jacking mechanism comprises a telescopic main rod and a bracket arranged on the telescopic main rod; the sensor module is arranged on the surface of the bracket in contact with the crop shelf and located at the end of the supporting arm.

[0011] Preferably, the balancing mechanism comprises a telescopic balancing rod arranged between the bracket and the upper surface of the main platform.

[0012] Preferably, the balancing mechanism comprises a suspension capable of adjusting the height up and down; and the walking wheels are connected to the main platform through the suspension.

[0013] Preferably, the crop shelf carrying process swing compensation system of the automatic robot further comprises an environment monitoring module and a pre-compensation module; the environment monitoring module monitors the driving environment of a preset distance in front of the moving direction of the automatic robot; the pre-compensation module analyzes the monitored driving environment and determines the pre-compensation parameter based on the analysis result; and the control module controls the balancing mechanism to act based on the pre-compensation parameter.

[0014] The application has the following beneficial effects: the image in front of the robot is analyzed and predicted before the swing occurs, the swing is pre-processed, the swing parameter is sensed in real time and the compensation action is quickly performed when the swing occurs, the swing during carrying is effectively inhibited, and the safety of crop transportation is ensured.

[0015] Other features and advantages of the present application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The purposes and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0016] The technical solutions of the present application are described in further detail below with the aid of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and are used to explain the present application, but do not limit the present application. In the drawings: Figure 1 A schematic diagram of a crop shelf carrying process sway compensation method of an automatic robot in an embodiment of the present application; Figure 2 A schematic diagram of a sway compensation method in a sway process in an embodiment of the present application; Figure 3 A schematic diagram of an automatic robot in an embodiment of the present application; Figure 4 A schematic diagram of another automatic robot in an embodiment of the present application; Figure 5 A schematic diagram of a crop shelf carrying process sway compensation system of an automatic robot in an embodiment of the present application; Figure 6 A schematic diagram of another crop shelf carrying process sway compensation system of an automatic robot in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present application are described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and do not limit the present application.

[0019] Embodiment 1: The embodiment of the present application provides a crop shelf carrying process sway compensation method of an automatic robot, as shown in Figure 1 , which comprises: Step S1: acquiring an image of a preset distance in front of the moving direction of the automatic robot; Step S2: analyzing the image to determine the driving environment; Step S3: analyzing the driving environment, and determining the pre-compensation parameters based on the analysis results; Step S4: controlling the balancing mechanism to act based on the pre-compensation parameters.

[0020] The balancing mechanism includes: a height-adjustable suspension and a retractable balance bar configured between the bracket and the upper surface of the main platform; the wheels are connected to the main platform via the suspension.

[0021] A top plate matching the automated robot is required below the first layer of the crop shelving. The top plate must be able to support the weight of the shelving and cultivation crates. To achieve positioning between the top plate and the support frame, a hemispherical protrusion is provided in the middle of the support frame; a corresponding groove is provided in the top plate at the corresponding position; the depth of the groove is less than the height of the hemispherical protrusion, and the height difference is between 2mm and 5mm. This design facilitates the monitoring of swaying by the sensor module mounted on the support arm; the sensor module can be a pressure sensing unit. In addition, such as Figure 2 As shown, the sway compensation method for the automated robot's crop shelf handling process also includes: Step 1: Monitor the swaying parameters of the crop shelf using sensor modules configured on the brackets of the automated robot that support the crop shelf; Step 2: Determine the compensation parameters based on the swaying parameters; Step 3: Control the balancing mechanism based on the compensation parameters.

