CN105182976A - Visual navigation strategy of agricultural robot - Google Patents
Visual navigation strategy of agricultural robot Download PDFInfo
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- CN105182976A CN105182976A CN201510615581.4A CN201510615581A CN105182976A CN 105182976 A CN105182976 A CN 105182976A CN 201510615581 A CN201510615581 A CN 201510615581A CN 105182976 A CN105182976 A CN 105182976A
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Abstract
The present invention relates to a visual navigation strategy of an agricultural robot. The strategy includes a pre-aiming point selecting module, a DSP image processing module, a single-chip microcomputer control module and an ultrasonic obstacle-avoiding module. According to a navigation reference of a driving along the right edge of a road, a suitable pre-aiming point is selected as a tracking object of the agricultural robot, and a video camera collects the image information of the road in a real time when the agricultural robot drives. The right edge information of the road is extracted after the image information is pre-processed by the DSP image processing module. Required navigation parameters are acquired by the combination of the right edge information and a position relationship of the pre-aiming point and the right edge of the road, and the required navigation parameters are transmitted to the single-chip microcomputer control module so that the agricultural robot is controlled for performing road tracking and the ultrasonic obstacle-avoiding module performs the safe obstacle-avoiding processing. The navigation strategy greatly reduces the calculation complexity and enhances the timeliness by tracking the pre-aiming point drive along the right edge of the road; and an ultrasonic sensor is used for safety pre-warning so as to ensure the safe reliability of visual navigation.
Description
Technical field
The invention belongs to agricultural robot navigation field, relate to a kind of navigation strategy, particularly relate to a kind of vision guided navigation strategy of agricultural robot.
Background technology
China is large agricultural country, and since reform and opening-up, along with the development of science and technology, the intellectually and automatically level of agricultural machinery improves constantly, and agricultural production constantly strides forward towards scale, intellectuality and precision direction.The agri-vehicle possessing independent navigation ability is one of gordian technique of precision agricultural development instantly, and the vision guided navigation in independent navigation has the advantages such as information detection wide ranges, target information are complete, adaptable, become the Main way of current agricultural robot navigation research.
It is all two edges identifying road that guidance path in existing vision navigation system is asked for, and is then gone out the medium line of road by two edge fittings, and then track navigation.But in the operating environment of agricultural robot, path, farmland is not too regular, even there is no two obvious routed edges; The width in path differs, and even cannot find two routed edges time road is wider in camera coverage simultaneously; In addition, on some road, the walking of Robot road axis is not optimal selection, but should lean on the right of path and walk; In addition; in farm environment during operation; plough and uncultivated land, to have gathered in the crops and the field boundary line do not gathered in the crops often can, as routed edges for navigation, just be difficult to obtain guidance path by finding two of path edges to ask for path medium line in this case.
Summary of the invention
For the problem and blemish of above-mentioned existing vision guided navigation, the invention discloses a kind of new navigation strategy.This kind of navigation strategy, based on machine vision, a little navigating with the position relationship of road right hand edge by controlling to take aim in advance, improve real-time and the simplicity of navigation greatly.
Realize above-mentioned purpose, the present invention by the following technical solutions: a kind of vision guided navigation strategy of agricultural robot, comprising: take aim in advance a little choose module, DSP image processing module, single chip control module, avoiding obstacles by supersonic wave module.
Take aim in advance a little choose module: taking aim in advance is a little by imitating the driving behavior of driver, artificial hypothesis vehicle front has the location point of tracking, correctly in vehicle front road taking aim at a little in advance by identifying, making the vehicle tracking mode taken aim in advance a little carry out guided vehicle and correctly travelling.Take aim at position a little in advance to determine primarily of the relative position of the width in the travel speed of agricultural robot, the size of car body and path, path and car body and navigation benchmark, navigation benchmark is travel along road right hand edge.
DSP image processing module: by the forefront CCD camera Real-time Collection road information being arranged on agricultural robot, after Digital Image Processor DSP is carried out gray processing, Threshold segmentation, Morphological scale-space, extract the path right hand edge information in image and take aim at point coordinate in advance, in conjunction with the calibrating parameters of video camera, finally determine to take aim in advance in world coordinate system positional information a little and follow the tracks of the navigational parameter taken aim in advance a little, and navigational parameter is sent to single chip control module.
