CN109283922A - A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou - Google Patents
A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou Download PDFInfo
- Publication number
- CN109283922A CN109283922A CN201710628228.9A CN201710628228A CN109283922A CN 109283922 A CN109283922 A CN 109283922A CN 201710628228 A CN201710628228 A CN 201710628228A CN 109283922 A CN109283922 A CN 109283922A
- Authority
- CN
- China
- Prior art keywords
- laser scanner
- beidou
- robot
- end laser
- controller
- 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
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
-
- 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
-
- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The present invention discloses a kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou, is made of Beidou, upper end laser scanner, PC machine, lower end laser scanner, steering wheel drive module, controller and power module.It is characterized by: the Beidou is mounted on robot top, the upper end laser scanner is tiltedly mounted on the upper end of robot, the PC machine and controller is fixed on robot interior, the lower end laser scanner is horizontally arranged at the front end of robot, the steering wheel drive module is mounted in steering wheel rotation axis, power module is Beidou, upper end laser scanner, PC machine, lower end laser scanner, electric energy needed for steering wheel drive module and controller provide work, Beidou, upper end laser scanner, lower end laser scanner and controller are connect with PC machine, steering wheel drive module is connected with controller.The present invention is characterized in that: utilize the laser scanner for being mounted on two different locations while the height and width information that obtain barrier.
Description
Technical field
The present invention relates to a kind of agricultural robot obstacle avoidance systems, and in particular to a kind of agriculture based on laser scanner and Beidou
Industry robot obstacle-avoiding system, feature be can simultaneously acquired disturbance object height and width information.
Background technique
With precision agriculture theory and intelligence machine man-based development, reading intelligent agriculture robot navigation technology is increasingly by state
Inside and outside concern.Agricultural robot environment is a kind of typical unstructured operating environment, the main someone of barrier, electric wire
Bar and trees etc..
For the safety and reliability for guaranteeing agricultural robot operation, a crucial technology is exactly accurately to judge farmland
Relative position between the orientation and robot and barrier of middle barrier, i.e. obstacle detection technology.
The present invention is directed to farmland unstructured moving grids, proposes that a kind of agricultural robot based on laser scanner and Beidou is kept away
Barrier system provides theories integration for intelligentized detection of obstacles and Path Planning Technique, the operation to agricultural robot is widened
Range improves the intelligent level of agricultural equipment, there is highly important realistic meaning and wide application prospect.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of agriculture machine based on laser scanner and Beidou
Device people's obstacle avoidance system.
The present invention is achieved by the following technical solutions: a kind of agricultural robot based on laser scanner and Beidou is kept away
Barrier system is by Beidou 1, upper end laser scanner 2, PC machine 3, lower end laser scanner 4, steering wheel drive module 5, controller
6 and power module 7 form.It is characterized by: the Beidou 1 is mounted on robot top, the upper end laser scanner 2
It is tiltedly mounted on the upper end of robot, the PC machine 3 and controller 6 are fixed on robot interior, and the lower end laser is swept
The front end that instrument 4 is horizontally arranged at robot is retouched, the steering wheel drive module 5 is mounted in steering wheel rotation axis, power supply mould
Block 7 is Beidou 1, and upper end laser scanner 2, PC machine 3, lower end laser scanner 4, steering wheel drive module 5 and controller 6 provide
Electric energy needed for work, Beidou 1, upper end laser scanner 2, lower end laser scanner 4 and controller 6 are connect with PC machine 3, direction
Dish driving module 5 and controller 6 connect.
The steering wheel drive module 5 includes motor driver and direction disk-drive motor；The PC machine 3 includes north
Struggle against data acquisition module, laser data acquisition module, memory module, communication unit and microprocessor unit；The controller 6
Including course changing control module, storage unit and communication unit.
The present invention is based on above-mentioned compositions, its working principle is that: when agricultural robot walking work, Beidou acquires robot position
Confidence breath, upper end laser scanner acquire obstacle height information, and lower end laser scanner acquires barrier width information, sensing
Device transmits information to PC machine by communication unit, by PC machine after microprocessing unit is handled, identifies characteristic target, makes
Navigational parameter is sent to controller after decision, is finally hided by controller control direction dish driving module completion to barrier
It keeps away.
A kind of beneficial effect of the agricultural robot obstacle avoidance system based on laser scanner and Beidou of the present invention is: guaranteeing agriculture
Barrier is hidden in the completion of industry robot, and using the laser scanner for being mounted on two different locations while obtaining barrier
Height and width information.
Detailed description of the invention
Fig. 1 is that a kind of installed based on the agricultural robot obstacle avoidance system sensor of laser scanner and Beidou of the present invention is illustrated
Figure.
Fig. 2 is that a kind of sensor function of the agricultural robot obstacle avoidance system based on laser scanner and Beidou of the present invention is said
Bright figure.
