CN109090087A - A kind of independent navigation spray robot and its working method for orchard operation - Google Patents
A kind of independent navigation spray robot and its working method for orchard operation Download PDFInfo
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- CN109090087A CN109090087A CN201811255174.7A CN201811255174A CN109090087A CN 109090087 A CN109090087 A CN 109090087A CN 201811255174 A CN201811255174 A CN 201811255174A CN 109090087 A CN109090087 A CN 109090087A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- Pest Control & Pesticides (AREA)
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- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of independent navigation spray robots and its working method for orchard operation, belong to agriculture intelligent equipment field；The robot includes robot body and auxiliary device, robot body includes that mobile platform, wind send chemical spraying device, inertial navigation unit, satellite positioning device, control system, remote communication devices and energy power system, and the front and back end of robot body is provided with radar obstacle avoidance apparatus；Auxiliary device includes remote controler and communication base station；Wind send chemical spraying device, inertial navigation unit, satellite positioning device, energy power system and radar obstacle avoidance apparatus to connect with control system；Control system is connect with remote communication devices, and telecommunication devices connect internet by communication base station, and telecommunication devices also pass through wireless connection remote controler.The present invention can significantly reduce orchard spray drug operation recruitment quantity and labor intensity, and the upgrading synergy and the conversion of new and old kinetic energy to modern fruit industry are significant.
Description
Technical field
The present invention relates to a kind of independent navigation spray robots and its working method for orchard operation, belong to agriculture intelligence
It can equipment technology field.
Background technique
Orchard management belongs to labor-intensive production, and recruitment cost accounting in totle drilling cost is relatively high, and labor shortage
Problem is increasingly prominent.The daily management in orchard mainly includes the activities such as spray, trimming, weeding, watering, fertilising, wherein spray is
One of essential cargo handling operation.For a long time, numerous orchard workers rely primarily on the auxiliary spray of the Simple mechanicals such as sprayer, Insecticide sprayer
Medicine, operating efficiency is low, large labor intensity, and often because sucking medicine mist causes damages to human health.In recent years, with artificial intelligence
The development of constantly bringing forth new ideas of the technologies such as energy, intelligent robot are gradually applied in multiple industries.And in agriculture field, utilize intelligence
Robot replaces manually carrying out fruit tree spray, is undoubtedly of great practical significance.
In terms of the technical research of orchard spray robot and equipment preparation, existing relevant unit of the country and technical staff are mentioned
Respective solution is gone out, comparative analysis is as follows one by one to it.
A kind of more spray heads intelligence spray robots that Chinese patent application publication No. is CN107639640A, by multiple
Upright and variable height electric pushrod top setting spray head realizes spray, can receive location information, but its with GPS receiver
Deficiency is, depends merely on pressure injection in the case where lacking blower structure and participating in, and spray distance, fogging degree and penetrates tree crown
Effect be difficult to ensure；In addition, the information such as whether robot is unmanned, how to navigate do not provide.Chinese patent application
A kind of intelligence spray robot that publication No. is CN107678318A, realizes spraying control, use is distant by way of image analysis
Device is controlled to control robot ambulation, operator still needs to follow beside robot, rather than by its independent navigation.Chinese patent application
Publication No. is a kind of control system of spray robot of CN108098779A, and spray head is arranged in upper and lower adjustment mechanism, and
It is controlled by main control module, is only applicable to teaching test, have no Practical significance.Chinese patent application publication No. is
A kind of deinsectization weeding based on machine vision of CN104186451B sprays robot, using Machine Vision Recognition field crop smothering and
Insect pest is mainly used for crop field environment, and is not used to orchard spray.China Patent Publication No. is the spraying machine of CN206963767U
Device people, chemical spraying mechanism are atomizing sprayer, and without navigation feature.China Patent Publication No. is a kind of long-range distant of CN206651269U
Controlling intelligent spray robot drives high-pressure spray gun and atomization regulating mechanism to spray using mechanical arm, and medicine mist covering surface is small,
Spray low efficiency；Using remote control control, no navigation feature.A kind of base of Chinese patent application Publication No. CN106708036A
In Embedded spray robot route guiding device and its implementation, simultaneously using image processing techniques extraction path match point
