CN108279688A - A kind of agricultural robot positioning system - Google Patents
A kind of agricultural robot positioning system Download PDFInfo
- Publication number
- CN108279688A CN108279688A CN201810272643.XA CN201810272643A CN108279688A CN 108279688 A CN108279688 A CN 108279688A CN 201810272643 A CN201810272643 A CN 201810272643A CN 108279688 A CN108279688 A CN 108279688A
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- Prior art keywords
- positioning system
- driving
- agricultural robot
- motor
- main control
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
The present invention relates to a kind of agricultural robot positioning systems, which is characterized in that including main control module, and connect with the main control module SLAM modules, geomagnetic sensor, each motor driving and tachogenerator；The SLAM modules are connect with laser radar and gyroscope, and the motor driving connects one to one with driving wheel motor, and the driving wheel motor connects one to one with driving wheel.There are four the driving wheels, is the near front wheel, left rear wheel, off-front wheel and off hind wheel respectively.The tachogenerator is encoder, and the encoder is corresponded with the driving wheel.The present invention devises navigation positioning system combined of multi-sensor information using laser radar, encoder, gyroscope, geomagnetic sensor, realizes mapping and positioning function, is influenced by crops smaller.
Description
Technical field
The invention belongs to agricultural robot technical fields, and in particular to a kind of agricultural robot positioning system.
Background technology
Current indoor navigation system has wireless Position Fixing Navigation System, self-hunting navigation system etc..But in agricultural
In greenhouse, the signal transmission of wireless location navigation system can be influenced by crops, and self-hunting navigation system needs
It is laid with navigation circuit, the agricultural environment of changeable complexity can not be adapted to.
Invention content
In order to solve above-mentioned technical problem, the present invention devises a kind of agricultural robot positioning system, by farming
The influence of object is smaller, it is not necessary to be laid with navigation circuit, the navigation of the autonomous positioning under greenhouse of agricultural robot may be implemented
Function.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of agricultural robot positioning system, including main control module, and connect with the main control module SLAM modules, earth magnetism
Sensor, the driving of each motor and tachogenerator；The SLAM modules are connect with laser radar and gyroscope, the motor driving
It connects one to one with driving wheel motor, the driving wheel motor connects one to one with driving wheel.
Further, the tachogenerator is encoder, and the encoder is corresponded with the driving wheel.
Further, it is the near front wheel, left rear wheel, off-front wheel and off hind wheel respectively there are four the driving wheels.
Further, the gyroscope uses MPU-6050 modules.
Further, the main body of the main control module is the STM32F103VET6 chips with ARM frameworks.
Further, the main control module further includes power-converting circuit, reset circuit, clock circuit and decoupling circuit.
Further, the main control module further includes power supply instruction circuit for lamp and buzzer circuit；The buzzer circuit carries
Show the associated schedule of the positioning system work.
Further, the driving wheel motor is direct current generator.
Further, the main control module, SLAM modules, the driving of each motor, laser radar, gyroscope and geomagnetic sensor are solid
It is scheduled on the moving trolley car body of agricultural robot.
When work, the two dimensional surface map datum that one 360 degree of the laser radar scanning simultaneously sends the SLAM moulds to
Block, the SLAM modules handle the two dimensional surface map datum and extract the characteristic point in map, judge robot in environment
In position；Meanwhile the gyroscope acquisition agricultural robot and the angle information of horizontal plane, the geomagnetic sensor acquire agriculture
The directional information of industry robot in the horizontal plane, and be respectively transmitted to the SLAM modules, the SLAM modules are melted by data
Hop algorithm obtain angle-data so that it is determined that robot course angle；
Then, the SLAM modules should be to X axis by robot according to course angle（Left and right to）And Y-axis（It is front and back to）It is mobile
Speed amount and robot turn to when angular speed amount be transferred to the main control module；The main control module is according to the SLAM
The information that the speed amount and each encoder, the geomagnetic sensor, the gyroscope that module transfer comes acquire in due course, sends
Motor control signal drives to each motor, and each motor driving drives each driving wheel motor to carry out forward or reverse or speed governing,
The forward or backward of realization robot or left-hand rotation advance or right-hand rotation advance or left-hand rotation retrogressing or right-hand rotation retrogressing or speed adjusting stop
Basic exercise action only.
