CN216930903U - Fusion Navigation Control System of Safflower Picking Robot - Google Patents

Abstract

The utility model relates to a safflower picking robot fusion navigation control system, and belongs to the technical field of picking robot navigation. The utility model mainly comprises a safflower picking robot body, a navigation controller, a GNSS differential navigation module, a seedling dividing pressure device, an IMU inertial navigation sensor, a binocular camera, a differential driving device, an AP radio station, an electric control box body and a peripheral circuit. The control system can autonomously navigate in the field according to the scheduling information; the pressure, GNSS, inertial navigation, vision and ultrasonic sensor data of the crop divider can be fused to perform navigation and obstacle avoidance operation, so that the operations of inter-row navigation, motion attitude adjustment, ridge turning and changing and the like of the robot are realized; the main navigation position information of the safflower picking robot can be sent to the dispatching system in real time and can also be displayed through the display screen, so that the man-machine interaction capability is improved. The control system lays a foundation for the future intelligent safflower picking and transportation.

Description

Fusion Navigation Control System of Safflower Picking Robot

technical field

The utility model belongs to the technical field of agricultural robot navigation, in particular to a safflower picking robot fusion navigation control system.

Background technique

Safflower, also known as red and blue flowers, is a special economic crop that integrates medicinal and oil crops. The safflower planting environment is an unstructured environment, with variable terrain, light, and climate conditions. It is difficult for a single sensor to cope with the complex field environment. In order to improve the accuracy and reliability of navigation and positioning, data fusion between multiple sensors is a necessary means. Multi-sensor information fusion refers to the use of the advantageous features of each sensor to form data redundancy or data complementarity to improve the robustness and accuracy of measurement results. When the safflower picking robot navigates the field and walks in a straight line along the safflower row according to the scheduling instruction, the safflower planting row is bent due to the offset of the planter during sowing, and the safflower picking robot is denser due to the safflower picking period. GNSS differential navigation modules, inertial navigation sensors, and binocular cameras cannot effectively monitor local path information.

SUMMARY OF THE INVENTION

The problem to be solved by the utility model is that, aiming at the deficiencies of the prior art, a fusion navigation control system for a safflower picking robot is proposed.

The utility model relates to an integrated navigation control system for a safflower picking robot, which is used for autonomous navigation of a safflower picking robot in the field. , IMU inertial navigation sensor, binocular camera, differential drive device, walking device, AP radio, electronic control box, peripheral circuit composition, the said pressure device includes a pressure sensor, a side plate and a support frame. The grass-dividing pressure device is fixed at the front of the support rod of the driving wheel, which is used to monitor the lateral pressure of the safflower plants on both sides of the row when the picking robot walks between rows, and send the side pressure signal to the navigation controller to obtain the driving wheel in the safflower plant. Interline position information.

In the above-mentioned safflower picking robot fusion navigation control system, the GNSS differential navigation module includes a vehicle radio, a receiver, and a measurement antenna. The GNSS differential navigation module is used to receive satellite transmission information, and perform differential processing with the base station to obtain the picking robot latitude and longitude information in real time. , there are two measurement antennas in total, which are fixed on the top of the picking robot, one in the front and the rear, to obtain the attitude information of the picking robot, the IMU inertial navigation sensor is used to obtain the attitude information and odometer information of the picking robot, and the binocular camera It is located at the front of the car body, and the depth point cloud map of the picking area is obtained, which is used for path planning when walking between rows and changing lines at the headland. The high-speed drive device includes a motor driver, a safety relay, a CAN transceiver, a motor, and a reducer. The walking device includes a drive wheel and a universal wheel. The drive wheel, the motor, and the reducer are driven by a chain. The AP radio It is used for the information interaction between the scheduling system and the picking robot.

