Control method and device of intelligent spraying robot, terminal and storage medium

Abstract

The invention discloses a control method and device for an intelligent spraying robot, a terminal and a storage medium, and the method comprises the steps: receiving a preset route sent by a navigation module and a water spraying positioning coordinate located on the preset route, and the navigation module comprises a GPS and a laser radar; a first driving instruction is sent to the crawler-type chassis according to the received preset route; receiving image information transmitted by the plurality of visible spectrum cameras and the plurality of invisible spectrum cameras; the spraying area and the spraying height are judged according to the received image information; transmitting a first spraying instruction to a motor for controlling a water pump to work, wherein the motor controls the pressure of the water pump and further controls the spraying area of a nozzle; and the first height adjusting instruction is transmitted to the multi-joint-freedom-degree moving manipulator, and the height of the spray head at the end is controlled by the multi-joint-freedom-degree moving manipulator. The problem that in the prior art, automatic water spraying operation is difficult to conduct according to different growth states and water requirements of plants is solved.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control method, device, terminal and storage medium for an intelligent spraying robot. Background Technology

[0002] With the continuous development of agricultural modernization, small and medium-sized vehicle-mounted sprinkler technology has been gradually applied to agricultural production, enabling the spraying and irrigation of vegetation in gardens and courtyards. However, this vehicle-mounted sprinkler technology also has many problems: First, different plants vary in size and height, requiring the determination of the spraying area and height. Vehicle-mounted sprinkler technology can only perform simple spraying, resulting in low efficiency and difficulty in flexibly applying appropriate water volumes to different plants. Second, vehicle-mounted sprinklers often require manual control, wasting manpower and resources. Finally, due to the different water requirements of various plant species, some plants may require more frequent watering, making it impossible to promptly water plants with high water demands. Therefore, we propose a control method, device, terminal, and storage medium for an intelligent sprinkler robot. Summary of the Invention

[0003] The problem to be solved by this invention is how to water plants according to their different sizes, heights and water requirements.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: In a first aspect, embodiments of the present invention provide a control method for an intelligent spraying robot, wherein the method includes: The system receives a preset route and water spray positioning coordinates located on the preset route from a navigation module, which includes GPS and lidar. The first driving command is sent to the tracked chassis according to the received preset route; Receives image information transmitted from multiple visible spectrum cameras and non-visible spectrum cameras; Determine the spraying area and spraying height based on the received image information; The first spraying command is transmitted to the motor that controls the water pump. The motor controls the water pump pressure and thus controls the spraying area of ​​the nozzle. The first height adjustment command is transmitted to the multi-joint motion manipulator, which controls the height of the nozzle at the end.

[0005] In one embodiment, the system further includes receiving coordinate information transmitted by a fixed-point detection unit, which includes a soil moisture detection sensor and a main control MCU electrically connected to each other. The main control MCU is connected to the processor via a wireless network.

[0006] In one implementation, the method further includes transmitting coordinate information to a navigation module, which then plans a fixed-point spraying route. Receive the fixed-point spraying route planned by the navigation module; Send a second driving command to the tracked chassis; Image information transmitted from multiple visible and non-visible spectral cameras at the coordinate location; The spraying area and spraying height are determined based on the image information at the received coordinates. The second spraying command is transmitted to the motor that controls the water pump. The motor controls the water pump pressure and thus controls the spraying area of ​​the nozzle. The second height adjustment command is transmitted to the multi-joint motion manipulator, which controls the height of the nozzle at the end.

[0007] Secondly, embodiments of the present invention also provide a control device for an intelligent spraying robot, wherein the device includes: The first receiving module is used to receive the preset route and the water spray positioning coordinates on the preset route sent by the navigation module. The navigation module includes GPS and lidar. The first transmitting module is used to transmit a first driving command to the tracked chassis according to the received preset route; The second receiving module is used to receive image information transmitted by multiple visible spectrum cameras and non-visible spectrum cameras; The first processing module is used to determine the spraying area and spraying height based on the received image information; The second sending module is used to transmit the first spraying command to the motor that controls the operation of the water pump. The motor controls the pressure of the water pump and thus controls the spraying area of ​​the nozzle. The third sending module is used to transmit the first height adjustment command to the multi-joint degree-of-freedom mobile manipulator, which controls the height of the nozzle at the end.

