Agricultural greenhouse cross-ridge operation method and system

Abstract

The application discloses a kind of agricultural greenhouse cross-ridge operation method and system, it is related to the technical field of agricultural robot autonomous navigation.The method comprises: respectively with single operation ridge and its corresponding ridge passage as mapping object SLAM mapping, generate multiple single-ridge maps;In each single-ridge map, record map switching point pose, and establish the map association between operation ridge, single-ridge map and map switching point;Multiple single-ridge maps are configured to include multiple path segments and their connection relationship operation path organization data, to support single-ridge back-and-forth operation mode or continuous cross-ridge operation mode;Robot reaches map switching point, loads target single-ridge map and initializes pose;According to the current path segment, generate operation state signal to control picking execution mechanism to execute or pause picking action.The application can reduce the risk of SLAM map drift and intersection in multiple ridge similar environment, and improve the stability of cross-ridge picking operation.

Description

Technical Field

[0001] This invention relates to the field of autonomous navigation technology for agricultural robots, and in particular to a method and system for cross-row operation in agricultural greenhouses. Background Technology

[0002] With the increasing intelligence and automation of agriculture, agricultural robots such as harvesting robots, inspection robots, and transport robots are gradually being applied to agricultural production scenarios such as greenhouses and multi-span greenhouses. When performing harvesting, inspection, or handling operations, agricultural robots typically rely on LiDAR SLAM, visual SLAM, or multi-sensor fusion SLAM for environmental mapping, autonomous localization, and path navigation.

[0003] In multi-row agricultural greenhouses, multiple work rows are typically arranged in a long, straight, parallel, and repetitive pattern, forming inter-row passages for robot movement between adjacent work rows. Because the morphology and environmental features of these inter-row passages are highly similar, and there are relatively few stable features available for localization within the greenhouse, when the robot directly performs overall SLAM mapping on multiple work rows, the SLAM system is prone to mismatching similar environmental features between different work rows. This can lead to map drift, map overlap, map intersection, or localization failure, affecting subsequent navigation operations.

[0004] Meanwhile, when agricultural harvesting robots operate inside greenhouses, their movement typically involves multiple stages, including entering the target work ridge from the starting / unloading point, harvesting along the target work ridge, crossing adjacent work ridges, turning around and returning to the unloading point. The control requirements for the harvesting actuator differ at each stage. For example, when the robot is on a work path within a ridge, the harvesting actuator needs to be allowed to perform harvesting actions; however, when the robot is on a transition, ridge-crossing, turning around, or returning path, the harvesting action usually needs to be paused to avoid malfunctions by the harvesting actuator.

[0005] While existing technologies offer solutions for multi-map mapping, map switching, or path planning, they typically fail to address the unique environmental characteristics of multi-row greenhouses, such as "long, straight, parallel, repetitive, and similar features," by implementing independent mapping for each row and linked control of path status. Consequently, they struggle to simultaneously resolve the issues of overlapping multi-row SLAM mapping and the recognition of harvesting action status. Summary of the Invention

[0006] The purpose of this invention is to provide a method and system for cross-ridge operation in agricultural greenhouses. By establishing multiple single-ridge maps with each single operation ridge and its corresponding inter-ridge passage as the mapping object, and organizing data based on map switching points and operation paths, single-ridge round-trip operation or continuous cross-ridge operation can be realized. This avoids map drift and map intersection when multiple similar operation ridges are mapped as a whole. Furthermore, the harvesting execution mechanism is controlled to execute or pause the harvesting action according to the current path segment of the robot.