Carry out Navigation Control；Disadvantage is that non-be directed to orchard environment, complexity, the fruit tree branches and leaves in orchard path are not considered yet
It blocks, the actual conditions such as operation under daytime strong light irradiation or night low light environment, and does not provide spray scheme and effect, therefore not
Has practicability.A kind of variable spray side for indoor autonomous spray robot that China Patent Publication No. is CN103891697B
Method is realized in the indoor variable spray of temperature and autonomous using camera and ultrasonic sensor, is not practicable for outdoor fruit
Garden ring border, no comparativity.A kind of farmland based on electromagnetic detection that China Patent Publication No. is CN104820425B intelligently sprays
The automatic execution system and automatic execution method of the orchard of robot and Publication No. CN107544511A spray robot, the two
It all is provided with precondition for the autonomous traveling of robot, the former needs to lay conducting wire on path, and the latter needs on path side
Baffle is arranged in edge, does not have operability in actual production.The one of Chinese patent application Publication No. CN106719544A
Kind intelligence spray robot, is only suitable for crop field and sprays, and without navigation feature.Chinese patent application Publication No. CN108391649A
A kind of orchard automatic medicine spraying device, need to be laid with track in advance in field, first is that implement relatively complicated, and invest compared with
Greatly；Second is that the laying of track can impact orchard in other agronomy activities.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provide a kind of independent navigation for orchard operation spray robot and its
Working method.
The invention adopts the following technical scheme:
On the one hand, the present invention provides a kind of independent navigation spray robot for orchard operation, including robot body
And auxiliary device；
The robot body includes mobile platform, and the wind being set on mobile platform send chemical spraying device, is used to
Property navigation device, satellite positioning device, control system, remote communication devices and for spray robot the energy source and power of power is provided
System, the front and back end of the robot body are provided with radar obstacle avoidance apparatus；The auxiliary device includes remote controler and communication
Base station；
The wind send chemical spraying device, inertial navigation unit, satellite positioning device, energy power system and radar obstacle avoidance apparatus
Connect with the control system, the control system connect the mobile platform control the advance of mobile platform, after
It moves back, turn to, accelerate, slow down and stops；Control system receives and processing is sent from satellite positioning device, inertial navigation unit etc.
Data, realize the functions such as drive control, path learning, independent navigation, spraying control, the telecommunication of robot, pass through control
System processed realizes that above-mentioned function can be used existing mature technology and realize, does not state excessively herein.
The control system is connect with the remote communication devices, and the telecommunication devices are connected mutual by communication base station
Networking, the telecommunication devices, which also pass through, is wirelessly connected the remote controler.
Preferably, the robot body further includes state perception system, and the state perception system includes positioned at described
Wind send the liquid level sensor of chemical spraying device, positioned at the electrical quantity sensor of energy power system, positioned at the speed of inertial navigation unit
And course transmitter, the camera etc. positioned at the position sensor of satellite positioning device, and in robot, for real-time
Liquid volume, electricity, position, speed, course and video etc. are perceived, and can realize teletransmission, each sensor of state perception system
Be connected to the control system, the model of above-mentioned each sensor can flexible choice according to the actual situation, do not influence this hair
Bright implementation.
Preferably, the mobile platform is wheel undercarriage or caterpillar chassis, and robot uses wheeled or crawler type bottom
Disk is as carrier and mobile platform.
Preferably, the communication base station is tower type base station, is preferably arranged at the geometric center region in orchard, communication base station is
Fixation means, primary establish are used for a long time, and communication base station includes firm banking and upright bar bracket, is equipped on the upright bar bracket
The communication equipments such as wireless bridge, communication antenna, radio antenna, satellite antenna, signal cover orchard range；The shape of spray robot
State sensory perceptual system can be passed relevant information of itself such as liquid volume, electricity, position, speed and video image etc. by communication base station
It send to remote controler and internet；Spray robot can receive the control instruction of remote controler or remote internet end and execute corresponding appoint
Business realizes people to the remote control of spray robot hand or long-range control.