[0022] The embodiment monitors the driving environment to be driven by the automatic robot, then pre-compensates for the shaking to be occurred, pre-compensates for the shaking to be occurred, reduces or avoids the shaking to be occurred, and guarantees the safety of transportation. The monitoring can be real-time movement monitoring by the image acquisition device arranged at the front end of the automatic robot, or by the fixed-point image acquisition device arranged in the automatic agricultural scene; the image of the preset distance in front can be the image of the area between 0 and 1.5 meters; the image is analyzed to determine the driving environment, including: object recognition of the image according to the pre-configured object recognition library to obtain the position and other parameters of each object in the image; the analysis result of the driving environment includes: whether there is a trigger in the pre-configured shaking trigger library in front (the judgment of the trigger can be made from the height, and the height within the pre-configured height range is regarded as the trigger; the height exceeding the height range is pre-warned to remind the staff to remove), the parameters (type, length, width and height, etc.) of the trigger when the trigger exists, and the positioning information of the trigger when the trigger exists; before determining the pre-compensation parameters based on the analysis result, it is also necessary to determine whether the trigger interferes with the movement of the automatic robot, and this part of the judgment can be placed on the management platform of the automatic robot, and the specific judgment steps are as follows: mapping the trigger to the three-dimensional virtual map based on the positioning information, taking the current position of the automatic robot as the starting point, the target position as the end point, and avoiding the trigger as the guide to re-plan the moving path; when a new moving path is planned, the new moving path is sent to the automatic robot; when it is not planned, the automatic robot is simulated to pass through the position of the trigger, and when the obstacle avoidance is successfully performed (the trigger is avoided), the pre-compensation is not performed; when the obstacle avoidance cannot be performed, the contact between the automatic robot and the trigger is simulated, and the state sampling is performed in the simulation process to obtain a sampling data array; the sampling data array is matched with the standard data array corresponding to each pre-compensation parameter set in the pre-configured pre-compensation parameter library to retrieve the corresponding pre-compensation parameter set and determine the pre-compensation execution position; the pre-compensation parameter sequence in the pre-compensation parameter set is executed in sequence when the automatic robot reaches the pre-compensation execution position; in order to realize the sampling of the simulation process, a moving speed (the automatic robot moves at the moving speed when it reaches the pre-compensation execution position) and a sampling time are configured; the height difference of each tire of the automatic robot is taken as the sampling data when sampling; the sampling data corresponding to each sampling time is arranged to form a sampling data array; each row in the pre-compensation parameter set from top to bottom is a pre-compensation parameter sequence; each pre-compensation parameter in the pre-compensation parameter sequence corresponds to the control parameter of each component of the balancing mechanism; the pre-compensation execution position is the position of the automatic robot when the first sampling time is pushed forward by a sampling time length.In addition, the sampling data array of the simulation sampling can also be applied to control the contact between the automatic robot and the trigger, and of course, such control is applied in the case where the automatic robot and the trigger have multiple contact possibilities, specifically: the contact possibilities between the automatic robot and the trigger are traversed and de-duplication is performed; when the last contact situation is multiple, simulation sampling is performed to obtain a sampling data array corresponding to each contact situation; and based on the sampling data array, evaluation analysis is performed to determine the best contact possibility and control the movement of the automatic robot to achieve the best contact; wherein, based on the sampling data array, the evaluation analysis includes: calculating the maximum difference between each row of data as a set of first analysis data; calculating the difference between each data of each row of data and the corresponding data in the data of the previous row as a set of second analysis data; respectively using a pre-configured first quantization library and a second quantization library to quantize the first analysis data and the second analysis data to obtain a first risk value and a second risk value; performing weighted sum operation on the first risk value and the second risk value (the weight coefficients of the first risk value and the second risk value are pre-configured) to obtain a comprehensive risk value; and the sampling data array with the smallest comprehensive risk value is the best contact possibility. Wherein, the first quantization library and the second quantization library are pre-analyzed and configured, and in the first quantization library, the first risk value is one-to-one corresponding to the first standard array; the first risk value is retrieved by matching between the first array arranged in order according to the first parameter for feature extraction of the first analysis data and the first standard array; the first parameter includes: a parameter representing a numerical change (specifically, the data obtained by calculating the difference between the next data and the previous data is taken as a parameter); and in the second quantization library, the numerical value is one-to-one corresponding to the second standard array; the numerical value is retrieved by matching between the second analysis data and the second standard array, and the sum of the numerical values is taken as the second risk value.

[0023] In order to realize the adaptive adjustment of pre-compensation, when the trigger meets the pre-configured condition (fixed, non-eliminable), the corresponding correction library is constructed for the trigger; when control is performed, the correction set is determined according to the correction library, and each data in the pre-compensation parameter set is corrected based on each correction data in the correction set, and then the control of the action of the balancing mechanism is performed with the pre-compensation parameter set after correction; the steps of calling the correction set from the correction library are: calling the corresponding correction set based on the contact mode of the automatic robot and the trigger and the model of the automatic robot; when constructing the correction library, the monitoring data of the automatic robot through the trigger is grouped based on the contact mode of the automatic robot and the trigger and the model of the automatic robot; the monitoring data is the swing parameter after pre-compensation; the characteristic parameter data (the similarity between the calculation data is calculated, and the sum of the similar maximum is taken as the characteristic parameter data) is selected from all the swing parameters as a representation; the characteristic parameter data is evaluated based on the pre-configured result evaluation library, when the evaluation value exceeds the preset threshold, the correction proportion coefficient is called from the pre-configured proportion coefficient library according to the characteristic parameter data and the feature parameters obtained by feature extraction on the swing parameter, and then the pre-compensation parameter is calculated according to the correction proportion coefficient, to obtain the corresponding correction value; in the update stage, the correction value can be updated according to the pre-configured correction proportion coefficient corresponding to the update step, and then the updated correction value is verified according to the pre-configured verification rule, the verification rule includes that after running for a preset number of times (at least 10 times), the swing parameter obtained; the swing parameters of the same number of running data before updating are respectively determined as the characteristic parameters and evaluated, when the evaluation value is reduced, it is determined that the verification is passed. Wherein, the purpose of the pre-configured result evaluation library for evaluating the characteristic parameter data is to quantitatively score the swing amplitude and the swing frequency, so as to represent the swing degree with the evaluation value; the lower the evaluation value, the smaller the swing degree; in the result evaluation library, the standard parameter data and the evaluation value are one-to-one corresponding and associated, and the corresponding evaluation value is called through the matching of the standard parameter data and the characteristic parameter data; when the verification fails, the value of the pre-configured reduction parameter value (generally configured as one-third of the update step) is reduced by the step of backtracking and re-reducing; when the verification fails after updating for multiple times with the update step, the actual update step is updated with the average value.