[0007] The present invention adopts the following solution: To achieve the above objectives, the present invention provides a method for cross-ridge operation in agricultural greenhouses, applied to a harvesting robot, comprising: SLAM mapping is performed using a single working ridge and its corresponding inter-ridge passage in an agricultural greenhouse as the mapping objects, generating multiple single-ridge maps that correspond one-to-one with the multiple working ridges. When generating each single-ridge map, the complete inter-ridge passages of adjacent working ridges are restricted from being merged into the current single-ridge map. Record the pose information of the map switching point in each single-ridge map, and establish the map association relationship between the working ridge, the single-ridge map and the map switching point; Configure operation path organization data for multiple single-ridge maps. The operation path organization data includes multiple path segments and the connection relationship between multiple path segments. The operation path organization data is used to enable the harvesting robot to perform the target operation ridge task in a single-ridge round-trip operation mode or a continuous cross-ridge operation mode. After receiving the target operation row task, determine the target single row map and the corresponding operation path organization data according to the target operation row task; When the harvesting robot reaches the map switching point corresponding to the target single-row map, the target single-row map is loaded, and the current pose of the harvesting robot is initialized with the map switching point pose recorded in the target single-row map. The harvesting robot is controlled to move along the determined work path, and a work status signal is generated based on the current path segment of the harvesting robot during the movement to distinguish whether the harvesting robot is in the in-row operation state or the out-of-row transfer state. The harvesting mechanism is controlled to perform or suspend harvesting actions based on the operation status signal.

[0008] Furthermore, the map switching points include common starting / unloading points located outside multiple work ridges. Each single-ridge map records the pose information of the common starting / unloading point in the corresponding single-ridge map. The harvesting robot switches the single-ridge map corresponding to different work ridges at the common starting / unloading point.

[0009] Furthermore, in the single-ridge round-trip operation mode, each single-ridge map is configured with a set of segmented navigation paths. The segmented navigation paths include a transfer path segment from the common starting / unloading point to the entrance of the corresponding work ridge, an intra-ridge operation path segment traveling along the inter-ridge passage of the corresponding work ridge, and a turning path segment from the end of the corresponding work ridge to the turning point or back to the common starting / unloading point.

[0010] Furthermore, after the harvesting robot completes its work on the current target work ridge, it returns to the common starting / unloading point along the turning path segment, the work ridge within the ridge, and the transfer path segment corresponding to the current target work ridge, and switches to the single-ridge map corresponding to the next target work ridge at the common starting / unloading point.

[0011] Furthermore, in the continuous cross-ridge operation mode, the path segments corresponding to multiple target operation ridges are combined into a continuous cross-ridge operation path sequence according to a preset operation order. The continuous cross-ridge operation path sequence includes a transfer path from a common starting / unloading point to the first target operation ridge, an intra-ridge operation path segment along the first target operation ridge, a cross-ridge connection path segment connecting adjacent target operation ridges, an intra-ridge operation path segment along the next target operation ridge, and a turning path leading to a turning point.

[0012] Furthermore, the continuous cross-ridge operation path sequence includes a transfer path, a third ridge operation path segment, a first cross-ridge connection path segment, a second ridge operation path segment, a second cross-ridge connection path segment, a first ridge operation path segment, and a turning path, so that the harvesting robot starts from a common starting / unloading point, passes through multiple target operation ridges in sequence, and arrives at the turning point.

[0013] Furthermore, during the process of the harvesting robot traveling according to the continuous cross-ridge operation path sequence, before entering the ridge operation path segment corresponding to the next target operation ridge, the harvesting robot loads the single-ridge map corresponding to the next target operation ridge, and initializes or corrects the current pose of the harvesting robot with the pose of the corresponding map switching point.

[0014] Furthermore, each of the aforementioned path segments has a starting parking point, an ending parking point, and vehicle heading information corresponding to the starting parking point and the ending parking point; after the picking robot reaches the ending parking point of the current path segment, it switches to the next path segment based on the starting parking point and vehicle heading information of the next path segment.

[0015] Furthermore, before loading the target single-row map, the harvesting robot collects the environmental features around the current map switching point and matches the collected current environmental features with the environmental features of the map switching point recorded in the target single-row map. When the matching result meets the preset map switching conditions, the target single-row map is loaded; when the matching result does not meet the preset map switching conditions, the harvesting robot performs a repositioning operation.