The integrated navigation control system for the safflower picking robot provided by the utility model can autonomously navigate in the field according to the scheduling information; it can integrate the pressure of the crop divider, GNSS, inertial navigation, vision, and ultrasonic sensor data to carry out navigation and obstacle avoidance operations, so as to realize the robot Navigation between rows, adjustment of motion attitude, ridge turning and line changing, etc.; through the pressure device for dividing grains, it avoids that the picking robot cannot walk between rows due to the deviation of the preset path, and improves the adaptability of field navigation; The main navigation position information can be sent to the dispatching system in real time, and can also be displayed on the display screen, which improves the human-computer interaction ability. The control system preferably adopts Ethernet and CAN bus for communication, thus greatly enhancing the reliability, real-time and flexibility of data communication according to the unique characteristics and advantages of Ethernet and CAN bus. This control system lays the foundation for future intelligent safflower transportation.

Description of drawings

Figure 1 is the overall schematic diagram of the integrated navigation control system of the safflower picking robot.

Figure 2 is a structural block diagram of the fusion navigation control system of the safflower picking robot.

Fig. 3 is a schematic diagram of a safflower picking robot dividing device.

Universal wheel 1, suspension support 2, operation panel 3, GNSS measurement antenna 4, electric control box 5, sound and light integrated indicator 6, binocular camera 7, IMU inertial navigation sensor 8, parallel manipulator 9, drive motor 10 , Wo dividing device 11 , pressure sensor 12 , Wo dividing side plate 13 , support frame 14 .

Detailed ways

The problem to be solved by the utility model is that, aiming at the deficiencies of the prior art, a fusion navigation control system for a safflower picking robot is proposed. The present utility model will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Embodiment 1: As shown in Figure 1 to Figure 3, a safflower picking robot fusion navigation control system is used for autonomous navigation of field safflower picking robots, characterized in that it includes a navigation controller, a wireless AP, and a GNSS differential navigation module , IMU inertial navigation sensor 8, ultrasonic sensor, crop separation device 11, binocular camera 7, differential drive device, universal wheel 1, AP radio, sound and light integrated indicator 6, electric control box 5, peripheral circuits; The crop dividing pressure device includes a pressure sensor 12, a crop dividing side plate 13, and a support frame 14. The crop dividing pressure device is fixed on the front part of the support rod of the driving wheel, and is used for monitoring the safflower plants on both sides of the row when the picking robot walks between rows. the side pressure, and send the side pressure signal to the navigation controller to obtain the position information of the driving wheel between the rows of red flowers.

Embodiment 2: As shown in FIG. 1 to FIG. 3, a safflower picking robot fusion navigation control system is characterized in that, the GNSS differential navigation module includes a vehicle radio, a receiver, and a GNSS measurement antenna 4, and the GNSS differential The navigation module is used to receive satellite transmission information, and perform differential processing with the base station to obtain the latitude and longitude information of the picking robot in real time. There are two measuring antennas, which are fixed on the top of the picking robot, one in the front and the rear, so as to obtain the attitude information of the picking robot. The IMU The inertial navigation sensor 8 is used to obtain the attitude information and odometer information of the picking robot, and the binocular camera 7 is located at the front of the vehicle body to obtain the depth point cloud map of the picking area, which is used for path planning when walking between rows and changing lines at the headland; the The car body of the safflower picking robot spans two rows of safflowers and walks between the rows. The driving device includes a motor driver, a safety relay, a CAN transceiver, a motor 10, and a reducer. To the wheel 1, the drive wheel, the motor and the reducer are driven by a chain, and the AP radio is used for the information exchange between the dispatching system and the picking robot.