Specifically, local map data as two dimensional surface map of the SLAM modules by the laser radar scanning
SLAM algorithm process is carried out, and constructs increment type global map, while determining the position of robot system itself.
Specifically, the angle of gyroscope the acquisition wheel and level ground；When wheel is because the ground caved in or protrusion deviates
When horizontal position, the gyroscope acquires angle between the two and transfers data to the SLAM modules, through SLAM algorithms
Processing data it is subsequent it is continuous be transferred to the main control module, and then by the main control module generate algorithm to agricultural robot posture into
Row adjustment；When trolley is in the different road conditions of upward slope, descending or level road, the folder of gyroscope the acquisition wheel and level ground
Angle, and by data by the SLAM module transfers to the main control module, the main control module generates algorithm to farming machine
The speed of people regulates and controls.
Specifically, each encoder acquires the speed of each driving wheel and sends the main control module to respectively, the master
Control module accurately controls the speed of each driving wheel of robot using PID speed control algorithms.
Specifically, the geomagnetic sensor is fixed on the moving trolley car body of agricultural robot；When moving trolley needs
When steering, the geomagnetic sensor records the angle of initial geomagnetic sensor and earth magnetism field direction first, then as movement
Trolley turns to the dynamic angle constantly obtained between the geomagnetic sensor and earth magnetism field direction, the dynamic angle in due course
Subtract each other with initial angle, obtains the angle that moving trolley turns over；The main control module generates the PWM of control robot speed
Wave, then by PID direction controlling algorithms, ensure that robot is moved with target direction.
The agricultural robot positioning system has the advantages that：
（1）The present invention is using laser radar, tachogenerator（Encoder）, gyroscope, geomagnetic sensor, devise multisensor
The navigation positioning system of information fusion, realizes mapping and location navigation function, is influenced by crops smaller.
（2）Present invention employs four driving wheels independently driven, compared to the wheeled robot of two driving wheels,
The present invention is more suitable for the agricultural greenhouse environment of ground relief, and driving force is stronger, overcomes obstacle and prevents the ability skidded
Also it is promoted.
（3）Present system has studied the incremental timestamp algorithm of sensor fusion algorithm and direct current generator, writes
System control program realizes the autonomous positioning of robot, and the control strategy in design robot driving process.Finally, lead to
It crosses and tests on the spot, the positioning requirements of agricultural greenhouse mobile robot can be substantially met by demonstrating the system.
Description of the drawings
Fig. 1：The modular construction schematic diagram of agriculture robot positioning system in embodiment of the present invention；
Fig. 2：The layout structure schematic diagram of agriculture robot positioning system in embodiment of the present invention；
Fig. 3：Agriculture robot speed's control figure in embodiment of the present invention；
Fig. 4：Agricultural robot turns to schematic diagram in embodiment of the present invention；
Fig. 5：The program flow diagram of positioning system entirety in embodiment of the present invention；
Fig. 6：SLAM modules signal procedure flow chart in embodiment of the present invention；
Fig. 7：Geomagnetic sensor signal procedure flow chart in embodiment of the present invention；
Fig. 8：Embodiment of the present invention medium velocity controls program flow diagram；
Fig. 9：The program flow diagram of direction controlling in embodiment of the present invention.
Reference sign：
1-main control module；2-SLAM modules；3-laser radars；4-gyroscopes；5-geomagnetic sensors；61-motors drive
Ⅰ；62-motors driving II；63-motors driving III；64-motors driving IV；71-motors I；72-motors II；73-motors
Ⅲ；74-motors IV；81-encoders I；82-encoders II；83-encoders III；84-encoders IV；91-the near front wheels；
92-left rear wheels；93-off-front wheels；94-off hind wheels.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 1 to Fig. 9 shows the specific implementation mode of agricultural robot positioning system of the present invention.Fig. 1 is present embodiment middle peasant
The modular construction schematic diagram of industry robot positioning system；Fig. 2 is the layout of agriculture robot positioning system in present embodiment
Structural schematic diagram.