[0016] The present invention also provides an agricultural greenhouse cross-ridge operation system, comprising: The sensing module is used to collect environmental characteristics inside the agricultural greenhouse; The single-ridge mapping module is used to perform SLAM mapping on a single working ridge and its corresponding inter-ridge passage in an agricultural greenhouse, generating multiple single-ridge maps that correspond one-to-one with multiple working ridges. The map management module is used to record the pose information of map switching points in each single-row map and establish the map association relationship between the working ridge, the single-row map and the map switching point. The path management module is used to configure operation path organization data for multiple single-ridge maps. The operation path organization data includes multiple path segments and the connection relationship between multiple path segments, and is used to support the harvesting robot to execute the target operation ridge task in a single-ridge round-trip operation mode or a continuous cross-ridge operation mode. The map switching module is used to load the target single-row map when the harvesting robot reaches the map switching point corresponding to the target single-row map, and initialize the current pose of the harvesting robot with the map switching point pose recorded in the target single-row map. The operation status output module is used to generate an in-row operation status signal or an out-of-row transfer status signal based on the current path segment of the harvesting robot. The execution control module is used to control the harvesting execution mechanism to perform harvesting actions according to the in-row operation status signal, and to control the harvesting execution mechanism to pause harvesting actions according to the out-of-row transfer status signal.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: This invention establishes separate single-ridge maps for each work ridge and its corresponding inter-ridge passage, avoiding the direct merging of multiple long, straight work ridges with similar environments into the same SLAM map. This reduces the risks of map drift, map stacking, and map overlap caused by mismatches between different work ridges. Furthermore, the pose of map switching points is recorded in each single-ridge map, and a map association relationship is established between the work ridge, the single-ridge map, and the map switching point. This allows the harvesting robot to complete the loading of the target single-ridge map and pose initialization at the corresponding map switching point, improving the stability of map switching and positioning during cross-ridge operations. By organizing data through work paths, it is compatible with both single-ridge round-trip operations and continuous cross-ridge operations. It supports both the harvesting robot returning to a common starting / unloading point after completing a target work ridge before switching to the next single-ridge map, and the harvesting robot forming a continuous cross-ridge operation path sequence based on path segments from multiple single-ridge maps, making the operation more flexible.

[0018] Furthermore, this invention divides the path segment into transfer path segments, intra-row operation path segments, cross-row connection path segments, and U-turn path segments, and generates an operation status signal based on the robot's current path segment. This ensures that the harvesting actuator performs harvesting actions only in the intra-row operation state, pausing harvesting actions during transfers outside the ridge, cross-row connections, U-turns, or return trips, thereby reducing the risk of accidental harvesting. By setting the starting and ending parking points and vehicle orientation information for each path segment, the harvesting robot can switch between different path segments according to a predetermined posture, which helps improve navigation reliability in narrow inter-row passages. Before loading the target single-row map, this invention can perform matching and verification based on the environmental features around the map switching point. The target single-row map is only loaded when the matching result meets the preset map switching conditions, avoiding incorrect map loading and improving the safety of cross-row switching. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the existing single-ridge mapping effect; Figure 2 A schematic diagram illustrating the map overlap and intersection generated when constructing a multi-ridge overall map; Figure 3 A schematic diagram of segmented navigation paths for single-row round-trip operations or arbitrary combinations of multiple single-row maps; Figure 4 This is a schematic diagram of a continuous cross-ridge operation path sequence based on multiple single-ridge maps.

[0020] Explanation of reference numerals in the attached figures: T1, First transfer route segment; T2, Second transfer route segment; T3, Third transfer route segment; L1, First row operation route segment; L2, Second row operation route segment; L3, Third row operation route segment; F1, First U-turn route segment; F2, Second U-turn route segment; F3, Third U-turn route segment; T0, transfer route; C32, first cross-ridge connection route segment; C21, second cross-ridge connection route segment; F0, turning route. Detailed Implementation

[0021] Example 1 like Figures 1 to 4 As shown, the agricultural greenhouse has multiple work ridges arranged in a long, straight, and roughly parallel manner, forming inter-ridge passages for the harvesting robot to move through. The harvesting robot may include a harvesting actuator used to perform harvesting actions on the crops in the work ridges. The harvesting robot is also equipped with a sensing module, which may include one or more of the following: LiDAR, vision camera, depth camera, inertial measurement unit, and odometry. The sensing module is used to collect environmental features within the agricultural greenhouse for the harvesting robot to perform SLAM mapping, localization, map switching, and path navigation.