Preferably, the wind send chemical spraying device to send chemical spraying device, the more spray heads of integrated form using the more spray head wind of integrated form
It includes spray tank, plunger pump, multiple spray heads and blower that wind, which send chemical spraying device, and the spray tank is connected by outlet pipe and multiple spray heads
It connects.
When spraying, the medical fluid in spray tank has certain pressure under the action of plunger pump, passes through through outlet pipe multiple
Spray head is sprayed with mist, and by blower airflow, droplet is atomized again, while the mist drop after atomization being sent to
In the tree crown of fruit tree, blower is preferably electric fan, strengthens spray distance and atomizing effect.
Preferably, the inertial navigation unit includes MEMS gyroscope and processor, and the processor and the control are
System connection, the processor is STM32 microprocessor, for being handled the signal that MEMS gyroscope issues and being transferred to control
System processed.Inertial navigation unit may insure that robot causes also when intermittent satellite lost contact in orchard because tree crown blocks etc.
Normal navigation walking.
The model of the inertial navigation unit is preferably Beijing Space army wound JCG-ZCR-G4A2-J12 type inertial navigation module.
Preferably, the satellite positioning device uses GPS receiver or Beidou satellite receiver, and equipped with double satellite days
High-precision difference positioning is realized in line and satellite positioning base station；Double satellite antennas are used to receive the positioning signal of navigation positioning satellite,
GPS receiver or Beidou satellite receiver calculate position coordinates for handling the positioning signal received.
Preferably, in the satellite positioning device, communication base station receiver model Shanghai compass in ancient China M300, mobile terminal is received
Machine model Shanghai compass in ancient China M600U, satellite antenna model Shanghai compass in ancient China AT340.
Preferably, the energy power system includes generator, battery and motor etc., provides the energy for robot and moves
Power.
Preferably, the radar obstacle avoidance apparatus includes ultrasonic sensor and ultrasonic wave controller, the supersonic sensing
Device is set to the front and back end position of spray robot with obstacle avoidance aiding, and the ultrasonic sensor includes transmitting unit and receives single
Member is respectively used to emit and receives ultrasonic wave, and the ultrasonic wave controller is connect with the ultrasonic sensor, super according to transmitting
Sound wave and receive the time difference between ultrasonic wave, calculating robot in the distance between barrier, the ultrasonic wave controller with
The control system connection.
The model of the radar obstacle avoidance apparatus is preferably HC-SR04.
Preferably, the remote communication devices using 5.8G wireless bridge and configure 360 degree of high-gain omni-directional antennas, spray
Mobile terminal of the robot as telecommunication, fixing end of the communication base station as telecommunication；
It is further preferred that the control system is using raspberry pie or ARM embedded system as processing platform, use
Python and C/C++ etc. writes control program, receives and handle the number sent from satellite positioning device, inertial navigation unit etc.
According to realizing the functions such as drive control, path learning, independent navigation, spraying control, state aware, the telecommunication of robot.
The control system preferably uses ARM Cortex-A53 and the above processor.
It is further preferred that the remote controler includes left rocking bar, right rocking bar, antenna, display screen and mode selecting button.
On the other hand, the present invention provides a kind of working method of independent navigation spray robot for orchard operation, packet
Include remote control mode, mode of learning and navigation mode, in which:
Default is in remote control mode after being powered on or exiting for the first time from other modes for spray robot, in this mode,
Spray robot controls remote controler by people to control walking, such as advances, turns left, turns right, retreats, accelerates, slows down, stops；
Spray robot needs advanced row path learning, path learning process before carrying out navigation mode are as follows: people is on a remote control
Switch the artificial mode of learning of machine, is walked one time by remote control control robot along destination path, during this, control system
Interior memory remembers path, and robot is made to complete path learning；
The course of work of navigation mode are as follows: people switches machine on a remote control and artificially navigates mode, and selects to have learnt
Path, robot navigates along the autonomous path and walks, that is to say, that for same section of working path, robot only exists
It needs to carry out path learning when walking for the first time, can directly navigate along the autonomous path since second.
