CN108260401A - One kind is based on the unmanned combine harvester Laser navigation systems of ROS - Google Patents
One kind is based on the unmanned combine harvester Laser navigation systems of ROS Download PDFInfo
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- CN108260401A CN108260401A CN201710020218.7A CN201710020218A CN108260401A CN 108260401 A CN108260401 A CN 108260401A CN 201710020218 A CN201710020218 A CN 201710020218A CN 108260401 A CN108260401 A CN 108260401A
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- Prior art keywords
- combine harvester
- laser
- machine
- pallet
- ros
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses one kind based on the unmanned combine harvester Laser navigation systems of ROS, mainly including laser sensor, pallet, IMU Inertial Measurement Units, stepper motor, PC machine and autosteerer.The pallet is mounted on the output shaft of stepper motor, the laser sensor is fixed on pallet, is installed on combine harvester forward position, and pass through cable interface and be connected with PC machine, the IMU Inertial Measurement Units are mounted on pallet, laser sensor rear end, and pass through RS232 serial ports and be connected with PC machine, the PC machine is placed in driving cabin of combined-harvester, and the autosteerer includes ARM controller, motor driver and steering wheel control motor.The present invention is based on ROS to build unmanned combine harvester Laser navigation system, by laser sensor loaded on Chinese herbaceous peony edge, it is driven to carry out scanning up and down to wheat boundary by stepper motor, can realize high-efficient homework, reduce labor intensity.
Description
Technical field
The present invention relates to a kind of automated navigation systems of unmanned combine harvester, and in particular to one kind based on ROS without
People drives combine harvester Laser navigation system, belongs to agricultural mechanical field.
Background technology
Automatic navigation technology is a core technology of precision agriculture, automatic steering control of farm mechanism be widely used in farming,
The agricultural production processes such as sowing, fertilising, spray, harvest.By perception of the navigation system to ambient enviroment, robot can be according to excellent
The working path work of change, reduces the area for repeating operation area and omitting operation area, improves the farm work quality of agricultural machinery
With efficiency, reduction driver's labor intensity.
With the fast development in automatic navigation technology field, writing software this work for agricultural robot also becomes more next
More complicated heavy, the durability of code and modular demand are more and more stronger, and research of the China for automatic navigation technology
It is also limited to the closed development structure using microcontroller, embedded system.
Robot operating system ROS as an open source software, objective be build one can integrate it is different research into
Fruit, realization algorithm is issued, robot software's platform of code reuse.Nowadays the robot that software development is carried out based on ROS has been reached
To 95 kinds, range covers the hot fields such as mobile robot, manipulator, humanoid robot, unmanned vehicle and unmanned vehicle, and
And most of sensor is obtained for relatively good support on ROS.
The automatic navigation technology of the unmanned combine harvester in China is mostly based on GPS navigation at present, but because
It is to determine the position of vehicle by receiving four different satellite-signals for the self-navigation harvester based on global positioning system,
Due to the influence of some environment, such as barrier, separate differential signal base station, multipath interference, therefore GPS is that the whole world is fixed sometimes
Position system will appear the minimum deflection for being unable to reach self-navigation requirement.
More than reason is based on, needs exploitation a kind of based on the unmanned combine harvester Laser navigation systems of ROS, by swashing
Ligh-ranging principle detection crops boundary is to navigate datum line to gathering in locomotive wheel left and right rotation angles using the small wheat harvesting line after fitting
It is controlled, realizes the self-navigation of unmanned combine harvester.
Invention content
The purpose of the present invention is to provide one kind based on the unmanned combine harvester Laser navigation systems of ROS, to make up
Microcontroller, embedding is used currently based on the deficiency of the automatic navigation technology of global positioning system and domestic agricultural machinery automated navigation system more
The deficiency of the closed development structure of embedded system.
The technical solution adopted by the present invention to solve the technical problems is that one kind is swashed based on the unmanned combine harvesters of ROS
Optical guidance system, mainly include laser sensor 1, pallet 2, IMU Inertial Measurement Units 3, stepper motor 4, PC machine 5, from turn
To device 6.It is characterized in that：The pallet 2 is mounted on the output shaft of stepper motor 4, and the laser sensor 1 is fixed on support
On disk 2, combine harvester forward position is installed on, and passes through cable interface and is connected with PC machine 5, the IMU Inertial Measurement Units 3 are installed
On pallet 2,1 rear end of laser sensor, and pass through RS232 serial ports and be connected with PC machine 5, the PC machine 5 is placed on combine harvester
In driver's cabin, the autosteerer 6 includes ARM controller, motor driver and steering wheel control motor.
For the laser sensor using the laser range sensor UST-20LX of HOKUYO companies of Japan, it can be by small
The scanning of wheat field determines the boundary point of getting wheat and non-getting wheat.