[0008] In one embodiment, a third receiving module is further included for receiving coordinate information transmitted by the fixed-point detection unit. The fixed-point detection unit includes a soil moisture detection sensor and a main control MCU that are electrically connected to each other. The main control MCU is connected to the processor via a wireless network.

[0009] In one implementation, it also includes The fourth sending module is used to transmit coordinate information to the navigation module, which then plans the fixed-point spraying route. The fourth receiving module is used to receive the fixed-point spraying route planned by the navigation module; The fifth sending module is used to send the second driving command to the tracked chassis; The fifth receiving module is used to receive image information transmitted from multiple visible spectrum cameras and non-visible spectrum cameras at the coordinate information location; The second processing module is used to determine the spraying area and spraying height based on the image information at the received coordinates. The sixth sending module is used to transmit the second spraying command to the motor that controls the water pump. The motor controls the water pump pressure and thus controls the spraying area of ​​the nozzle. The seventh transmitting module is used to transmit the second height adjustment command to the multi-joint degree-of-freedom mobile manipulator, which controls the height of the nozzle at the end.

[0010] Thirdly, embodiments of the present invention also provide a terminal for an intelligent spraying robot, wherein the terminal includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the control method for the intelligent spraying robot as described in any of the above claims.

[0011] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, wherein the computer program, when executed by a processor, implements the control method for the intelligent spraying robot as described in any of the preceding claims.

[0012] The beneficial effects of this invention are as follows: This invention uses visible and non-visible spectral cameras to acquire visible and non-visible light images of the target plant. After analysis by a processor, the growth status of the target plant is determined. Then, a multi-joint, free-degree-of-freedom manipulator moves the nozzle to the corresponding height, while controlling the power of the motor to control the pressure of the water pump, thereby controlling the spraying area. It can autonomously spray water according to the size and height of different plants. The fixed-point detection unit can detect whether different plants need water, and can automatically spray water individually for plants with high water demand, thereby improving the efficiency of watering plants and saving resources. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart illustrating Embodiment 1 of the present invention.

[0014] Figure 2 This is a flowchart illustrating Embodiment 2 of the present invention.

[0015] Figure 3 This is a flowchart illustrating Embodiment 3 of the present invention.

[0016] Figure 4 This is a flowchart illustrating Embodiment 4 of the present invention.

[0017] Figure 5 This is a schematic diagram of the terminal provided in Embodiment 5 of the present invention. Detailed Implementation

[0018] This invention discloses a control method, apparatus, equipment, and medium for an intelligent spraying robot. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0019] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items. Example 1

[0020] To address the aforementioned deficiencies in existing technologies, this invention provides a control method for an intelligent spraying robot. The method includes: receiving a preset route and water spraying positioning coordinates along the preset route from a navigation module, wherein the navigation module includes GPS and lidar; sending a first driving command to a tracked chassis based on the received preset route; receiving image information transmitted from multiple visible and non-visible spectrum cameras; determining the spraying area and spraying height based on the received image information; transmitting the first spraying command to a motor that controls the water pump, the motor controlling the water pump pressure and thus controlling the spraying area of ​​the nozzles; and transmitting a height adjustment command to a multi-joint, degree-of-freedom manipulator, which controls the height of the nozzles at the end of the robot. This method solves the problem in existing technologies where it is difficult to automatically spray water according to different growth stages and water requirements of plants.