As depicted in figs. 1 and 2, the agricultural robot positioning system in present embodiment, including main control module 1, Yi Jiyu
SLAM modules 2, geomagnetic sensor 5, the driving of each motor and the tachogenerator that main control module 1 connects；SLAM modules 2 and laser thunder
It is connected up to 3 and gyroscope 4, motor driving connects one to one with driving wheel motor, and driving wheel motor is corresponded with driving wheel
Connection.
In the present embodiment, there are four driving wheels, is the near front wheel 91, left rear wheel 92, off-front wheel 93 and off hind wheel 94 respectively, respectively
A driving wheel independently drives, and motor driving I 61 drives the near front wheel 91, motor driving II 62 to pass through motor II 72 by motor I 71
Left rear wheel 92, motor driving III 63 is driven to drive off-front wheel 93, motor driving IV 64 to be driven by motor IV 74 by motor III 73
Dynamic off hind wheel 94.
Preferably, tachogenerator is encoder, and encoder is corresponded with driving wheel.In the present embodiment, encoder has
Four, be encoder I 81, encoder II 82, encoder III 83 and encoder IV 84 respectively, encoder I 81, encoder II 82,
Encoder III 83 and encoder IV 84 acquire the speed of the near front wheel 91, left rear wheel 92, off-front wheel 93 and off hind wheel 94 respectively, coding
Device I 81, encoder II 82, encoder III 83 and the I/O port connection corresponding with main control module 1 of encoder IV 84.
In the present embodiment, main control module 1, SLAM modules 2, the driving of each motor, laser radar 3, gyroscope 4 and earth magnetism sensing
Device 5 is fixed on the moving trolley car body of agricultural robot.
In the present embodiment, gyroscope 4 uses MPU-6050 modules.This module is a 6 axis motion sensors.It collects
At 3 axis MEMS gyroscopes, 3 axis MEMS accelerometers can be exported the signal of 6 axis by its I2C interface, be passed through
Kalman filtering algorithm carries out integrative suppression with geomagnetic sensor 5, can grasp robot angle change, same laser radar in real time
3 combine the position of 2 determination robot of SLAM modules and direction.
In the present embodiment, the main body of main control module 1 is the STM32F103VET6 chips with ARM frameworks.
Main control module 1 further includes power-converting circuit, reset circuit, clock circuit and the decoupling circuit of autonomous Design.
Main control module 1 further includes the power supply instruction circuit for lamp and buzzer circuit of autonomous Design；Power supply instruction circuit for lamp packet
The light emitting diode for including multiple and different colors, for prompting, whether power supply electrifying is normal, prompts whether SLAM modules 2 work normally
Deng.Buzzer circuit prompts the associated schedule of the positioning system work.
In the present embodiment, motor I 71, motor II 72, motor III 73 and motor IV 74 are direct current generator, and each motor needs
3 controls signal IN1, IN2 and EN1, EN1 is enable signal.Two electrodes IN1, IN2 of motor, are direction of motor rotation controls
Signal processed, when respectively 1,0, motor rotates forward, conversely, motor reversal.Pwm signal is inputted to EN1, EN2, adjusts the duty of PWM
Than motor speed can be adjusted.Each driving wheel is connect by corresponding shaft coupling with corresponding motor, and main control module 1 sends electricity
Machine control signal drives to each motor, and each motor driving drives corresponding motor, forwards and reverses or speed governing, realization are agriculture
Advance, retrogressing, left-hand rotation advance, right-hand rotation advance, left-hand rotation retrogressing, right-hand rotation retrogressing, speed adjusting and stopping of robot etc. are transported substantially
Action.
When work, if Fig. 3 to Fig. 9, Fig. 5 are the program flow diagrams of positioning system entirety in present embodiment；Fig. 6 is this reality
Apply SLAM modules signal procedure flow chart in mode；Fig. 7 is geomagnetic sensor signal procedure flow chart in present embodiment；Fig. 8
It is present embodiment medium velocity control program flow diagram；Fig. 9 is the program flow diagram of direction controlling in present embodiment.