[0024] Since the shaking generated by the automated robot varies depending on the object it is handling, multiple pre-compensation parameter libraries need to be configured, with different libraries retrieved based on the object being handled. Specifically, this can be achieved by constructing a retrieval judgment library that establishes a one-to-one correspondence between a standard image and the pre-compensation parameter library. This involves photographing the crop shelf and matching the resulting image with a standard image to retrieve the corresponding pre-compensation parameter library. Furthermore, the weight of the crop shelf can be considered during retrieval for a more refined approach, resulting in a one-to-one correspondence between the weight, standard image, and pre-compensation parameter library in the retrieval judgment library.

[0025] Example 2: This embodiment of the invention provides a method for compensating for swaying during the handling of crops on an automated crop shelf by an automatic robot, including: The swaying parameters of the crop shelves are monitored by sensor modules configured on the brackets of the automated robot used to support the crop shelves; Based on the swaying parameters, determine the compensation parameters; The balancing mechanism is controlled based on compensation parameters.

[0026] The automated robot includes: a walking mechanism and an automated lifting mechanism mounted on the walking mechanism; Among them, such as Figure 3 As shown, the walking mechanism includes: a main platform 1, walking wheels 2 configured at the bottom of the main platform 1, a navigation module, a control module, and a drive module; the drive module drives the walking wheels; the navigation module and the drive module are electrically connected to the control module respectively; wherein the navigation module, control module, and drive module are not in... Figure 2 As shown in the diagram, an automatic lifting mechanism is installed on the main platform, which can lift the shelves to be transported and send the substrate culture frames to the designated floor via elevator; The automatic lifting mechanism includes: a telescopic main rod 3 and a bracket 4 mounted on the telescopic main rod 3; a sensor module 5 is mounted on the surface of the bracket 4 that contacts the crop shelf and is located at the end of the support arm 6. The bracket 4 may have four support arms 6; the support arms form a cross shape. In addition, the automatic robot also conducts equipment data collection and integration: collects data of each link of the equipment, including basic data of the robot, chassis position and motion data, sensor data, task information, etc., and integrates them into a unified data platform. Establish a 3D digital model: use the collected data to establish a digital model of the shelf handling robot equipment, including mobile chassis, mobile shelves, etc. Ensure that the digital model can be updated in real time to reflect changes in the actual operating environment, including basic data of the robot, chassis position and motion state, task state data, etc. Use the digital model for virtual simulation and optimization analysis, such as simulating handling tasks, handling processes, robot movement paths, robot operating states, etc., to find the best handling solution and optimization control strategy. Integrate the digital model with the actual operating environment to achieve virtual-real world correspondence, so that the digital twin can reflect the actual operation of the robot. It has self-diagnosis function, alarm display record function, interlock protection function, safety speed setting function. Automatically receive control commands from the upper system and feed back the execution results and working status to the upper system with self-diagnosis information and alarm information. The upper system communication mode adopts any one of TCP / IP, HTTP and MOTOBUS. Laser radar is used for positioning and navigation, combined with an intelligent scheduling system, without the need for fixed infrastructure (such as magnetic strips, cables, ribbons, two-dimensional codes, etc.), and without the need to change the site, using a simple and easy-to-use interactive interface to complete functions such as map drawing and editing, achieving automation of handling, while reserving interfaces for connecting WMS / MES systems, and truly realizing intelligent operation.