[0022] In this embodiment, instead of directly treating multiple work ridges as a whole mapping object, SLAM mapping is performed on each individual work ridge and its corresponding inter-ridge passage as mapping objects, generating multiple single-ridge maps that correspond one-to-one with the multiple work ridges.

[0023] For example, when an agricultural greenhouse includes ridge 1, ridge 2, and ridge 3, a first single-ridge map, a second single-ridge map, and a third single-ridge map can be created respectively. The first single-ridge map corresponds to ridge 1 and its corresponding inter-ridge passage, the second single-ridge map corresponds to ridge 2 and its corresponding inter-ridge passage, and the third single-ridge map corresponds to ridge 3 and its corresponding inter-ridge passage.

[0024] When building a map for each single ridge, the harvesting robot moves along the inter-ridge passage corresponding to the current working ridge and collects environmental features within the current working ridge and its inter-ridge passage through a sensing module. The single-ridge mapping module generates the current single-ridge map based on the collected environmental features. Preferably, the current single-ridge map is only used to represent the current working ridge and its corresponding inter-ridge passage, and the complete inter-ridge passages of adjacent working ridges are not merged into the current single-ridge map. Since different working ridges have similar long and straight structures, directly merging multiple working ridges into the same SLAM map can easily lead to incorrect loop closure matching and map intersection. This embodiment reduces the interference of similar environmental features between different working ridges on SLAM mapping by building maps independently for each ridge.

[0025] The pose information of map switching points is recorded in each single-row map. Map switching points can be common start / unloading points, cross-row connection points between adjacent working rows, entry points of working rows, end points of working rows, turning points, or other locations that can be used for map switching or pose correction. Pose information can include position coordinates and vehicle heading.

[0026] The map management module establishes map associations between work rows, single-row maps, and map switching points. These map associations may include at least one of the following: work row number, single-row map identifier, map switching point pose, map switching point environmental characteristics, work row entry pose, work row end pose, U-turn point pose, and corresponding path segment identifier. For example, in one embodiment, such as... Figure 3 As shown, ridge 1 can be associated with the first single-ridge map, the common starting / unloading point, the first ridge intra-operation path segment L1, and the turning path segment F1; ridge 2 can be associated with the second single-ridge map, the common starting / unloading point, the second ridge intra-operation path segment L2, the first cross-ridge connecting path segment T2, and the second cross-ridge connecting path segment T3; ridge 3 can be associated with the third single-ridge map, the common starting / unloading point, the third ridge intra-operation path segment L3, and the first transfer path segment T1.

[0027] It should be noted that different single-row maps can have their own independent map coordinate systems. By recording the pose information of the map switching points in each single-row map, the harvesting robot can initialize or correct its current pose with the pose of the map switching point in the target single-row map when switching to it, thereby achieving positioning connection between different single-row maps.

[0028] In this embodiment, the path management module configures operational path organization data for multiple single-row maps. The operational path organization data includes multiple path segments and the connections between these path segments. Path segments may include one or more of the following: transfer path segments, intra-row operational path segments, cross-row connection path segments, U-turn path segments, and return path segments.

[0029] Each path segment can have a starting parking point, an ending parking point, and corresponding vehicle orientation information. After the harvesting robot reaches the ending parking point of the current path segment, it can switch to the next path segment based on the starting parking point and vehicle orientation information. This allows the harvesting robot to complete actions such as entering, exiting, turning around, crossing, and returning within narrow ridge passages according to a predetermined posture.

[0030] The operation path organization data is used to support the harvesting robot in executing target operation row tasks in either a single-row round-trip operation mode or a continuous cross-row operation mode. The single-row round-trip operation mode refers to the harvesting robot switching to the single-row map corresponding to a target operation row at the common start / unloading point, entering that target operation row to perform the operation, returning to the common start / unloading point after completing the operation, and then switching to the next single-row map according to the next target operation row task.