First, laser radar 3 scans one 360 degree of two dimensional surface map datum and sends SLAM modules 2, SLAM to
Module 2 handles the two dimensional surface map datum and extracts the characteristic point in map, judges the position of robot in the environment；Together
When, gyroscope 4 acquires the angle information of agricultural robot and horizontal plane, geomagnetic sensor 5 acquires agricultural robot in horizontal plane
Interior directional information, and being respectively transmitted to SLAM modules 2, SLAM modules 2 by data anastomosing algorithm obtain angle-data to
Determine the course angle of robot；
Then, SLAM modules 2 should be to X axis by robot according to course angle（Left and right to）And Y-axis（It is front and back to）Mobile
Angular speed amount when speed amount and robot turn to is transferred to main control module 1；Main control module 1 according to SLAM modules 2 transmit come
The information that speed amount and each encoder, geomagnetic sensor 5, gyroscope 4 acquire in due course sends motor control signal to opposite
Each motor driving answered, each motor driving drives each driving wheel motor to carry out forward or reverse or speed governing, before realizing robot
Into or retreat or turn left to advance or turn right to advance or turn left to retreat or turn right and retreat or basic exercise that speed adjusts or stops is dynamic
Make.
Specifically, local map data as the two dimensional surface map that SLAM modules 2 scan laser radar 3 carry out
SLAM algorithm process, and increment type global map is constructed, while determining the position of robot system itself；Then SLAM moulds
Block 2 also can carry out signal transmission by Ethernet, by increment type global map and robot system self-position and robot
Course angle is shown on host computer, as shown in Figure 6.
Specifically, main control module 1 comes according to the transmission of SLAM modules 2 the X axis speed amount of mobile robot, Y-axis are fast
The linear speed of measurement and angular speed amount, the side vector and left and right sidesing driving wheel wheel that output mobile robot will advance is measured, specific to transport
Dynamic circuit connector is at as shown in Figure 3,4.Each encoder acquires the speed of each driving wheel and sends main control module 1 to respectively, and main control module 1 is adopted
The speed of each driving wheel of robot is accurately controlled with PID speed control algorithms, as shown in Figure 8；Geomagnetic sensor 5 is fixed on agricultural
On the moving trolley car body of robot；When moving trolley needs to turn to, geomagnetic sensor 5 records initial earth magnetism sensing first
The angle of device 5 and earth magnetism field direction is turned to then as moving trolley and is constantly obtained between geomagnetic sensor 5 and earth magnetism field direction
Dynamic angle, in due course dynamic angle subtract each other with initial angle, obtain the angle that moving trolley turns over, as shown in Figure 7.
Main control module 1 generates the PWM wave of control robot speed, then by PID direction controlling algorithms, ensures robot with target direction
It is mobile, as shown in Figure 8,9.
Specifically, gyroscope 4 acquires the angle of wheel and level ground；When wheel is because the ground caved in or protrusion deviates level
When position, gyroscope 4 acquires angle between the two and transfers data to SLAM modules 2, after SLAM algorithm process data
Continue to be transferred to main control module 1, and then algorithm is generated by main control module 1, agricultural robot posture is adjusted；At trolley
When the different road conditions of upward slope, descending or level road, gyroscope 4 acquires the angle of wheel and level ground, and data are passed through
SLAM modules 2 are transferred to main control module 1, and main control module 1 generates algorithm and regulates and controls to the speed of agricultural robot.
The present invention is devised combined of multi-sensor information using laser radar, encoder, gyroscope, geomagnetic sensor
Navigation positioning system is realized mapping and navigation feature, is influenced by crops smaller, it is not necessary to be laid with navigation circuit.
The present invention can also show map on host computer, have positioning, destination selection, path computation function module.