[0027] A top plate matched with the automatic robot is needed below the first layer of the crop shelf. The top plate needs to be able to bear the weight of the shelf and the cultivation frame; in order to realize the positioning between the top plate and the bracket, a semicircular ball-shaped protrusion is arranged in the middle of the bracket; the corresponding position of the top plate is provided with a corresponding groove; the depth of the groove is less than the height of the semicircular ball-shaped protrusion, and the height difference is between 2mm and 5mm; the cooperation design here can be more convenient for the sensor module 5 arranged on the support arm to monitor the shaking; the sensor module 5 can adopt a pressure sensing unit; the monitoring of shaking is specifically represented on the pressure change, which can be characterized by the change amount and change frequency of the pressure value (the change times of the trend of the increase or decrease of the pressure value per unit time); As shown in Figure 4 The balancing mechanism includes: a retractable balance rod 7 arranged between the bracket 4 and the upper surface of the main body platform 1. By controlling the extension and retraction of the balance rod, compensation control of shaking is realized to ensure transportation safety. Generally, one end of the balance rod 7 is fixedly connected with the end of the support arm; the other end is fixedly connected with the main body platform 1; the balance rod 7 is arranged as four, corresponding to the four support arms.

[0028] Embodiment 3: The embodiment of the present application provides a crop shelf carrying process swing compensation method of an automatic robot, comprising: The swing parameter of the crop shelf is monitored through the sensor module arranged on the bracket of the automatic robot for supporting the crop shelf; Based on the swing parameter, the compensation parameter is determined; Based on the compensation parameter, the balancing mechanism is controlled to act.

[0029] The automatic robot comprises a walking mechanism and an automatic jacking mechanism arranged on the walking mechanism. The walking mechanism comprises a main body platform, walking wheels arranged at the bottom of the main body platform, a navigation module, a control module and a driving module; the driving module drives the walking wheels to act; the navigation module and the driving module are electrically connected with the control module respectively. The automatic jacking mechanism comprises a telescopic main rod and a bracket arranged on the telescopic main rod; the sensor module is arranged on the surface of the bracket in contact with the crop shelf and located at the end of the supporting arm.

[0030] A top plate matched with the automatic robot is needed below the first layer of the crop shelf. The top plate needs to be able to bear the weight of the shelf and the culture frame; in order to realize the positioning between the top plate and the bracket, a semicircular spherical protrusion is arranged in the middle of the bracket; a corresponding groove is arranged at the corresponding position of the top plate; the depth of the groove is less than the height of the semicircular spherical protrusion, and the height difference is between 2mm and 5mm; the cooperation design here can facilitate the monitoring of the swing by the sensor module arranged on the supporting arm; the sensor module can adopt a pressure sensing unit. The balancing mechanism comprises a suspension capable of adjusting the height up and down; the walking wheels are connected with the main body platform through the suspension. By adjusting the height of the suspension corresponding to each walking wheel, the compensation control of the swing is realized to ensure the transportation safety.

[0031] Embodiment 4: The present application also provides a crop shelf carrying process swing compensation system of an automatic robot, as shown in Figure 5 The image acquisition module 21 acquires the image of the preset distance in front of the moving direction of the automatic robot; the image analysis module 22 analyzes the image to determine the driving environment; the pre-compensation module 23 analyzes the driving environment, and determines the pre-compensation parameter based on the analysis result; the control module 13 controls the balancing mechanism to act based on the pre-compensation parameter.

[0032] In addition, as shown in Figure 6As shown, the system comprises: a shaking monitoring module 11, a compensation analysis module 12 and a control module 13; wherein the shaking monitoring module monitors the shaking parameters of the crop shelf through the sensor module arranged on the bracket of the automatic robot for holding the crop shelf; the compensation analysis module determines the compensation parameters based on the shaking parameters; and the control module controls the action of the balancing mechanism based on the compensation parameters.

[0033] The automatic robot comprises: a walking mechanism and an automatic jacking mechanism arranged on the walking mechanism. The walking mechanism comprises: a main platform, walking wheels arranged at the bottom of the main platform, a navigation module, a control module and a driving module; the driving module drives the walking wheels to act; the navigation module and the driving module are electrically connected to the control module. The automatic jacking mechanism comprises: a telescopic main rod and a bracket arranged on the telescopic main rod; the sensor module is arranged on the surface of the bracket in contact with the crop shelf and at the end of the support arm.