[0031] Continuous cross-ridge operation refers to a harvesting robot combining path segments corresponding to multiple target harvesting ridges into a continuous cross-ridge operation path sequence according to a preset operation order. This allows the harvesting robot to start from a common starting / unloading point, sequentially traverse multiple target harvesting ridges, and continuously switch between different harvesting ridges through cross-ridge connecting path segments. It should be noted that continuous cross-ridge operation does not mean merging multiple harvesting ridges into a single SLAM map, but rather connecting the path segments corresponding to different single-ridge maps according to the task order based on multiple single-ridge maps.

[0032] Specifically, such as Figure 3As shown, in the single-ridge round-trip operation mode, each single-ridge map corresponds to a set of segmented navigation paths. The segmented navigation paths include a transfer path segment from the common starting / unloading point to the entrance of the corresponding work ridge, an intra-ridge operation path segment traveling along the inter-ridge passage of the corresponding work ridge, and a turning-off path segment from the end of the corresponding work ridge to the turning point or back to the common starting / unloading point. For example, ridge 1 corresponds to the first single-ridge map, which is configured with the first transfer path segment, the first intra-ridge operation path segment L1, and the first turning-off path segment F1. Ridge 2 corresponds to the second single-ridge map, which is configured with the second transfer path segment, the second intra-ridge operation path segment L2, and the second turning-off path segment F2. Ridge 3 corresponds to the third single-ridge map, which is configured with the third transfer path segment, the third intra-ridge operation path segment L3, and the third turning-off path segment F3.

[0033] When the harvesting robot receives a target work ridge task, it determines the target single-ridge map and corresponding work path organization data based on the task. After the harvesting robot moves to the common start / unloading point, the map switching module loads the single-ridge map corresponding to the target work ridge and initializes the harvesting robot's current pose with the pose of the common start / unloading point recorded in the single-ridge map. Subsequently, the path management module calls the segmented navigation path corresponding to the target single-ridge map, controlling the harvesting robot to first enter the target work ridge entrance from the common start / unloading point along the transfer path segment, then travel along the intra-ridge work path segment in the inter-ridge passage and perform harvesting operations, and finally turn around or return along the turning-around path segment. When the harvesting robot completes the work on the current target work ridge, it can return to the common start / unloading point along the turning-around path segment, intra-ridge work path segment, and transfer path segment corresponding to the current target work ridge. If there is another target work ridge in the target work ridge task, the harvesting robot switches to the single-ridge map corresponding to the next target work ridge at the common start / unloading point and repeats the above process. Therefore, the single-row reciprocating operation mode enables the harvesting robot to stably switch between different single-row maps at the common starting / unloading point, which is especially suitable for scenarios that require selective operation by row, return to unload or reschedule after operation.

[0034] In another embodiment, such as Figure 4 As shown, in the continuous cross-ridge operation mode, when the target operation ridge task includes multiple consecutive target operation ridges, the path segments corresponding to the multiple target operation ridges can be combined into a continuous cross-ridge operation path sequence according to the preset operation order.

[0035] The continuous cross-ridge operation path sequence includes a transfer path segment from the common starting / unloading point to the first target operation ridge, an intra-ridge operation path segment along the first target operation ridge, a cross-ridge connection path segment connecting adjacent target operation ridges, an intra-ridge operation path segment along the next target operation ridge, and a turning path segment leading to the turning point.

[0036] exist Figure 4 In the illustrated embodiment, the common starting / unloading point is located below and outside the multiple work ridges, and the turning point is located above and outside the multiple work ridges. The continuous cross-ridge operation path sequence may include the following sequentially connected transfer path T0, the third work path segment L3 within the ridge, the first cross-ridge connecting path segment C32, the second work path segment L2 within the ridge, the second cross-ridge connecting path segment C21, the first work path segment L1 within the ridge, and the turning path F0.

[0037] Specifically, the harvesting robot starts from the common starting / unloading point, enters the inter-row passage corresponding to ridge 3 along the transfer path T0, and moves towards the end of ridge 3 along the third ridge operation path segment L3; after reaching the end of ridge 3, the harvesting robot enters the inter-row passage corresponding to ridge 2 through the first cross-ridge connecting path segment C32, and moves along the second ridge operation path segment L2; after reaching the end of ridge 2, the harvesting robot enters the inter-row passage corresponding to ridge 1 through the second cross-ridge connecting path segment C21, and moves along the first ridge operation path segment L1; finally, the harvesting robot moves to the turning point through the turning path F0.