Specific embodiment
1,2 the present invention will be further explained with reference to the accompanying drawing:
A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou, be by Beidou, upper end laser scanner,
PC machine, lower end laser scanner, steering wheel drive module, controller and power module composition.It is characterized by: the Beidou
It is mounted on robot top, the upper end laser scanner is tiltedly mounted on the upper end of robot, the PC machine and control
Device is fixed on robot interior, and the lower end laser scanner is horizontally arranged at the front end of robot, and the steering wheel drives
Dynamic model block is mounted in steering wheel rotation axis, and power module is Beidou, upper end laser scanner, PC machine, lower end laser scanner,
Electric energy needed for steering wheel drive module and controller provide work, Beidou, upper end laser scanner, lower end laser scanner and
Controller is connect with PC machine, and steering wheel drive module is connected with controller.
Function achieved by two above-mentioned laser scanners is different: upper end laser scanner because installation site is higher,
Farther away barrier can be detected, and obtain the elevation information of barrier.Lower end laser scanner is because it is closer away from barrier, instead
Radio frequency rate is higher, can accurately obtain Obstacle Position and width information.
Claims (3)
1. a kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou, is by Beidou, upper end laser scanner, PC
Machine, lower end laser scanner, steering wheel drive module, controller and power module composition.It is characterized by: the Beidou is pacified
Mounted in robot top, the upper end laser scanner is tiltedly mounted on the upper end of robot, the PC machine and controller
It is fixed on robot interior, the lower end laser scanner is horizontally arranged at the front end of robot, the direction dish driving
Module is mounted in steering wheel rotation axis, and power module is Beidou, upper end laser scanner, PC machine, lower end laser scanner, side
Electric energy, Beidou, upper end laser scanner, lower end laser scanner and control needed for providing work to dish driving module and controller
Device processed is connect with PC machine, and steering wheel drive module is connected with controller.
2. a kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou according to claim 1, feature
Be: farther away barrier can be detected because installation site is higher in the upper end laser scanner, and obtains the height of barrier
Spend information.
3. a kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou according to claim 1, feature
Be: for lower end laser scanner because it is closer away from barrier, reflection frequency is higher, can accurately obtain Obstacle Position and width letter
Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628228.9A CN109283922A (en) | 2017-07-22 | 2017-07-22 | A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628228.9A CN109283922A (en) | 2017-07-22 | 2017-07-22 | A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109283922A true CN109283922A (en) | 2019-01-29 |
Family
ID=65185504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710628228.9A Pending CN109283922A (en) | 2017-07-22 | 2017-07-22 | A kind of agricultural robot obstacle avoidance system based on laser scanner and Beidou |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109283922A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901583A (en) * | 2019-03-21 | 2019-06-18 | 创泽智能机器人股份有限公司 | A kind of robot barrier analyte detection and path adjust system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879741A (en) * | 2014-04-04 | 2014-06-25 | 上海东源计算机自动化工程有限公司 | Laser anti-collision early warning system used for bulk cargo stockyard |
| CN205220854U (en) * | 2015-04-12 | 2016-05-11 | 陈田来 | Multipurpose intelligence car reaches intelligence equipment of giving medicine to poor free of charge including this car |
| CN105716619A (en) * | 2016-02-18 | 2016-06-29 | 江西洪都航空工业集团有限责任公司 | Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology |
| CN106135175A (en) * | 2015-04-12 | 2016-11-23 | 陈田来 | A kind of multi-purpose intelligent car |
| CN205709704U (en) * | 2016-04-18 | 2016-11-23 | 广州飞锐机器人科技有限公司 | A kind of unmanned transportation fork-truck of laser navigation |
-
2017
- 2017-07-22 CN CN201710628228.9A patent/CN109283922A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879741A (en) * | 2014-04-04 | 2014-06-25 | 上海东源计算机自动化工程有限公司 | Laser anti-collision early warning system used for bulk cargo stockyard |
| CN205220854U (en) * | 2015-04-12 | 2016-05-11 | 陈田来 | Multipurpose intelligence car reaches intelligence equipment of giving medicine to poor free of charge including this car |
| CN106135175A (en) * | 2015-04-12 | 2016-11-23 | 陈田来 | A kind of multi-purpose intelligent car |
| CN105716619A (en) * | 2016-02-18 | 2016-06-29 | 江西洪都航空工业集团有限责任公司 | Unmanned mowing vehicle outdoor navigation and control method based on GPS-RTK technology |
| CN205709704U (en) * | 2016-04-18 | 2016-11-23 | 广州飞锐机器人科技有限公司 | A kind of unmanned transportation fork-truck of laser navigation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901583A (en) * | 2019-03-21 | 2019-06-18 | 创泽智能机器人股份有限公司 | A kind of robot barrier analyte detection and path adjust system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190129 |