[0021] like Figure 1 As shown, the method includes: Step S100: Receive the preset route and water spray positioning coordinates on the preset route sent by the navigation module, wherein the navigation module includes GPS and lidar; Step S200: Send the first driving command to the tracked chassis according to the received preset route; Step S300: Receive image information transmitted from multiple visible spectrum cameras and non-visible spectrum cameras; Step S400: Determine the spraying area and spraying height based on the received image information; Step S500: The first spraying command is transmitted to the motor that controls the water pump. The motor controls the pressure of the water pump and thus controls the spraying area of ​​the nozzle. Step S600: Transmit the first height adjustment command to the multi-joint degree-of-freedom mobile robot, and the multi-joint degree-of-freedom mobile robot controls the height of the nozzle at the end; Based on the GPS-planned routes by operators in the plant planting area, the spraying robot is positioned at the designated coordinates along these routes for the plants requiring watering. Once the robot reaches these coordinates, multiple visible and non-visible light cameras acquire images of the target plants. The visible light cameras capture images with wavelengths between 400 and 700 nanometers, while the non-visible light cameras capture images with wavelengths outside this range. The processor determines the plant's growth status, assessing water shortage and growth height based on these images. Then, based on the assessment results, it sends a first spraying command to the motor controlling the water pump. If water shortage is severe, the motor power is increased to the set power, increasing the pump's drainage pressure. Higher pump pressure results in a larger spray area and a greater volume of water. The processor then sends a first height adjustment command to the multi-joint manipulator based on the plant's growth height. The manipulator controls the height of the nozzles at the plant's ends, ensuring that the top leaves and branches can absorb water. Example 2

[0022] Reference Figure 2 This is a second embodiment of the present invention, based on the previous embodiment, wherein the method includes: Step F100: Receive coordinate information transmitted by the fixed-point detection unit. The fixed-point detection unit includes a soil moisture detection sensor and a main control MCU that are electrically connected to each other. The main control MCU is connected to the processor via a wireless network. F200 transmits coordinate information to the navigation module, which then plans the fixed-point spraying route. F300 receives the fixed-point spraying route planned by the navigation module; F400, send the second driving command to the tracked chassis; F500 receives image information transmitted from multiple visible and non-visible spectrum cameras at the coordinate location; F600: Determine the spraying area and spraying height based on the received image information at the coordinates. F700 transmits the second spraying command to the motor that controls the water pump. The motor controls the water pump pressure and thus controls the spraying area of ​​the nozzle. F800 transmits a second height adjustment command to the multi-joint motion manipulator, which then controls the nozzle height at the end.

[0023] Since different plants have different water-absorbing capacities and water requirements, if some plants with high water requirements on the preset route need to be sprayed with water, while others do not need to be sprayed temporarily, fixed-point detection units can be set up at the gathering points of each type of plant. The soil moisture sensors in these units can detect whether the soil moisture is within a range that makes water absorption easier for the plants. Different moisture levels can be set for each type of plant. When the main control MCU receives the moisture information transmitted by the soil moisture sensors and determines that the soil moisture is too low, making water absorption more difficult for the plants, the main control MCU transmits the coordinates of that fixed point to the processor via a wireless network. The processor then transmits the coordinates to the navigation module, which plans the fixed-point spraying route. The processor then receives the planned route from the navigation module and sends a second driving command to the tracked vehicle. Driven by a tracked chassis, the vehicle reaches the coordinate information transmitted by the fixed-point detection unit. Then, a visible-spectrum camera and a non-visible-spectrum camera acquire visible-light and non-visible-light images of the target plant at that fixed point. The processor determines the plant's growth status based on the received images, judging the degree of water shortage, growth height, etc. Based on the judgment result, a second spraying command is sent to the motor controlling the water pump. If the water shortage is severe, the motor power is increased to the set power, increasing the water pump's drainage pressure. The higher the water pressure discharged by the pump, the larger the spray area of ​​the nozzles and the more water is used for irrigation. The processor then sends a second height adjustment command to the multi-joint motion manipulator based on the growth height. The multi-joint motion manipulator controls the height of the nozzles at the end, ensuring that the top branches and leaves of the plant can absorb water, thus improving the spraying efficiency for plants with high water requirements. Example 3

