Automatic obstacle avoidance method and system of pesticide application robot and storage medium

An automatic obstacle avoidance system of a pesticide application robot, the automatic obstacle avoidance system comprising:

• a memory and a processor, wherein the memory comprises an automatic obstacle avoidance method program of a pesticide application robot, and the automatic obstacle avoidance method program of a pesticide application robot, when executed by the processor, performs the following method:
• acquiring a plan view of a target pesticide application operation area and acquiring path information based on the plan view of the target pesticide application operation area;
• acquiring start point information and end point information of a pesticide application robot and environmental information of the target pesticide application operation area, performing preliminary path planning based on the start point information, the end point information, and the environmental information, and acquiring an optimal path based on the preliminary path planning;
• causing the pesticide application robot to arrive at a specified operating point along the optimal path, and performing environmental perception by machine vision during pesticide application operation, determining obstacle point information based on passability of the pesticide application robot, and updating the plan view of the target pesticide application operation area with the obstacle point information;
• and
• correcting the optimal path with a current location of the pesticide application robot and an area to which a pesticide has been sprayed based on the updated plan view of the target pesticide application operation area;
• wherein the correcting the optimal path with a current location of the pesticide application robot and an area to which a pesticide has been sprayed based on the updated plan view of the target pesticide application operation area specifically comprises:
• performing obstacle avoidance path planning based on a relative position of the obstacle point information in the updated plan view of the target pesticide application operation area, acquiring current location information of the pesticide application robot, taking the current location information as a start point of the obstacle avoidance path planning, and setting a maximum pesticide application radius reachable point after an obstacle point in the optimal path as an end point of the obstacle avoidance path planning;
• acquiring an area to which a pesticide has been applied before the obstacle point in a current path segment of the pesticide application robot in the optimal path, marking the area to which the pesticide has been applied, and determining whether an area to which the pesticide is not applied exists within the target pesticide application operation area based on the marked area;
• if the area to which the pesticide is not applied exists, performing the obstacle avoidance path planning preferentially on the area to which the pesticide is not applied, and carrying out the pesticide application operation in the area to which the pesticide is not applied, and if no area to which the pesticide is not applied exists, performing the obstacle avoidance path planning according to a shortest path principle;
• acquiring an overlapping area of an operation area corresponding to an obstacle avoidance path in the obstacle avoidance path planning with the marked area;
• when the pesticide application robot is located in the overlapping area, stopping the pesticide application operation, and increasing a preset speed increment on the basis of an original operating speed to pass through the overlapping area;
• and
• updating the area to which the pesticide has been applied according to the obstacle avoidance path in the obstacle avoidance path planning, and correcting the optimal path based on the area to which the pesticide has been applied and a location of the pesticide application robot after obstacle avoidance.