Single chip control module: the electric machine controller be responsible in navigation of agricultural robot system by STM32 single-chip microcomputer realizes.Fuzzy control and PID is adopted to control the dual mode controller-fuzzy-PI D mixture control combined.Fuzzy control is mainly used to track path and turns and the larger place of curvature of curve, and PID controls to be mainly used in the path of tracking near linear and the smaller path of curvature.Formulate a controller change-over switch by designated curvature threshold value, switch to fuzzy control when deviation is greater than threshold value, otherwise then switch to PID to control.STM32 single-chip microcomputer selects suitable controller according to navigational parameter after receiving the navigational parameter signal that Digital Image Processor DSP transmits, and using the input of navigational parameter as controller, export correct control signal by controller and control drive motor, so realize agricultural robot follow the tracks of take aim at an independent navigation in advance.
Avoiding obstacles by supersonic wave module: ultrasonic sensor is used for the obstacle information of perception road, and obstacle information is sent to single chip control module in time, single chip control module can process obstacle signal with limit priority, carries out safe early warning, ensures the security of agricultural robot navigation.
Beneficial effect of the present invention is:
(1) travel along road right hand edge, Digital Image Processor DSP process image only need extract path right hand edge information, efficiently avoid the irregular complex environment that waits of farmland road to affect, reduce the complexity of calculating, drastically increase the real-time of navigation.
(2) a little navigate by following the tracks of to take aim in advance, easy and simple to handle, applicability is strong.
(3) by the obstacle information of ultrasonic sensor perception road, and carry out safe early warning, ensure the safety and reliability of navigation of agricultural robot.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the invention will be further described:
Fig. 1 is the general structure block diagram of the embodiment of the present invention;
Fig. 2 of the present inventionly takes aim at a position view in advance;
Fig. 3 is dsp system workflow diagram;
Fig. 4 is Single-chip Controlling process flow diagram;
Fig. 5 is ultrasonic sensor control flow chart.
Embodiment
CCD camera is arranged on the forefront of agricultural robot, downward with certain angular slope, and primary responsibility gathers the traffic information in agricultural robot front.After Digital Image Processor DSP processes the image collected in real time, extract path right hand edge information, take aim at coordinate a little in advance, in conjunction with the demarcation of video camera, finally determine to take aim in advance in world coordinate system positional information a little and follow the tracks of the navigational parameter taken aim in advance a little, and navigational parameter is sent to single chip control module, then control drive motor further by controller thus realize the path trace of agricultural robot; When running into barrier, ultrasonic sensor can be sent to single chip control module information, and control module processes obstacle signal with limit priority thus guarantees the security of navigation.
Structure and working principle of the present invention is explained above with specific embodiment; the present invention is not limited to above embodiment; according to above-mentioned description; all any amendments done within the spirit and principles in the present invention, replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. a vision guided navigation strategy for agricultural robot, is characterized in that, comprise take aim in advance a little choose module, DSP image processing module, single chip control module, avoiding obstacles by supersonic wave module four part;
Wherein said taking aim in advance clicks delivery block, take aim in advance is a little by imitating the driving behavior of driver, artificial hypothesis vehicle front has the location point of tracking, correctly in vehicle front road take aim at a little in advance by identifying, make the vehicle tracking mode taken aim in advance a little carry out guided vehicle correctly to travel, take aim at position a little in advance to determine primarily of the relative position of the width in the travel speed of agricultural robot, the size of car body and path, path and car body and navigation benchmark, navigation benchmark is travel along road right hand edge;
Described DSP image processing module, by the CCD camera Real-time Collection road information being arranged on agricultural robot forefront, after Digital Image Processor DSP is carried out gray processing, Threshold segmentation, Morphological scale-space, extract the path right hand edge information in image and take aim at point coordinate in advance, in conjunction with the calibrating parameters of video camera, finally determine to take aim in advance in world coordinate system positional information a little and follow the tracks of the navigational parameter taken aim in advance a little, and navigational parameter is sent to single chip control module;
Described single chip control module: STM32 single-chip microcomputer is after receiving the navigational parameter signal that Digital Image Processor DSP transmits, using the input of navigational parameter as fuzzy-PI D mixture control, and export by controller the drive motor that correct control signal controls agricultural robot, and then an independent navigation is taken aim in the tracking of control agricultural robot in advance;
Described avoiding obstacles by supersonic wave module: ultrasonic sensor is used for the obstacle information of perception road, and obstacle information is sent to single chip control module in time, single chip control module can process obstacle signal with limit priority, carry out safe early warning, ensure the security of agricultural robot navigation.