First, the map around robot is scanned using laser radar.Then, at using SLAM modules to map datum
Reason.Gyroscope selects MPU-6050 modules, this module is a 6 axis motion sensors.It is integrated with 3 axis MEMS gyros
Instrument, 3 axis MEMS accelerometers and an expansible digital moving processor can use I2C interfaces connection earth magnetism sensing
Device.The signal of 6 axis can be exported after extension by its I2C interface.It is passed by Kalman filtering algorithm and earth magnetism
Sensor carries out integrative suppression, can grasp robot angle change in real time, robot is determined with laser radar combination SLAM modules
Position and direction.Also can be by map denotation on upper computer software, robot can be directly arranged in user in host computer interface
Mobile target point.Then, SLAM modules calculate the path of trolley, and the speed of robot, top are acquired using encoder
The direction of spiral shell instrument, geomagnetic sensor acquisition robot itself, master control system generates the PWM wave of control robot speed, and passes through
Pid algorithm adjusts movement velocity and the direction of robot.Master control system is by the data information of SLAM modules, the machine with acquisition
People's attitude data merges, and guidance machine people navigates in greenhouse.
For the Work robot in greenhouse, the present invention devises a kind of agricultural robot Position Fixing Navigation System, completes
The design of circuit system and motion control program realizes the function of agricultural robot autonomous positioning navigation, by the shadow of crops
Sound is smaller, it is not necessary to be laid with navigation circuit.
Compared to the agricultural robot of existing two driving wheels, present invention employs four drivings independently driven
Wheel, compared to the wheeled robot of two driving wheels, the present invention is more suitable for the agricultural greenhouse environment of ground relief, driving
Power is stronger, overcomes obstacle and prevents the ability skidded from also being promoted.
Present system has studied the incremental timestamp algorithm of sensor fusion algorithm and direct current generator, has write and is
System control program, realizes the autonomous positioning of robot, and the control strategy in design robot driving process.Finally, pass through
It tests on the spot, the positioning requirements of Greenhouse Robot can be substantially met by demonstrating the system.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention progress various improvement, or it is not improved will be of the invention
Design and technical solution directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of agricultural robot positioning system, which is characterized in that including main control module, and connect with the main control module
SLAM modules, geomagnetic sensor, the driving of each motor and tachogenerator；The SLAM modules connect with laser radar and gyroscope
It connects, the motor driving connects one to one with driving wheel motor, and the driving wheel motor connects one to one with driving wheel.
2. agricultural robot positioning system according to claim 1, which is characterized in that there are four the driving wheels, respectively
It is the near front wheel, left rear wheel, off-front wheel and off hind wheel.
3. agricultural robot positioning system according to claim 1 or 2, which is characterized in that the tachogenerator is to compile
Code device, the encoder are corresponded with the driving wheel.
4. agricultural robot positioning system according to claim 1 or 2, which is characterized in that the gyroscope uses MPU-
6050 modules.
5. agricultural robot positioning system according to claim 3, which is characterized in that the gyroscope uses MPU-6050
Module.
6. according to the agricultural robot positioning system described in claim 1,2 or 5, which is characterized in that the master of the main control module
Body is the STM32F103VET6 chips with ARM frameworks.
7. agricultural robot positioning system according to claim 6, which is characterized in that the main control module further includes power supply
Conversion circuit, reset circuit, clock circuit and decoupling circuit.
8. agricultural robot positioning system according to claim 6, which is characterized in that the main control module further includes power supply
Indicator light circuit and buzzer circuit；The buzzer circuit prompts the associated schedule of the positioning system work.
9. according to the agricultural robot positioning system described in claim 1,2,5,7 or 8, which is characterized in that the driving wheel electricity
Machine is direct current generator.
10. according to the agricultural robot positioning system described in claim 1,2,5,7 or 8, which is characterized in that the master control mould
Block, SLAM modules, the driving of each motor, laser radar, gyroscope and geomagnetic sensor are fixed on the moving trolley of agricultural robot
On car body.
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| CN201810272643.XA CN108279688A (en) | 2018-03-29 | 2018-03-29 | A kind of agricultural robot positioning system |
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| CN201810272643.XA CN108279688A (en) | 2018-03-29 | 2018-03-29 | A kind of agricultural robot positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964596A (en) * | 2019-04-01 | 2019-07-05 | 华南农业大学 | A kind of direct sowing of rice apparatus and method based on intelligent robot |
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