Preferably, under the remote control mode, people controls the various rows of robot by hand-held remote controller in horizon range
To travel robot to target job region, sending instruction unlatching wind on a remote control and send chemical spraying device, robot opens
Beginning work simultaneously sprays medical fluid；People makes robot in the ranks walk in fruit tree by the left rocker on remote controler, and controls robot
Speed and direction；It covers a line and stops spray, be redirected into another row and repeat the above process, realize robot in remote control mode
Under manually control spray；
Under the mode of learning, robot is switched to mode of learning by remote controler by people, travels robot to target
The starting point in path, selects learning key, and robot storage current location data simultaneously feeds back completion signal；Robot is set to continue to travel
To next target location, learning key is pressed, robot stores the position data and feeds back completion signal；It repeats the above process, directly
To destination path terminal is reached, robot completes the study in whole path and stores all information in the path, in path learning
During, robot can also synchronize execution spray drug operation；
Under the navigation mode, robot travel to the starting point of destination path or near, people is on a remote control by machine
People is switched to navigation mode, selects path and opens navigation, and robot loads the routing information learnt and along the autonomous path
Navigation walking, is performed simultaneously spray drug operation, until reaching destination path terminal, robot is automatically stopped operation and returns to remote control mould
Formula is awaited orders, and can be achieved in entire operation process unattended.
In the present invention, spray robot carries out spray drug operation under independent navigation mode, can be by medical fluid in operation process
The information such as amount send remote controler to；If liquid volume is insufficient or is lower than default value, robot will be automatically stopped operation and return
Medical fluid is added to remote control mode, while to remote controler feedback alarm information request；Robot will first after adding medical fluid
The position of last time stopping spray being navigated to, then starts spray drug operation, realizes the continuous spray of breakpoint.
It is worth noting that, in the present invention, spray robot carries out the detailed process of path learning are as follows: remote controler and machine
Device people, which establishes, is wirelessly connected (radio connection includes but is not limited to bluetooth, wifi, zigbee, infrared ray etc.), in remote controler
On robot is switched to mode of learning；Robot is run by remote control control, static after reaching after learning position；Remote controler
The instruction of to acquisite approachs point coordinate, the automatic to acquisite approachs point location coordinate of robot are sent, and information is returned into remote controler；Remote controler
It stores the information and issues prompt, a sampling site job is completed at this time；Remote-controlled robot row repeats above-mentioned step to the next position
Suddenly, until running complete path, and by path information storage in remote controler, path learning process is completed.
Robot spray under mode of learning, the storage to position data is the storage of path acquisition point coordinate data；?
Under control system effect, robot walks between two neighboring path collection point along straight line；Remote controler, which is responsible for sending, obtains road
The instruction of diameter point coordinate receives the corresponding data that machine human hair is come and is stored as path file on a remote control；Spray robot
Satellite positioning device, control system, remote communication devices joint complete the work such as path point coordinate setting, acquisition and transmission.
The path to be walked is chosen at remote controler end and is handed down to robot (being stored in control system), and switching machine is manually made
Mode is navigation mode；Then remote controler, which is sent, starts navigation instruction, and robot is transported by the path issued after receiving instruction
Row, robot run to the last one collection point of path and are automatically stopped, and independent navigation terminates.
The invention has the benefit that
Compared with prior art, the present invention provides a kind of independent navigation spray robots and its work for orchard operation
Make method.In terms of spray, robot send chemical spraying device using the more spray head wind of integrated form, and spray distance is remote, and fogging degree is high, tree
Hat penetrates that effect is good, and fruit tree is uniform by medicine；In terms of traveling, robot uses GPS/ Beidou satellite receiver, fixed using difference
Position principle, and combines with inertial navigation unit, integrate the former high-precision and the latter stability the advantages that, realization group
Box-like navigation makes robot in orchard because also can normal navigation and walking when tree crown, which blocks etc., leads to intermittent satellite lost contact；
In terms of navigation, robot navigation's mode is innovated, the mode for first learning robot passage path remembers path, then basis
The path of memory carries out independent navigation, to really realize the robot spray drug operation of unattended formula, and does not set precondition,
Without laying a railway track in orchard in advance, bracing wire, baffle etc.；In terms of operation, robot has the function such as state aware and intelligent control
It can be, it can be achieved that target spray, the continuous spray of breakpoint and night work.