The specific implementation steps are as follows:

Step 1: The safflower picking robot obtains the path information of the area to be picked according to the scheduling information, the navigation controller obtains the current longitude and latitude information of the robot according to the GNSS differential module, and obtains the point cloud information of the surrounding environment of the vehicle body according to the binocular camera 7, and controls the robot to walk to the preset position. The starting point position of the picking area; the navigation controller obtains the angle and attitude information of the vehicle body according to the fusion information of the GNSS differential module and the IMU inertial navigation sensor 8, and adjusts the attitude of the vehicle body to an appropriate angle; The machine offset may cause the safflower planting row to bend, and due to the safflower picking period, the safflower plants are denser, and the binocular camera cannot effectively monitor the local path information; by adding the weed dividing device 11, it is avoided due to preset path deviation. The robot cannot walk between the rows. The navigation controller controls the picking robot to adjust the lateral displacement by monitoring the pressure value of the rhizomes of the plants on both sides of the row on the side plate 13 of the crop divider to ensure that the driving wheel and the universal wheel are always located between the rows;

Step 2: The safflower picking robot walks between rows and monitors the pressure of the dividers on both sides of the drive wheel in real time. When the difference between the pressure values of the dividers is greater than the set value, the car body is controlled to move along the side with the smaller pressure value until the The pressure values on both sides are balanced; the navigation controller calculates and picks the robot odometer information according to the values of the IMU inertial navigation sensor and the drive motor encoder, and integrates the GNSS latitude and longitude information to obtain the real-time position information and walking distance information of the vehicle body, and sends it through the wireless AP to the scheduling system for real-time display.

The integrated navigation control system for the safflower picking robot provided by the utility model can autonomously navigate in the field according to the scheduling information; it can integrate the pressure of the crop divider, GNSS, inertial navigation, vision, and ultrasonic sensor data to carry out navigation and obstacle avoidance operations, so as to realize the robot Navigation between rows, adjustment of motion attitude, ridge turning and line changing, etc.; through the pressure device for dividing grains, it avoids that the picking robot cannot walk between rows due to the deviation of the preset path, and improves the adaptability of field navigation; The main navigation position information can be sent to the dispatching system in real time, and can also be displayed on the display screen, which improves the human-computer interaction ability. The control system preferably adopts Ethernet and CAN bus for communication, thus greatly enhancing the reliability, real-time and flexibility of data communication according to the unique characteristics and advantages of Ethernet and CAN bus. This control system lays the foundation for future intelligent safflower transportation.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the within the scope of protection of the present invention.

Claims (2)

1. The utility model provides a safflower picking robot fuses navigation control system for field safflower picking robot is from navigation, its characterized in that, including safflower picking robot automobile body, navigation controller, GNSS difference navigation module, branch standing grain pressure device, IMU inertial navigation sensor, binocular camera, differential drive, running gear, AP radio station, automatically controlled box, peripheral circuit constitution, branch standing grain pressure device includes pressure sensor, branch standing grain curb plate, support frame, branch standing grain pressure device fixes in drive wheel bracing piece front portion for the lateral pressure of monitoring line both sides safflower plant when picking robot walk between the line to with lateral pressure signal transmission to navigation controller, in order to obtain drive wheel position information between the safflower.

2. The safflower harvesting robot fusion navigation control system of claim 1, wherein the GNSS differential navigation module comprises a vehicle-mounted radio station, a receiver and two measuring antennas, the GNSS differential navigation module is used for receiving satellite transmission information and carrying out differential processing with a base station to obtain longitude and latitude information of the harvesting robot in real time, the two measuring antennas are fixed on the top of the harvesting robot and one of the two measuring antennas is arranged at the front and the back of the harvesting robot to obtain attitude information of the harvesting robot, the IMU inertial navigation sensor is used for obtaining attitude information and odometer information of the harvesting robot, the binocular camera is arranged at the front part of the vehicle body to obtain a depth point cloud image of a picking area for path planning during inter-row walking and ground head line changing, the vehicle body of the safflower harvesting robot spans two rows of safflowers and walks between the rows, and the differential driving device comprises a motor driver, a safety relay, a measuring antenna, a power source and a power source for measuring the two rows of safing robots, The robot picking robot comprises a CAN transceiver, a motor and a speed reducer, wherein the walking device comprises a driving wheel and a universal wheel, the driving wheel, the motor and the speed reducer are driven by a chain, and the AP radio station is used for information interaction between a dispatching system and the picking robot.

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