[0034] A top plate matched with the automatic robot is needed below the first layer of the crop shelf. The top plate needs to be able to bear the weight of the shelf and the culture frame; in order to realize the positioning between the top plate and the bracket, a semicircular ball-shaped protrusion is arranged in the middle of the bracket; a corresponding groove is arranged at the corresponding position of the top plate; the depth of the groove is less than the height of the semicircular ball-shaped protrusion, and the height difference is between 2mm and 5mm; this cooperation design can facilitate the monitoring of shaking by the sensor module 5 arranged on the support arm; the sensor module 5 can adopt a pressure sensing unit; The balancing mechanism comprises: a telescopic balancing rod arranged between the bracket and the upper surface of the main platform and a suspension with adjustable height; the walking wheels are connected to the main platform through the suspension.

[0035] In addition, the crop shelf carrying process shaking compensation system of the automatic robot further comprises: an environment monitoring module and a pre-compensation module; the environment monitoring module monitors the driving environment of the preset distance in front of the moving direction of the automatic robot; the pre-compensation module analyzes the monitored driving environment and determines the pre-compensation parameters based on the analysis result; and the control module controls the action of the balancing mechanism based on the pre-compensation parameters.

[0036] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A method for compensating for swaying during the handling of crops on an automated crop shelf using an automatic robot, characterized in that, include: Acquire an image of the robot at a preset distance in the direction of its movement; Analyze the images to determine the driving environment; The driving environment is analyzed, and pre-compensation parameters are determined based on the analysis results; The balancing mechanism is controlled based on pre-compensation parameters.

2. The method for compensating for swaying during the handling of crop shelves by an automated robot as described in claim 1, characterized in that, The automated robot includes: a walking mechanism and an automated lifting mechanism mounted on the walking mechanism; The walking mechanism includes: a main platform, walking wheels configured at the bottom of the main platform, a navigation module, a control module, and a drive module; the drive module drives the walking wheels; the navigation module and the drive module are electrically connected to the control module respectively. The automatic lifting mechanism includes: a telescopic main pole and a bracket mounted on the telescopic main pole; a sensor module is mounted on the surface of the bracket that contacts the crop shelf and is located at the end of the support arm.

3. The method for compensating for swaying during the handling of crop shelves by an automated robot as described in claim 2, characterized in that, The balancing mechanism includes a retractable balance bar positioned between the bracket and the upper surface of the main platform.

4. The method for compensating for swaying during the handling of crop shelves by an automated robot as described in claim 2, characterized in that, The balancing mechanism includes: a suspension that can be adjusted vertically; and wheels that are connected to the main platform via the suspension.

5. The method for compensating for swaying during the handling of crop shelves by an automated robot as described in claim 1, characterized in that, Also includes: The swaying parameters of the crop shelves are monitored by sensor modules configured on the brackets of the automated robot used to support the crop shelves; Based on the swaying parameters, determine the compensation parameters; The balancing mechanism is controlled based on compensation parameters.

6. A sway compensation system for the handling of crops on an automated robotic shelving system, characterized in that, include: Image acquisition module, image analysis module, pre-compensation module, and control module; The image acquisition module acquires an image at a preset distance in front of the autonomous robot's direction of movement; The image analysis module analyzes the image to determine the driving environment; the pre-compensation module analyzes the driving environment and determines the pre-compensation parameters based on the analysis results; the control module controls the balancing mechanism based on the pre-compensation parameters.

7. The sway compensation system for the automatic robot's crop shelf handling process as described in claim 6, characterized in that, The automated robot includes: a walking mechanism and an automated lifting mechanism mounted on the walking mechanism; The walking mechanism includes: a main platform, walking wheels configured at the bottom of the main platform, a navigation module, a control module, and a drive module; the drive module drives the walking wheels; the navigation module and the drive module are electrically connected to the control module respectively. The automatic lifting mechanism includes: a telescopic main pole and a bracket mounted on the telescopic main pole; a sensor module is mounted on the surface of the bracket that contacts the crop shelf and is located at the end of the support arm.

8. The sway compensation system for the automatic robot's crop shelf handling process as described in claim 7, characterized in that, The balancing mechanism includes a retractable balance bar positioned between the bracket and the upper surface of the main platform.

9. The sway compensation system for the automatic robot's crop shelf handling process as described in claim 7, characterized in that, The balancing mechanism includes: a suspension that can be adjusted vertically; and wheels that are connected to the main platform via the suspension.

10. The sway compensation system for the automatic robot's crop shelf handling process as described in claim 6, characterized in that, Also includes: The system includes a sway monitoring module and a compensation analysis module. The sway monitoring module monitors the sway parameters of the crop shelf through sensor modules configured on the brackets of the automated robot used to support the crop shelf. The compensation analysis module determines the compensation parameters based on the sway parameters. The control module controls the balancing mechanism based on the compensation parameters.

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