The spray robot and working method provided through the invention, can significantly reduce orchard spray drug operation uses number
Amount and labor intensity, spray precisely, section cyclome protect, and spray robot under dim light or night conditions when operation, operation mould
Formula, effect are identical as operation on daytime, and the upgrading synergy and the conversion of new and old kinetic energy for modern fruit industry are of great significance.
Detailed description of the invention
Fig. 1 is independent navigation spray a kind of structural schematic diagram of embodiment of robot for orchard operation of the invention；
Fig. 2 is a kind of structural schematic diagram of embodiment of remote controler of the invention；
Fig. 3 is the structural schematic diagram of communication base station of the invention；
Fig. 4 is the connection relationship diagram of control system of the invention；
Wherein: 1. mobile platforms, 2. wind send chemical spraying device, 3. inertial navigation units, 4. satellite positioning devices, 5. controls
System, 6. telecommunication devices, 7. energy power systems, 8. radar obstacle avoidance apparatus, 9. remote controlers, the left rocking bar of 9-1., 9-2. are right
Rocking bar, 9-3. antenna, 9-4. display, 10. communication base stations, 10-1. firm banking, 10-2. upright bar bracket, 10-3. wireless network
Bridge, 10-4. communication antenna, 10-5. radio antenna, 10-6. satellite antenna, 11. state perception systems.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail, but is not limited only to this, what the present invention did not elaborated, presses this field routine techniques.
Embodiment 1:
As shown in Figs 1-4, a kind of independent navigation for orchard operation sprays robot, including robot body and attached
Equipment；
Robot body includes mobile platform 1, and the wind being set on mobile platform 1 send chemical spraying device 2, inertia
Navigation device 3, satellite positioning device 4, control system 5, remote communication devices 6 and the energy for providing power for spray robot move
Force system 7, the front and back end of robot body are provided with radar obstacle avoidance apparatus 8；The auxiliary device includes remote controler 9 and communication
Base station 10；
Wind send chemical spraying device 2, inertial navigation unit 3, satellite positioning device 4, energy power system 7 and radar obstacle avoidance apparatus
8 connect with control system 5, control system 5 connect mobile platform 1 control the advance of mobile platform 1, retrogressing, steering,
Accelerate, slow down and stops；The number that control system 5 receives and processing is sent from satellite positioning device 4, inertial navigation unit 3 etc.
According to realizing the functions such as drive control, path learning, independent navigation, spraying control, the telecommunication of robot.
Control system 5 is connect with remote communication devices 6, and telecommunication devices 6 connect internet by communication base station 10, far
Journey communication device 6 is also by being wirelessly connected remote controler 9.
Embodiment 2:
A kind of independent navigation spray robot for orchard operation, structure is as described in Example 1, the difference is that machine
Device human body further includes state perception system 11, and state perception system 11 includes the liquid level sensor that chemical spraying device 2 is sent positioned at wind,
It is located at satellite positioned at the speed and course transmitter of inertial navigation unit 3 positioned at the electrical quantity sensor of energy power system 7
The position sensor, and the camera in robot etc. of position device 4 are connected to control system 5, are used for real-time perception
Liquid volume, electricity, position, speed, course and video etc., and teletransmission can be realized by telecommunication devices 6.
Embodiment 3:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that mobile
Chassis 1 is wheel undercarriage or caterpillar chassis, and robot is using wheeled or caterpillar chassis as carrier and mobile platform.
Embodiment 4:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that such as Fig. 3 institute
Show, communication base station 10 is tower type base station, is set to the geometric center region in orchard, and communication base station 10 is fixation means, is once built
Vertical to be used for a long time, communication base station 10 includes firm banking 10-1 and upright bar bracket 10-2, is equipped on upright bar bracket 10-2 wireless
The communication equipments such as bridge 10-3, communication antenna 10-4, radio antenna 10-5, satellite antenna 10-6, signal cover orchard range；Spray
The state perception system 11 of medicine robot can be by relevant information of itself such as liquid volume, electricity, position, speed and video image etc.
