CN109278040A - A kind of agriculture inspecting robot with navigation barrier avoiding function - Google Patents
A kind of agriculture inspecting robot with navigation barrier avoiding function Download PDFInfo
- Publication number
- CN109278040A CN109278040A CN201710628327.7A CN201710628327A CN109278040A CN 109278040 A CN109278040 A CN 109278040A CN 201710628327 A CN201710628327 A CN 201710628327A CN 109278040 A CN109278040 A CN 109278040A
- Authority
- CN
- China
- Prior art keywords
- robot
- controller
- agriculture
- airborne computer
- infrared radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 22
- 230000005855 radiation Effects 0.000 claims abstract description 13
- 230000008635 plant growth Effects 0.000 claims abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract 1
- 230000012010 growth Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
A kind of agriculture inspecting robot with navigation barrier avoiding function mainly includes hub motor, rack, figure biography camera, laser scanner, spectroanalysis instrument, infrared radiation thermometer, controller, GPS and airborne computer.The hub motor is installed in two front-wheels, the figure passes camera and is installed on robot frame front end straight down, the laser scanner inclination is installed on robot frame front end, the spectroanalysis instrument and infrared radiation thermometer are installed on robot frame top lower surface, and the controller, GPS and airborne computer are fixed on robot frame top.The hub motor is connected with controller, and described image sensor, laser scanner, spectroanalysis instrument, infrared radiation thermometer and GPS are connected with airborne computer, and controller and airborne computer are bi-directionally connected.The present invention is directed to high bar plant, achievable while acquiring plant growth information to hide to barrier, improves information collection efficiency, has stronger practicability and promotional value.
Description
Technical field
The present invention relates to a kind of agriculture inspecting robot, in particular to a kind of agriculture tour machines with navigation barrier avoiding function
Device people.
Background technique
With the development of science and technology the degree of automation increasingly improves, the robot automtion degree for being related to agriculture field also exists
It is continuously improved.Agricultural robot can not only replace the mankind to be engaged in productive labor in rugged environment, can also improve agriculture work
Industry precision and production efficiency.In agricultural robot production process, the growth information for accurately obtaining crop in farmland can be helped
People understand crop growth situation in real time, instruct people accurately to pour, apply fertilizer, spray, to the maximum extent improve water,
The utilization efficiency of fertilizer and insecticide, reduces environmental pollution simultaneously.
Agricultural robot avoidance be in agricultural robot technology one most it is basic be also most critical function, it is intended to allow machine
It keeps not colliding during device human action, avoids the overaging of structure, falls off.
Based on the above reasons, need to develop a kind of agriculture inspecting robot with navigation barrier avoiding function, in acquisition crop
It can complete to hide barrier while growth information.
Summary of the invention
The invention discloses a kind of agriculture inspecting robot with navigation barrier avoiding function, which can be according to preparatory rule
The autonomous path drawn acquires agricultural land information, and real-time avoiding barrier, can effectively reduce labor intensity, and improves information collection effect
Rate.
A kind of agriculture inspecting robot with navigation barrier avoiding function mainly includes hub motor 1, rack 2, figure biography camera shooting
First 3, laser scanner 4, spectroanalysis instrument 5, infrared radiation thermometer 6, controller 7, GPS8 and airborne computer 9.
A kind of agriculture inspecting robot with navigation barrier avoiding function, is primarily characterized in that: the hub motor 1 is installed
In in two front-wheels, the figure passes camera 3 and is installed on robot frame front end straight down, and the laser scanner 4 tilts
It is installed on robot frame front end, the spectroanalysis instrument 5 and infrared radiation thermometer 6 are installed on robot frame top lower surface,
The controller 6, GPS8 and airborne computer 9 are fixed on robot frame top.The hub motor 1 is connected with controller 7,
Described image sensor 3, laser scanner 4, spectroanalysis instrument 5, infrared radiation thermometer 6 and GPS8 are connected with airborne computer 9, control
Device 7 and airborne computer 9 processed are bi-directionally connected.
Working principle of the present invention are as follows: it is a kind of with navigation barrier avoiding function agriculture inspecting robot across high bar plant row
Into according to path pre-planned, GPS8 determines the position of agriculture inspecting robot in real time and calculated by airborne computer 9
Next target point sends navigation instruction to controller 7, is controlled by it hub motor and advances according to specified path.Figure passes camera shooting
First 3, the growth information that spectroanalysis instrument 5 and infrared radiation thermometer 6 acquire crop in real time, which is transferred in airborne computer 9, is deposited
Storage, airborne computer 9 is corresponding with plant growth information by the position coordinates of each point in farmland, and the work in full wafer farmland can be obtained
Object growth information.Front end figure, which passes camera, can also be used to real-time detection barrier with laser scanner collocation, work as obstacle distance
When farther out, airborne computer can carry out path planning according to barrier size and make avoid-obstacle behavior, when obstacle distance is closer,
Robot should stop in emergency, and restart again far from after after barrier.
A kind of beneficial effect of the agriculture inspecting robot with navigation barrier avoiding function of the present invention is:
1. the present invention uses truss structure, the growth letter for the high bar plant that other acquisition platforms can not be collected can get
Breath.
2. the present invention carries out course changing control using hub motor, flexible layout does not need complicated mechanical structure.
