The invention discloses a foot-type robot control method and device, a foot-type robot and a storage medium. The purpose that plants such as weeds and crops can be harvested in uneven areas can be achieved. The foot type robot control method is applied to a foot type robot and comprises the steps that a global path is planned according to a global map and a global passable map which are obtained in advance and the principle of advancing in the approaching direction; the global path comprises all grid points of a passable area in a global passable map; the global map comprises pre-harvest plant information; the approaching direction is the direction which is the next running direction and has the minimum angle deviation with the current running direction in the multiple to-be-selected directions; and controlling the foot type robot to harvest the pre-harvest plant according to the global path.
本申请公开了一种足式机器人控制方法、装置、足式机器人及存储介质,可实现在不平整地区收获杂草、农作物等植物。一种足式机器人控制方法,应用于足式机器人,所述方法包括:根据预先获取的全局地图和全局可通行地图按照沿相近方向前进原则规划全局路径;所述全局路径包括全局可通行地图中可通行区域的所有栅格点;所述全局地图包括预收获植物信息;所述相近方向是下一个运行方向为多个待选方向中与当前运行方向的角度偏差最小的方向;根据所述全局路径控制所述足式机器人收获所述预收获植物。
Foot type robot control method and device, foot type robot and storage medium
足式机器人控制方法、装置、足式机器人及存储介质
2022-06-14
Patent
Elektronische Ressource
Chinesisch
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