[0024] Reference Figure 3 This is a third embodiment of the present invention. Based on the above embodiments, the present invention also provides a control device for an intelligent spraying robot, the device comprising: The first receiving module is used to receive the preset route and the water spray positioning coordinates on the preset route sent by the navigation module. The navigation module includes GPS and lidar. The first transmitting module is used to transmit a first driving command to the tracked chassis according to the received preset route; The second receiving module is used to receive image information transmitted by multiple visible spectrum cameras and non-visible spectrum cameras; The first processing module is used to determine the spraying area and spraying height based on the received image information; The second sending module is used to transmit the first spraying command to the motor that controls the operation of the water pump. The motor controls the pressure of the water pump and thus controls the spraying area of ​​the nozzle. The third sending module is used to transmit height adjustment commands to the multi-joint motion manipulator, which controls the height of the nozzle at the end. Example 4

[0025] Reference Figure 4 This is the fourth embodiment of the present invention. Based on the above embodiments, the present invention provides a control device for an intelligent spraying robot, the device comprising: The third receiving module is used to receive coordinate information transmitted by the fixed-point detection unit. The fixed-point detection unit includes a soil moisture detection sensor and a main control MCU that are electrically connected to each other. The main control MCU is connected to the processor via a wireless network.

[0026] In one embodiment, a fourth sending module is also included, which transmits coordinate information to the navigation module so that the navigation module can plan the fixed-point spraying route. The fourth receiving module is used to receive the fixed-point spraying route planned by the navigation module; The fifth sending module is used to send the second driving command to the tracked chassis; The fifth receiving module is used to receive image information transmitted by multiple visible spectrum cameras and non-visible spectrum cameras at the coordinates. The second processing module is used to determine the spraying area and spraying height based on the image information at the received coordinates. The sixth sending module is used to transmit the second spraying command to the motor that controls the water pump. The motor controls the water pump pressure and thus controls the spraying area of ​​the nozzle. The seventh transmitting module is used to transmit the second height adjustment command to the multi-joint degree-of-freedom mobile manipulator, which controls the height of the nozzle at the end. Example 5

[0027] Based on the above embodiments, the present invention also provides a terminal for an intelligent spraying robot, the principle block diagram of which is as follows: Figure 5As shown, the terminal uses a system bus to connect the processor, memory, and communication interface. The system bus transmits information between the various components of the device (e.g., the processor and memory). The processor can be a general-purpose CPU or a microprocessor, providing computing and control capabilities. The terminal's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used to enable communication and interaction between this device and other devices. Communication can be achieved via wired means (e.g., USB, Ethernet cable) or wireless means (e.g., mobile network, Wi-Fi, Bluetooth). When the computer program is executed by the processor, it implements a control method for a six-arm fruit-picking robot.

[0028] Any reference to memory used in the embodiments provided in this invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory.

[0029] In summary, this invention discloses a control method, device, terminal, and storage medium for an intelligent spraying robot. The method includes: receiving a preset route and water spraying positioning coordinates on the preset route from a navigation module, the navigation module including GPS and lidar; sending a first driving command to a tracked chassis according to the received preset route; receiving image information transmitted from multiple visible and non-visible spectral cameras; determining the spraying area and spraying height based on the received image information; transmitting a first spraying command to a motor that controls the water pump, the motor controlling the water pump pressure and thus controlling the spraying area of ​​the nozzles; and transmitting a first height adjustment command to a multi-joint, degree-of-freedom manipulator, the multi-joint, degree-of-freedom manipulator controlling the height of the nozzles at the end. This solves the problem in the prior art of automatically spraying and irrigating plants according to different growth stages and water requirements.