Detailed description of the invention
Fig. 1 is a kind of structure diagram of the agriculture inspecting robot with navigation barrier avoiding function of the present invention.
Fig. 2 is a kind of system structure diagram of the agriculture inspecting robot with navigation barrier avoiding function of the present invention.
Specific embodiment
1,2 the present invention will be further explained with reference to the accompanying drawing:
It is wheel that a kind of agriculture inspecting robot with navigation barrier avoiding function, which mainly includes technical solution used by problem,
Hub motor 1, rack 2, figure pass camera 3, laser scanner 4, spectroanalysis instrument 5, infrared radiation thermometer 6, controller 7, GPS8 and
Airborne computer 9, is primarily characterized in that: the hub motor 1 is installed in two front-wheels, and it is vertical that the figure passes camera 3
It is installed on robot frame front end downwards, the inclination of laser scanner 4 is installed on robot frame front end, the spectrum analysis
Instrument 5 and infrared radiation thermometer 6 are installed on robot frame top lower surface, and the controller 6, GPS8 and airborne computer 9 are fixed
On robot frame top.The hub motor 1 is connected with controller 7, described image sensor 3, laser scanner 4, spectrum
Analyzer 5, infrared radiation thermometer 6 and GPS8 are connected with airborne computer 9, and controller 7 and airborne computer 9 are bi-directionally connected.
Claims (2)
1. a kind of agriculture inspecting robot with navigation barrier avoiding function mainly includes hub motor 1, rack 2, figure biography camera
3, laser scanner 4, spectroanalysis instrument 5, infrared radiation thermometer 6, controller 7, GPS8 and airborne computer 9.The hub motor 1
It is installed in two front-wheels, the figure passes camera 3 and is installed on robot frame front end, the laser scanner 4 straight down
Inclination is installed on robot frame front end, and the spectroanalysis instrument 5 and infrared radiation thermometer 6 are installed on robot frame top following table
Face, the controller 6, GPS8 and airborne computer 9 are fixed on robot frame top.The hub motor 1 and 7 phase of controller
Even, described image sensor 3, laser scanner 4, spectroanalysis instrument 5, infrared radiation thermometer 6 and GPS8 and 9 phase of airborne computer
Even, controller 7 and airborne computer 9 are bi-directionally connected.
2. a kind of agriculture inspecting robot with navigation barrier avoiding function according to claim 1, it is characterised in that: described
It is a kind of with navigation barrier avoiding function agriculture inspecting robot can complete while acquiring plant growth information to obstacle
Object is hidden.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628327.7A CN109278040A (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628327.7A CN109278040A (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109278040A true CN109278040A (en) | 2019-01-29 |
Family
ID=65185528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710628327.7A Pending CN109278040A (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109278040A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (10)
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|---|---|---|---|---|
| JP2002183242A (en) * | 2000-12-11 | 2002-06-28 | Terada Seisakusho Co Ltd | System for collecting and transmitting agricultural environment information |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN202041851U (en) * | 2011-04-19 | 2011-11-16 | 山东鲁能智能技术有限公司 | Intelligent routing inspection robot of laser navigation transformer substation |
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| CN203870032U (en) * | 2014-04-18 | 2014-10-08 | 浙江大学 | Information collecting device for field crops |
| CN204505237U (en) * | 2015-02-08 | 2015-07-29 | 东北林业大学 | Based on solidworks field information acquisition robot |
| CN105128979A (en) * | 2015-08-28 | 2015-12-09 | 华中农业大学 | All hydraulic wheel type field information collecting platform |
| CN106005080A (en) * | 2016-06-02 | 2016-10-12 | 东北农业大学 | Crop bottom-layer stalk routing inspection spherical robot with jumping obstacle avoiding function |
| CN106950965A (en) * | 2017-04-26 | 2017-07-14 | 华中农业大学 | A kind of field crop information gathering machine people |
| CN207139809U (en) * | 2017-07-22 | 2018-03-27 | 西北农林科技大学 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
-
2017
- 2017-07-22 CN CN201710628327.7A patent/CN109278040A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002183242A (en) * | 2000-12-11 | 2002-06-28 | Terada Seisakusho Co Ltd | System for collecting and transmitting agricultural environment information |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN202041851U (en) * | 2011-04-19 | 2011-11-16 | 山东鲁能智能技术有限公司 | Intelligent routing inspection robot of laser navigation transformer substation |
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| CN203870032U (en) * | 2014-04-18 | 2014-10-08 | 浙江大学 | Information collecting device for field crops |
| CN204505237U (en) * | 2015-02-08 | 2015-07-29 | 东北林业大学 | Based on solidworks field information acquisition robot |
| CN105128979A (en) * | 2015-08-28 | 2015-12-09 | 华中农业大学 | All hydraulic wheel type field information collecting platform |
| CN106005080A (en) * | 2016-06-02 | 2016-10-12 | 东北农业大学 | Crop bottom-layer stalk routing inspection spherical robot with jumping obstacle avoiding function |
| CN106950965A (en) * | 2017-04-26 | 2017-07-14 | 华中农业大学 | A kind of field crop information gathering machine people |
| CN207139809U (en) * | 2017-07-22 | 2018-03-27 | 西北农林科技大学 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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