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| CN201510615581.4A CN105182976A (en) | 2015-09-17 | 2015-09-17 | Visual navigation strategy of agricultural robot |
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| CN201510615581.4A CN105182976A (en) | 2015-09-17 | 2015-09-17 | Visual navigation strategy of agricultural robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105700533A (en) * | 2016-04-22 | 2016-06-22 | 扬州大学 | Agricultural machinery automatic driving control system based on Beidou navigation and method thereof |
| CN105700528A (en) * | 2016-02-19 | 2016-06-22 | 深圳前海勇艺达机器人有限公司 | Autonomous navigation and obstacle avoidance system and method for robot |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
| CN105867377A (en) * | 2016-04-13 | 2016-08-17 | 浙江理工大学 | Automatic navigation control method of agricultural machine |
| CN106017477A (en) * | 2016-07-07 | 2016-10-12 | 西北农林科技大学 | Visual navigation system of orchard robot |
| WO2017041225A1 (en) * | 2015-09-08 | 2017-03-16 | 深圳市赛亿科技开发有限公司 | Robot following method |
| CN106886217A (en) * | 2017-02-24 | 2017-06-23 | 安科智慧城市技术（中国）有限公司 | Automatic navigation control method and apparatus |
| CN109101029A (en) * | 2018-09-03 | 2018-12-28 | 重庆大学 | Inspection evil intelligent carriage and its working method are gone on patrol in a kind of orchard automatically |
| CN110032193A (en) * | 2019-04-30 | 2019-07-19 | 盐城工业职业技术学院 | A kind of intelligence tractor field obstruction-avoiding control system and method |
| CN110146090A (en) * | 2019-06-26 | 2019-08-20 | 张收英 | Robot keeps right air navigation aid and the robot of walking |
| CN110426045A (en) * | 2019-08-12 | 2019-11-08 | 西北农林科技大学 | A kind of farmland spray machine device people vision guided navigation parameter acquiring method |
| CN110440800A (en) * | 2018-05-02 | 2019-11-12 | 世博生态环保技术股份有限公司 | A kind of orchard spray Algorithms of Robots Navigation System |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017041225A1 (en) * | 2015-09-08 | 2017-03-16 | 深圳市赛亿科技开发有限公司 | Robot following method |
| CN105700528A (en) * | 2016-02-19 | 2016-06-22 | 深圳前海勇艺达机器人有限公司 | Autonomous navigation and obstacle avoidance system and method for robot |
| CN105867377A (en) * | 2016-04-13 | 2016-08-17 | 浙江理工大学 | Automatic navigation control method of agricultural machine |
| CN105867377B (en) * | 2016-04-13 | 2019-01-08 | 浙江理工大学 | A kind of automatic steering control of farm mechanism control method |
| CN105700533B (en) * | 2016-04-22 | 2018-12-07 | 扬州大学 | Automatic driving of agricultural machinery control system and method based on Beidou navigation |
| CN105700533A (en) * | 2016-04-22 | 2016-06-22 | 扬州大学 | Agricultural machinery automatic driving control system based on Beidou navigation and method thereof |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
| CN106017477A (en) * | 2016-07-07 | 2016-10-12 | 西北农林科技大学 | Visual navigation system of orchard robot |
| CN106886217A (en) * | 2017-02-24 | 2017-06-23 | 安科智慧城市技术（中国）有限公司 | Automatic navigation control method and apparatus |
| CN106886217B (en) * | 2017-02-24 | 2020-09-08 | 深圳中智卫安机器人技术有限公司 | Autonomous navigation control method and device |
| CN110440800A (en) * | 2018-05-02 | 2019-11-12 | 世博生态环保技术股份有限公司 | A kind of orchard spray Algorithms of Robots Navigation System |
| CN109101029A (en) * | 2018-09-03 | 2018-12-28 | 重庆大学 | Inspection evil intelligent carriage and its working method are gone on patrol in a kind of orchard automatically |
| CN110032193B (en) * | 2019-04-30 | 2020-07-03 | 盐城工业职业技术学院 | Intelligent tractor field obstacle avoidance control system and method |
| CN110032193A (en) * | 2019-04-30 | 2019-07-19 | 盐城工业职业技术学院 | A kind of intelligence tractor field obstruction-avoiding control system and method |
| CN110146090A (en) * | 2019-06-26 | 2019-08-20 | 张收英 | Robot keeps right air navigation aid and the robot of walking |
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Application publication date: 20151223 |