[0030] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control method for an intelligent spraying robot, characterized in that: The method is applied to a processor, and the method comprises: receiving a preset route and water spraying positioning coordinates on the preset route sent by a navigation module, the navigation module comprising a GPS and a laser radar; sending a first driving instruction to a tracked chassis according to the received preset route; receiving image information transmitted by a plurality of visible spectrum cameras and non-visible spectrum cameras; judging spraying area and spraying height according to the received image information; transmitting a first spraying instruction to a motor controlling the operation of a water pump, the motor controlling the pressure of the water pump and thereby controlling the spraying area of the water sprayed by a spray head; transmitting a first height adjusting instruction to a multi-joint degree of freedom mobile manipulator, the multi-joint degree of freedom mobile manipulator controlling the height of the spray head at the end portion. 2.The control method of the intelligent spraying robot according to claim 1, wherein: Further comprising receiving coordinate information transmitted by a fixed-point detection unit, the fixed-point detection unit comprising a soil humidity detection sensor and a master control MCU in electrical connection with each other, the master control MCU being connected to the processor through a wireless network. 3.The control method of the intelligent spraying robot according to claim 2, wherein: Further comprising transmitting the coordinate information to the navigation module, the navigation module planning a fixed-point spraying route; receiving the fixed-point spraying route planned by the navigation module; sending a second driving instruction to the tracked chassis; receiving image information transmitted by the plurality of visible spectrum cameras and non-visible spectrum cameras at the coordinates; judging spraying area and spraying height according to the received image information at the coordinates; transmitting a second spraying instruction to the motor controlling the operation of the water pump, the motor controlling the pressure of the water pump and thereby controlling the spraying area of the water sprayed by the spray head; transmitting a second height adjusting instruction to the multi-joint degree of freedom mobile manipulator, the multi-joint degree of freedom mobile manipulator controlling the height of the spray head at the end portion.

4. A control device of an intelligent spraying robot, characterized in that, The device is arranged in a processor, and the device comprises: a first receiving module for receiving a preset route and water spraying positioning coordinates on the preset route sent by a navigation module, the navigation module comprising a GPS and a laser radar; a first sending module for sending a first driving instruction to a tracked chassis according to the received preset route; a second receiving module for receiving image information transmitted by a plurality of visible spectrum cameras and non-visible spectrum cameras; a first processing module for judging spraying area and spraying height according to the received image information; a second sending module for transmitting a first spraying instruction to a motor controlling the operation of a water pump, the motor controlling the pressure of the water pump and thereby controlling the spraying area of the water sprayed by a spray head; a third sending module for transmitting a height adjusting instruction to a multi-joint degree of freedom mobile manipulator, the multi-joint degree of freedom mobile manipulator controlling the height of the spray head at the end portion.

5. The control device of the intelligent spraying robot according to claim 4, wherein: Further comprising a third receiving module for receiving coordinate information transmitted by a fixed-point detection unit, the fixed-point detection unit comprising a soil humidity detection sensor and a master control MCU in electrical connection with each other, the master control MCU being connected to the processor through a wireless network.

6. The control device of the intelligent spraying robot according to claim 5, wherein: Further comprising a fourth sending module for transmitting the coordinate information to the navigation module, the navigation module planning a fixed-point spraying route; a fourth receiving module for receiving the fixed-point spraying route planned by the navigation module; a fifth sending module for sending a second driving instruction to the tracked chassis; a fifth receiving module for receiving image information transmitted by the plurality of visible spectrum cameras and non-visible spectrum cameras at the coordinates; The second processing module is configured to determine the spraying area and the spraying height according to the image information at the received coordinates; The sixth sending module is configured to transmit a second spraying instruction to a motor that controls the water pump, so as to control the pressure of the water pump and in turn control the spraying area of the water jet of the nozzle; The seventh sending module is configured to transmit a second height adjusting instruction to the multi-joint degree-of-freedom mobile manipulator, so as to control the height of the nozzle at the end portion.

7. A terminal of an intelligent spraying robot, characterized in that: The terminal comprises a memory and a processor, the memory stores a computer program, and the processor implements the control method of the intelligent spraying robot according to any one of claims 1 to 3 when executing the computer program.

8. A computer readable storage medium, the storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the intelligent spraying robot according to any one of claims 1 to 3.

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