The PC machine uses Dell's notebook, equipped with 12.04 systems of Ubuntu and Hydro version ROS, compilation facility packet
Complete the fitting to laser and IMU data acquisition process and wheat harvesting line.
The autosteerer includes ARM controller, motor driver and steering wheel control motor, ARM controller and connects
The navigation instruction that PC machine transmits is received, starts motor driver steering wheel rotation control motor, realizes harvesting locomotive wheel left and right rotation angles
The control of size.
The IMU Inertial Measurement Units reach scientific ＆ technical corporation XW-IMU5220 using Beijing StarNet space, by combining
The calculating of machine three-axis attitude angle and acceleration determines in laser sensor scanning process course angle in pitch angle and traveling process.
Above-mentioned one kind is based on the unmanned combine harvester Laser navigation systems of ROS.Pallet is driven by stepper motor 4
2 rotations, control laser sensor scans about 1 obtains wheatland information, and IMU Inertial Measurement Units 3 are to pallet rotational angle and connection
It closes harvester pose data to be acquired, the boundary position of common determining wheat.PC machine 5 receives laser sensor 1 and IMU inertia
3 information of measuring unit, makes navigation path planning, sends navigational parameter signal to microprocessor, ARM controller is counted by analysis
Calculation sends out instruction, motor driver steering wheel rotation control motor, so as to fulfill the control of the left and right rotation angles size of wheel.
The work step of the unmanned small wheat harvesting based on laser navigation technology is mainly：
First, fixed pallet drives laser sensor to rotate upwardly and downwardly on stepper motor, and wheat boundary is scanned, is obtained
Take boundary point.
Secondly, start ROS functions packet to complete, to laser and IMU data acquisition process, fitting wheat harvesting line, to obtain
The desired angle and direction that wheel needs adjust.
Finally, the navigational parameter that ARM controller is transmitted according to PC machine, using fuzzy control, with the transverse direction of combine harvester
Deviation and course deviation are input quantity, and the adjustment amount of theoretical front wheel angle is output quantity, and ask poor with actual front wheel corner, is obtained
The practical adjustment amount of front wheel angle.
A kind of advantageous effect based on the unmanned combine harvester Laser navigation systems of ROS of the present invention is：It is set based on ROS
Combine harvester automated navigation system is counted, existing agricultural machinery automated navigation system can be effectively solved and use microcontroller, embedded
The problem of closed development structure of system；It can by the unmanned combine harvester based on laser navigation technology improved
To realize high-efficient homework, labor intensity is alleviated；Compared to global positioning system, the unmanned combining based on laser
Machine, finds the boundary of wheat by laser distance measuring principle and related algorithm, strong antijamming capability, can realize the essence at wheat edge
Certainly position.
Description of the drawings
Fig. 1 is a kind of based on the unmanned combine harvester Laser navigation system left views of ROS for the present invention.
Fig. 2 is a kind of based on the unmanned combine harvester Laser navigation system vertical views of ROS for the present invention.
Fig. 3 is a kind of based on the unmanned combine harvester Laser navigation system laser sensor rotation dresses of ROS for the present invention
Put enlarged drawing.
Fig. 4 is a kind of based on the unmanned combine harvester Laser navigation system ROS node diagrams of ROS for the present invention.
Fig. 5 is a kind of system structure diagram based on the unmanned combine harvester Laser navigation systems of ROS of the present invention.
Specific embodiment
1,5 couple of present invention is further described below in conjunction with the accompanying drawings：
One kind based on the unmanned combine harvester Laser navigation systems of ROS, mainly include laser sensor 1, pallet 2,
IMU Inertial Measurement Units 3, stepper motor 4, PC machine 5, autosteerer 6.It is characterized in that：The pallet 2 is mounted on stepping
On the output shaft of motor 4, the laser sensor 1 is mounted on pallet 2, and is passed through cable interface and be connected with PC machine 5, described
IMU Inertial Measurement Units 3 are mounted on pallet 2,1 rear end of laser sensor, and are passed through RS232 serial ports and be connected with PC machine 5, described
PC machine 5 is placed in driving cabin of combined-harvester, and the autosteerer 6 includes ARM controller, motor driver and steering wheel
Control motor.
It is above-mentioned a kind of based on the unmanned combine harvester Laser navigation systems of ROS, laser sensor is mounted on joint
Harvester forward position as stepper motor rotates upwardly and downwardly, is periodically scanned crops boundary, by the range information of acquisition
It is transmitted to PC machine；ROS functions packet is fitted wheat according to obtained wheat boundary point and the data of IMU Inertial Measurement Units in PC machine
Harvesting line obtains desired angle and the direction that wheel needs adjust；ARM controller receives the navigational parameter that PC machine transmits,
It is calculated analytically and sends out instruction, motor driver steering wheel rotation control motor, so as to fulfill the left and right rotation angles size of wheel
Control.