Remote controler 9 and internet are sent to by communication base station 10；Spray robot can receive the control at remote controler 9 or remote internet end
System instructs and executes corresponding task, realizes people to the remote control of spray robot hand or long-range control.
Embodiment 5:
A kind of independent navigation spray robot for orchard operation, as described in Example 4, the difference is that wind send spray
Medicine device 2 send chemical spraying device using the more spray head wind of integrated form, and it includes spray tank, plunger that the more spray head wind of integrated form, which send chemical spraying device,
Pump, multiple spray heads and blower, the spray tank are connect by outlet pipe with multiple spray heads.
When spraying, the medical fluid in spray tank has certain pressure under the action of plunger pump, passes through through outlet pipe multiple
Spray head is sprayed with mist, and by blower airflow, droplet is atomized again, while the mist drop after atomization being sent to
In the tree crown of fruit tree, blower is electric fan, strengthens spray distance and atomizing effect.
Embodiment 6:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that inertia is led
The device 3 that navigates includes MEMS gyroscope and processor, and processor is connect with control system 5, and processor is STM32 microprocessor, is used
In being handled the signal that MEMS gyroscope issues and be transferred to control system 5.Inertial navigation unit may insure robot
Because also can normal navigation walking when tree crown, which blocks etc., leads to intermittent satellite lost contact in orchard.
Embodiment 7:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that satellite
Position device 4 uses GPS receiver, and equipped with double satellite antennas and satellite positioning base station, realizes high-precision difference positioning；It is double to defend
Star antenna is used to receive the positioning signal of navigation positioning satellite, and GPS receiver is calculated for handling the positioning signal received
Position coordinates.
Embodiment 8:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that radar is kept away
Fault device 8 includes ultrasonic sensor and ultrasonic wave controller, and ultrasonic sensor is set to the front and back end position of spray robot
It sets with obstacle avoidance aiding, ultrasonic sensor includes transmitting unit and receiving unit, is respectively used to emit and receive ultrasonic wave, ultrasound
Wave controller is connect with ultrasonic sensor, according to transmitting ultrasonic wave and receives the time difference between ultrasonic wave, calculating robot
In the distance between barrier, ultrasonic wave controller is connect with control system 5.
Embodiment 9:
A kind of independent navigation spray robot for orchard operation, as described in Example 1, the difference is that long-range logical
T unit 6 is using 5.8G wireless bridge and configures 360 degree of high-gain omni-directional antennas, and spray movement of the robot as telecommunication
End, fixing end of the communication base station 10 as telecommunication；
Control system 5, as processing platform, writes control journey using Python and C/C++ etc. using ARM embedded system
Sequence, receives and the data sent from satellite positioning device, inertial navigation unit etc. of processing, realize robot drive control,
The functions such as path learning, independent navigation, spraying control, state aware, telecommunication.
As shown in Fig. 2, remote controler 9 includes left rocking bar 9-1, right rocking bar 9-2, antenna 9-3, display screen 9-4 and model selection
Button.
Embodiment 10:
A kind of working method of the independent navigation spray robot for orchard operation, including remote control mode, mode of learning
With navigation mode, in which:
Default is in remote control mode after being powered on or exiting for the first time from other modes for spray robot, in this mode,
Spray robot controls remote controler 9 by people to control walking, such as advances, turns left, turns right, retreats, accelerates, slows down, stops；
Spray robot needs advanced row path learning, path learning process before carrying out navigation mode are as follows: people is on a remote control
Switch the artificial mode of learning of machine, is walked one time by remote control control robot along destination path, during this, control system
Interior memory remembers path, and robot is made to complete path learning；
The course of work of navigation mode are as follows: people switches machine on a remote control and artificially navigates mode, and selects to have learnt
Path, robot navigates along the autonomous path and walks, that is to say, that for same section of working path, robot only exists
It needs to carry out path learning when walking for the first time, can directly navigate along the autonomous path since second.