[0038] During the continuous cross-row operation sequence, before entering the next target ridge's intra-ridge operation path segment, the harvesting robot can load the single-ridge map corresponding to that ridge and initialize or correct its current pose using the corresponding map switching point pose. For example, before entering the second ridge's intra-ridge operation path segment L2 from the third intra-ridge operation path segment L3 via the first cross-ridge connecting path segment C32, the harvesting robot can switch from the third single-ridge map to the second single-ridge map; similarly, before entering the first ridge's intra-ridge operation path segment L1 from the second intra-ridge operation path segment L2 via the second cross-ridge connecting path segment C21, it can switch from the second single-ridge map to the first single-ridge map. These map switching can be completed near the start or end point of the cross-ridge connecting path segment or near the entrance of an adjacent ridge. During map switching, the harvesting robot can collect environmental features around the current map switching point and match these features with the environmental features recorded in the target single-ridge map at the map switching point. When the matching result meets the preset map switching conditions, the target single-row map is loaded; when the matching result does not meet the preset map switching conditions, the harvesting robot performs a repositioning operation.

[0039] Therefore, the continuous cross-row operation method can achieve continuous operation between multiple target rows while maintaining the independence of individual row maps, thus improving operational efficiency. This method does not directly merge row 1, row 2, and row 3 as a single SLAM map; instead, it connects path segments corresponding to multiple individual row maps at the task level through operational path organization data, thereby balancing continuous operation efficiency and individual row mapping stability. It is important to note that in the continuous cross-row operation method, the robot appears to move continuously across rows in path execution, but in terms of localization and mapping, it still relies on multiple independent individual row maps for segmented localization and switching.

[0040] In this embodiment, before loading the target single-row map, the harvesting robot can collect environmental features around the current map switching point and match the collected current environmental features with the environmental features of the map switching point recorded in the target single-row map. The environmental features may include one or more of the following: laser point cloud features, visual image features, depth features, manually marked features, and location tag features. The preset map switching conditions may include a matching confidence level reaching a preset threshold, a relocation error less than a preset error threshold, a number of matching points reaching a preset number, or the pose estimation result meeting a preset range requirement.

[0041] When the matching result meets the preset map switching conditions, the map switching module loads the target single-row map and initializes or corrects the current pose of the harvesting robot using the map switching point pose recorded in the target single-row map. When the matching result does not meet the preset map switching conditions, the harvesting robot performs a repositioning operation. The repositioning operation may include at least one of the following: adjusting the robot's heading, moving within a small range near the map switching point, re-collecting environmental features, or re-performing feature matching. Before the matching result meets the preset map switching conditions, the harvesting robot may not load the target single-row map to avoid accidental map loading.

[0042] During the data organization and movement of the harvesting robot along the work path, the work status output module generates a work status signal based on the current path segment of the harvesting robot. When the harvesting robot is in an intra-row work path segment, such as in the first intra-row work path segment L1, the second intra-row work path segment L2, or the third intra-row work path segment L3, the work status output module generates an intra-row work status signal. The execution control module controls the harvesting execution mechanism to perform harvesting actions based on the intra-row work status signal. When the harvesting robot is in an extra-row transfer path segment, an inter-row connection path segment, a turning path segment, or a return path segment, such as in the single-row round-trip operation mode in the transfer path segments T1, T2, T3 or the turning path segments F1, F2, F3, or in the continuous inter-row operation mode in the transfer path T0, the inter-row connection path segments C32, C21 or the turning path F0, the work status output module generates an extra-row transfer status signal. The execution control module controls the harvesting execution mechanism to pause harvesting actions based on the extra-row transfer status signal. With the above settings, the harvesting execution mechanism can perform harvesting actions only on the suitable ridge path section, and pause the harvesting action during the start / unloading, cross-ridge connection, turning around or returning process, thereby reducing the risk of misharvesting and robot arm malfunction.