4 couples of present invention are further described below in conjunction with the accompanying drawings：
Based on the unmanned combine harvester Laser navigation systems of ROS, robot operating system ROS needs to complete connection one kind
Harvester is closed to determine the perception of ambient enviroment, the planning of guidance path and navigational parameter.Laser sensor node and IMU sections
Point issues the sensing data handled well, after being subscribed to by path planning node, fits small wheat harvesting line, last Navigation Control
Node determines that navigational parameter is transferred to slave computer by subscribing to the fitting result of path planning node.
Claims (5)
1. a kind of Laser navigation system of unmanned combine harvester, including including laser sensor (1), pallet (2), IMU
Inertial Measurement Unit (3), stepper motor (4), PC machine (5), autosteerer (6).It is characterized in that pallet (2) installation
On the output shaft of stepper motor (4), the laser sensor (1) is fixed on pallet (2), and pass through cable interface and PC machine
(5) it is connected, the IMU Inertial Measurement Units (3) are fixed at the top of combine harvester, and pass through RS232 serial ports and PC machine (5) phase
Even, the PC machine (5) is placed in driving cabin of combined-harvester, and the autosteerer (6) includes motor driver and direction
Disk controls motor.
2. the Laser navigation system of unmanned combine harvester according to claim 1, it is characterised in that：The laser
For sensor using the laser range sensor UST-20LX of HOKUYO companies of Japan, it can be by determining the scanning of wheatland
Getting wheat and the boundary of non-getting wheat.
3. PC machine uses Dell's notebook according to claim 1, equipped with 12.04 systems of Ubuntu and Hydro version ROS,
Compilation facility packet completes the fitting to laser and IMU data acquisition process and wheat harvesting line.
4. autosteerer includes ARM controller, motor driver and steering wheel control motor according to claim 1,
ARM controller receives the navigation instruction that PC machine transmits, and starts motor driver steering wheel rotation control motor, realizes harvesting locomotive
Take turns the control of left and right rotation angles size.
5. the Laser navigation system of unmanned combine harvester according to claim 1, it is characterised in that：The IMU
For Inertial Measurement Unit using Beijing StarNet space up to scientific ＆ technical corporation XW-IMU5220, it can be by combine harvester three-axis attitude
The calculating of angle and acceleration determines the course angle of combine harvester.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710020218.7A CN108260401A (en) | 2017-01-04 | 2017-01-04 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710020218.7A CN108260401A (en) | 2017-01-04 | 2017-01-04 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
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| CN108260401A true CN108260401A (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710020218.7A Pending CN108260401A (en) | 2017-01-04 | 2017-01-04 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020206940A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Planning system and method for residual harvesting path of automatic harvester |
| WO2023019892A1 (en) * | 2021-08-16 | 2023-02-23 | 江苏大学 | Adaptive device for lodging detection header using laser sensor, and control method |
| US12075723B2 (en) | 2021-08-16 | 2024-09-03 | Jiangsu University | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
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| CN101292572A (en) * | 2005-10-25 | 2008-10-22 | 迪尔公司 | Crop attribute map input for vehicle guidance |
| CN101866181A (en) * | 2009-04-16 | 2010-10-20 | 中国农业大学 | Navigation method and navigation device of agricultural machinery as well as agricultural machinery |
| CN103155758A (en) * | 2013-03-12 | 2013-06-19 | 上海大学 | Laser navigation system of unmanned combine-harvester |
| CN104913766A (en) * | 2015-06-24 | 2015-09-16 | 中交第二公路勘察设计研究院有限公司 | Laser scanning measurement method and device |
| CN205567135U (en) * | 2016-03-07 | 2016-09-14 | 鞍山星启数控科技有限公司 | Corn harvester numerical control system |
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2017
- 2017-01-04 CN CN201710020218.7A patent/CN108260401A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101292572A (en) * | 2005-10-25 | 2008-10-22 | 迪尔公司 | Crop attribute map input for vehicle guidance |
| CN101866181A (en) * | 2009-04-16 | 2010-10-20 | 中国农业大学 | Navigation method and navigation device of agricultural machinery as well as agricultural machinery |
| CN103155758A (en) * | 2013-03-12 | 2013-06-19 | 上海大学 | Laser navigation system of unmanned combine-harvester |
| CN104913766A (en) * | 2015-06-24 | 2015-09-16 | 中交第二公路勘察设计研究院有限公司 | Laser scanning measurement method and device |
| CN205567135U (en) * | 2016-03-07 | 2016-09-14 | 鞍山星启数控科技有限公司 | Corn harvester numerical control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020206940A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Planning system and method for residual harvesting path of automatic harvester |
| WO2023019892A1 (en) * | 2021-08-16 | 2023-02-23 | 江苏大学 | Adaptive device for lodging detection header using laser sensor, and control method |
| US12075723B2 (en) | 2021-08-16 | 2024-09-03 | Jiangsu University | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
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Application publication date: 20180710 |
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