Embodiment 11:
A kind of working method of the independent navigation spray robot for orchard operation, method is as described in Example 10,
The difference is that people controls the various actions of robot by hand-held remote controller 9 in horizon range, first under remote control mode
It travels robot to target job region, instruction unlatching wind is sent on remote controler 9 and send chemical spraying device 2, robot starts work
Make and sprays medical fluid；People is made robot in the ranks walk in fruit tree, and is led to by left rocking bar 9-1, the right rocking bar 9-2 on remote controler 9
It crosses control system 5 and controls robot speed and direction；It covers a line and stops spray, be redirected into another row and repeat above-mentioned mistake
Journey realizes that robot manually controls spray under remote control mode；
Under the mode of learning, robot is switched to mode of learning by remote controler 9 by people, travels robot to target
The starting point in path, selects learning key, and robot storage current location data simultaneously feeds back completion signal；Robot is set to continue to travel
To next target location, learning key is pressed, robot stores the position data and feeds back completion signal；It repeats the above process, directly
To destination path terminal is reached, robot completes the study in whole path and stores all information in the path；In path learning
During, robot can also synchronize execution spray drug operation；
Under navigation mode, robot travel to the starting point of destination path or near, people cuts robot on remote controler 9
It is changed to navigation mode, select path and opens navigation, the routing information that robot load learnt simultaneously navigates along the autonomous path
Walking, is performed simultaneously spray drug operation, until reaching destination path terminal, robot is automatically stopped operation and returns to remote control mode and waits for
Life, can be achieved unattended in entire operation process.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
- The robot 1. a kind of independent navigation for orchard operation sprays, which is characterized in that including robot body and attached set It is standby；The robot body includes mobile platform, and the wind being set on mobile platform send chemical spraying device, inertia to lead Boat device, satellite positioning device, control system, remote communication devices and for spray robot the energy source and power system of power is provided System, the front and back end of the robot body is provided with radar obstacle avoidance apparatus；The auxiliary device includes remote controler and communication base It stands；The wind send chemical spraying device, inertial navigation unit, satellite positioning device, energy power system and radar obstacle avoidance apparatus with The control system connection, the control system connect the mobile platform to control the advance of mobile platform, retrogressing, turn To, accelerate, slow down and stop；The control system is connect with the remote communication devices, and the telecommunication devices are connected by communication base station and interconnected Net, the telecommunication devices, which also pass through, is wirelessly connected the remote controler.
- The robot 2. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the machine Human body further includes state perception system, and the state perception system includes the level sensing that chemical spraying device is sent positioned at the wind Device positioned at the position sensor of satellite positioning device, and is located at machine positioned at the speed and course transmitter of inertial navigation unit Camera on device people, the liquid level sensor, speed and course transmitter, position sensor and camera are connected to described Control system.
- The robot 3. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the movement Formula chassis is wheel undercarriage or caterpillar chassis；Preferably, the communication base station is tower type base station, positioned at the geometric center region in orchard.
- The robot 4. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the wind is sent Chemical spraying device send chemical spraying device using the more spray head wind of integrated form, the more spray head wind of integrated form send chemical spraying device include spray tank, Plunger pump, multiple spray heads and blower, the spray tank are connect by outlet pipe with multiple spray heads.
- The robot 5. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the inertia Navigation device includes MEMS gyroscope and processor, and the processor is connect with the control system, and the processor is STM32 Microprocessor.
- The robot 6. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the satellite Positioning device uses GPS receiver or Beidou satellite receiver, and equipped with double satellite antennas and satellite positioning base station.
- The robot 7. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that the radar Obstacle avoidance apparatus includes ultrasonic sensor and ultrasonic wave controller, and the ultrasonic sensor is set to the front and back of spray robot End position, the ultrasonic sensor include transmitting unit and receiving unit, and the ultrasonic wave controller and the ultrasonic wave pass Sensor connection, the ultrasonic wave controller are connect with the control system.
- The robot 8. independent navigation according to claim 1 for orchard operation sprays, which is characterized in that described long-range Communication device is using 5.8G wireless bridge and configures 360 degree of high-gain omni-directional antennas, and spray shifting of the robot as telecommunication Moved end, fixing end of the communication base station as telecommunication；The control system, as processing platform, is write using raspberry pie or ARM embedded system using Python and C/C++ etc. Program is controlled, signal is received and handle；Preferably, the remote controler includes left rocking bar, right rocking bar, antenna, display screen and mode selecting button.