[0043] Example 2 This embodiment provides an agricultural greenhouse cross-ridge operation system, including a sensing module, a single-ridge mapping module, a map management module, a path management module, a map switching module, an operation status output module, and an execution control module.

[0044] The sensing module is used to collect environmental characteristics inside the agricultural greenhouse. The sensing module may include one or more of the following: LiDAR, vision camera, depth camera, inertial measurement unit, and odometer.

[0045] The single-ridge mapping module is used to perform SLAM mapping on a single working ridge and its corresponding inter-ridge passage in an agricultural greenhouse, generating multiple single-ridge maps that correspond one-to-one with multiple working ridges.

[0046] The map management module is used to record the pose information of map switching points in each single-row map and to establish map association relationships between the working row, single-row map and map switching points.

[0047] The path management module is used to configure operation path organization data for multiple single-row maps. The operation path organization data includes multiple path segments and the connection relationship between multiple path segments, and is used to support the harvesting robot to execute the target operation ridge task in a single-row round-trip operation mode or a continuous cross-row operation mode.

[0048] The map switching module is used to load the target single-row map when the harvesting robot reaches the map switching point corresponding to the target single-row map, and initialize the current pose of the harvesting robot with the map switching point pose recorded in the target single-row map.

[0049] The operation status output module is used to generate an in-row operation status signal or an out-of-row transfer status signal based on the current path segment of the harvesting robot.

[0050] The execution control module is used to control the harvesting execution mechanism to perform harvesting actions based on the in-row operation status signal, and to control the harvesting execution mechanism to pause harvesting actions based on the out-of-row transfer status signal.

[0051] The agricultural greenhouse cross-row operation system of this embodiment can perform the above-mentioned agricultural greenhouse cross-row operation method. Therefore, it can also reduce the risk of SLAM mapping drift and map intersection in the environment of multiple similar rows, and can match the picking action with the current path segment of the robot.

[0052] It should be understood that the above are merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the scope of the present invention are within the scope of protection of the present invention.

[0053] The accompanying drawings used in the above description of the embodiments only illustrate certain embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

Claims

1. A method for cross-ridge operation in agricultural greenhouses, applied to a harvesting robot, characterized in that, include: SLAM mapping is performed using a single working ridge and its corresponding inter-ridge passage in an agricultural greenhouse as the mapping objects, generating multiple single-ridge maps that correspond one-to-one with the multiple working ridges. When generating each single-ridge map, the complete inter-ridge passages of adjacent working ridges are restricted from being merged into the current single-ridge map. Record the pose information of the map switching point in each single-ridge map, and establish the map association relationship between the working ridge, the single-ridge map and the map switching point; Configure operation path organization data for multiple single-ridge maps. The operation path organization data includes multiple path segments and the connection relationship between multiple path segments. The operation path organization data is used to enable the harvesting robot to perform the target operation ridge task in a single-ridge round-trip operation mode or a continuous cross-ridge operation mode. After receiving the target operation row task, determine the target single row map and the corresponding operation path organization data according to the target operation row task; When the harvesting robot reaches the map switching point corresponding to the target single-row map, the target single-row map is loaded, and the current pose of the harvesting robot is initialized with the map switching point pose recorded in the target single-row map. The harvesting robot is controlled to move along the determined work path, and a work status signal is generated based on the current path segment of the harvesting robot during the movement to distinguish whether the harvesting robot is in the in-row operation state or the out-of-row transfer state. The harvesting mechanism is controlled to perform or suspend harvesting actions based on the operation status signal.

2. The method for cross-ridge operation in agricultural greenhouses according to claim 1, characterized in that, The map switching points include common starting / unloading points located outside multiple work ridges. Each single-ridge map records the pose information of the common starting / unloading point in the corresponding single-ridge map. The harvesting robot switches the single-ridge map corresponding to different work ridges at the common starting / unloading point.