- 9. a kind of working method of any independent navigation spray robot for orchard operation of claim 1-8, It is characterized in that, including remote control mode, mode of learning and navigation mode, in which:Spray robot is defaulted after powered up in remote control mode, and in this mode, spray robot controls remote controler by people To control walking；Spray robot needs advanced row path learning, path learning process are as follows: people switches on a remote control before carrying out navigation mode The artificial mode of learning of machine is walked one time by remote control control robot along destination path, during this, in control system Memory remembers path, and robot is made to complete path learning；The course of work of navigation mode are as follows: people switches machine on a remote control and artificially navigates mode, and selects the road learnt Diameter, robot navigate along the autonomous path and walk.
- The robot 10. independent navigation according to claim 9 for orchard operation sprays, which is characterized in that described distant Under control mode, people controls the various actions of robot by hand-held remote controller in horizon range, make first robot travel to Target job region sends instruction unlatching wind on a remote control and send chemical spraying device, and robot starts to work and sprays medical fluid；People is logical The left rocker crossed on remote controler makes robot in the ranks walk in fruit tree, and controls robot speed and direction；A line is covered to stop It only sprays, be redirected into another row and repeat the above process, realize that robot manually controls spray under remote control mode；Under the mode of learning, robot is switched to mode of learning by remote controler by people, travels robot to destination path Starting point, select learning key, robot storage current location data simultaneously feed back completion signal；Robot is set to continue traveling under One target location, presses learning key, and robot stores the position data and feeds back completion signal；It repeats the above process, until arriving Up to destination path terminal, robot completes the study in whole path and stores all information in the path；Under the navigation mode, robot travel to the starting point of destination path or near, people on a remote control cuts robot It is changed to navigation mode, select path and opens navigation, the routing information that robot load learnt simultaneously navigates along the autonomous path Walking, is performed simultaneously spray drug operation, until reaching destination path terminal, robot is automatically stopped operation and returns to remote control mode and waits for Life, is realized unattended in entire operation process.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255174.7A CN109090087A (en) | 2018-10-26 | 2018-10-26 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN201910299779.4A CN109892311A (en) | 2018-10-26 | 2019-04-15 | A kind of independent navigation spray robot and its working method for orchard operation |
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| CN201811255174.7A CN109090087A (en) | 2018-10-26 | 2018-10-26 | A kind of independent navigation spray robot and its working method for orchard operation |
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| CN109090087A true CN109090087A (en) | 2018-12-28 |
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| CN201811255174.7A Withdrawn CN109090087A (en) | 2018-10-26 | 2018-10-26 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN201910299779.4A Pending CN109892311A (en) | 2018-10-26 | 2019-04-15 | A kind of independent navigation spray robot and its working method for orchard operation |
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| CN201910299779.4A Pending CN109892311A (en) | 2018-10-26 | 2019-04-15 | A kind of independent navigation spray robot and its working method for orchard operation |
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| CN109717175A (en) * | 2019-03-06 | 2019-05-07 | 山东交通学院 | Orchard intelligence self-travel type spraying system and its control method |
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| CN111077890A (en) * | 2019-12-27 | 2020-04-28 | 湘潭大学 | Implementation method of agricultural robot based on GPS positioning and automatic obstacle avoidance |
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- 2018-10-26 CN CN201811255174.7A patent/CN109090087A/en not_active Withdrawn
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- 2019-04-15 CN CN201910299779.4A patent/CN109892311A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109901576A (en) * | 2019-02-22 | 2019-06-18 | 三一汽车制造有限公司 | The long-range control method of road roller, tele-control system and road roller |
| CN109717175A (en) * | 2019-03-06 | 2019-05-07 | 山东交通学院 | Orchard intelligence self-travel type spraying system and its control method |
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| CN109947038A (en) * | 2019-04-29 | 2019-06-28 | 李志海 | A kind of wisdom agricultural weather robot operating system |
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Application publication date: 20181228 |