3. The method for cross-ridge operation in agricultural greenhouses according to claim 2, characterized in that, In the single-row round-trip operation mode, each single-row map is configured with a set of segmented navigation paths. The segmented navigation paths include a transfer path segment from the common starting / unloading point to the entrance of the corresponding work ridge, an intra-ridge operation path segment along the inter-ridge passage of the corresponding work ridge, and a turning path segment from the end of the corresponding work ridge to the turning point or back to the common starting / unloading point.

4. The method for cross-ridge operation in agricultural greenhouses according to claim 3, characterized in that, After the harvesting robot completes its work on the current target work ridge, it returns to the common starting / unloading point along the turning path segment, the work ridge within the ridge, and the transfer path segment corresponding to the current target work ridge. At the common starting / unloading point, it switches to the single-ridge map corresponding to the next target work ridge.

5. The method for cross-ridge operation in agricultural greenhouses according to claim 1, characterized in that, In the continuous cross-ridge operation mode, the path segments corresponding to multiple target operation ridges are combined into a continuous cross-ridge operation path sequence according to a preset operation order. The continuous cross-ridge operation path sequence includes a transfer path from a common starting / unloading point to the first target operation ridge, an intra-ridge operation path segment along the first target operation ridge, a cross-ridge connection path segment connecting adjacent target operation ridges, an intra-ridge operation path segment along the next target operation ridge, and a turning path leading to a turning point.

6. The method for cross-ridge operation in agricultural greenhouses according to claim 5, characterized in that, The continuous cross-ridge operation path sequence includes a transfer path, a third ridge operation path segment, a first cross-ridge connection path segment, a second ridge operation path segment, a second cross-ridge connection path segment, a first ridge operation path segment, and a turning path, so that the harvesting robot starts from a common starting / unloading point, passes through multiple target operation ridges in sequence, and then reaches the turning point.

7. The method for cross-ridge operation in agricultural greenhouses according to claim 5 or 6, characterized in that, During the process of the harvesting robot traveling according to the continuous cross-row operation path sequence, before entering the ridge operation path segment corresponding to the next target operation ridge, the harvesting robot loads the single-ridge map corresponding to the next target operation ridge, and initializes or corrects the current pose of the harvesting robot with the pose of the corresponding map switching point.

8. The method for cross-ridge operation in agricultural greenhouses according to claim 1, characterized in that, Each path segment has a starting parking point, an ending parking point, and vehicle heading information corresponding to the starting parking point and the ending parking point; after the picking robot reaches the ending parking point of the current path segment, it switches to the next path segment according to the starting parking point and vehicle heading information of the next path segment.

9. The method for cross-ridge operation in agricultural greenhouses according to claim 1, characterized in that, Before loading the target single-row map, the harvesting robot collects the environmental features around the current map switching point and matches the collected current environmental features with the environmental features of the map switching point recorded in the target single-row map. When the matching result meets the preset map switching conditions, the target single-row map is loaded; when the matching result does not meet the preset map switching conditions, the harvesting robot performs a repositioning operation.

10. An agricultural greenhouse cross-ridge operation system, characterized in that, include: The sensing module is used to collect environmental characteristics inside the agricultural greenhouse; The single-ridge mapping module is used to perform SLAM mapping on a single working ridge and its corresponding inter-ridge passage in an agricultural greenhouse, generating multiple single-ridge maps that correspond one-to-one with multiple working ridges. The map management module is used to record the pose information of map switching points in each single-row map and establish the map association relationship between the working ridge, the single-row map and the map switching point. The path management module is used to configure operation path organization data for multiple single-ridge maps. The operation path organization data includes multiple path segments and the connection relationship between multiple path segments, and is used to support the harvesting robot to execute the target operation ridge task in a single-ridge round-trip operation mode or a continuous cross-ridge operation mode. The map switching module is used to load the target single-row map when the harvesting robot reaches the map switching point corresponding to the target single-row map, and initialize the current pose of the harvesting robot with the map switching point pose recorded in the target single-row map. The operation status output module is used to generate an in-row operation status signal or an out-of-row transfer status signal based on the current path segment of the harvesting robot. The execution control module is used to control the harvesting execution mechanism to perform harvesting actions according to the in-row operation status signal, and to control the harvesting execution mechanism to pause harvesting actions according to the out-of-row transfer status signal.

Images