CN109566359A - Robot system of watering flowers based on big-dipper satellite positioning - Google Patents
Robot system of watering flowers based on big-dipper satellite positioning Download PDFInfo
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- CN109566359A CN109566359A CN201811596717.1A CN201811596717A CN109566359A CN 109566359 A CN109566359 A CN 109566359A CN 201811596717 A CN201811596717 A CN 201811596717A CN 109566359 A CN109566359 A CN 109566359A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
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Abstract
The invention discloses a kind of robot systems of watering flowers based on big-dipper satellite positioning, including mounting electricity storage pack, water tank, water tank bottom fills deflecting roller and driving wheel, control system unit is filled on water tank, control system unit is equipped with the first mechanical arm mechanism of spray head, is installed on the second mechanical arm mechanism control system unit of soil moisture sensor and humidity sensor on control system unit and fills ultrasonic distance-measuring sensor.The present invention merges multiple sensors, enable water flowers robot according to the actual conditions of soil targetedly poured.It is realized in terms of the control of irrigation amount full-automatic.By the combination of multivariant mechanical arm and servo-control system, it is able to achieve the intelligent path planning for robot of watering flowers and pours control.Beidou satellite alignment system is combined with robot of watering flowers, can easily realize the automatic control for pouring operation to robot of watering flowers.
Description
Technical field
It waters flowers robot system the present invention relates to one kind.
Background technique
Water is the lifeblood of Source of life and economic development, and the importance of the lifeblood of human survival, water has become the world
Common recognition, the exploitation of water resource, utilization and protects oneself to be paid attention to by countries in the world.And with regard to how rationally efficiently using limited light
Water resource, giving full play to economy of resources, oneself becomes a global important topic urgently to be solved.
The utilization rate and utilization efficiency of water resource lowly make water resource presented in terms of throttling it is huge exploit potentialities, because
This water-saving certainty as historical development.Along with the allegro life of people, work, study, people are without many times
The flower plant etc. for going scrupulous care oneself to plant, therefore it is badly in need of a kind of product that can replace human labour in the market.
In the modern life, as the improvement of people's living standards, people to the green plantss such as flowers, trees like and
It plants more and more, however the work such as the pouring of flowers and trees, fertilising was required manually to realize, due to the modern life in the past
The quickening of rhythm, people are often busy with work and forget to keep the skin wet and nutriment for flowers periodically, in time, or due to putting
Vacation is gone home and flower, which is placed on office nobody management, causes flowers and trees withered.Existing sprinkler needs someone's control or fixed
When pouring, the illumination according to required for plant normal growth, moisture, temperature are come real-time coordinate plant growth environment
Parameter is unfavorable for the growth of flowers and trees, and if present rare flower because the above reason and death is lost more than gain.
In view of the above circumstances, being badly in need of providing in the market a kind of automatically can supplement moisture according to the variation of temperature, humidity
To flowers and trees, reach regular, the timely flowers and trees Self-acting watering device for pouring flowers and trees.
But since sprinkling irrigation equipments many currently on the market is for big faces such as greenhouse, outdoor crops, forests
Product plant sprinkling irrigation, and for family's small area spray irrigation system equipment almost without.It can satisfy family's intelligence therefore, it is necessary to a set of
The pouring robot of demand can be changed.
Summary of the invention
The purpose of the present invention is to provide a kind of watering flowers based on big-dipper satellite positioning for enough meeting home intelligence demand
Robot system.
The technical solution of the invention is as follows:
A kind of robot system of watering flowers based on big-dipper satellite positioning, it is characterized in that: including mounting electricity storage pack, water tank, water tank bottom
Portion fills deflecting roller and driving wheel, and control system unit is filled on water tank, and control system unit is equipped with the first mechanical arm machine of spray head
Structure is installed with the second mechanical arm mechanism of soil moisture sensor and humidity sensor on control system unit；First machine
Tool arm mechanism includes that spray head rotates big arm component, and spray head rotates big arm component front end dress spray head and rotates small arm component, spray head rotation
Turn forearm front end and put into the spray head that row is watered flowers, spray head is driven by spray head rotation decelerating motor, and spray head rotation forearm is rotated by spray head
The driving rotation of forearm decelerating motor, spray head rotate large arm by spray head rotation large arm decelerating motor driving rotation；Described second is mechanical
Arm mechanism includes that moisture probe rotates big arm component, and moisture probe rotates big arm component front end dress moisture probe and rotates forearm group
Part, moisture probe rotate small arm component front end and are equipped with soil moisture sensor and humidity sensor, and moisture probe rotates large arm group
By moisture probe rotation large arm decelerating motor driving, moisture probe rotates small arm component and is slowed down by moisture probe rotation forearm part
Motor driven, moisture probe rotate forearm front end and camera are housed；Ultrasonic distance-measuring sensor is filled on control system unit；
The control system includes embedded computer, is the arithmetic core of control system, for based on 32 A9 frameworks
ARM chipset；Embedded computer is connected to operation panel, realizes the feature operation to robot；Embedded computer is connected to
ROM and RAM reservoir provides program running memory for storing program and parameter；Embedded computer is connected to number and mould
Analog quantity input and output, input or output to various states and control command；Embedded computer and soil moisture sensor,
Humidity sensor, ultrasonic distance-measuring sensor connection；Embedded computer is connected to port, realizes robot and other equipment
Information exchange, have COM serial port and Ethernet interface based on RS-232/RS-485；
Embedded computer is connect with positioning system, and the positioning system has absolute coordinate positioning, relative positioning function
Energy；The absolute coordinate positioning is positioned composed by any four star system by dipper system using BEI-DOU position system
System obtains the position of robot；The relative positioning function is to pass through photoelectric encoder in train using photoelectric encoder
Numerical value, can accurately obtain the movement position of current robot；
The control system includes three big modules: bottom communication module, Logic control module, human-computer interaction interface；Bottom
Communication module: it is mainly used for the acquisition of sensor/positioning system data, the output of motor control digital signal；Logic control mould
Block: logic control is poured in conjunction with air humidity and soil moisture content and accurately matches current irrigation amount, and predicts that next time pours
Fill the time；It is displaced planning control, by the amount of spin of location information and driving wheel, precise machine people position, road is poured in prediction
Diameter；Pour mechanical arm and train motion control；It is resolved by the spatial position to multi-joint mechanical arm, it is each to calculate mechanical arm
The running position of a joint control；Human-computer interaction interface: by equipment runnable interface, the real-time fortune of current robot is shown
Row parameter；By set interface, the various control parameters of the robot of watering flowers or the pouring flowers that increase and decrease is different can be set
Information realizes the optimum control to robot.
Absolutely orientation can compare to obtain using dipper system terminal positioning module when receiver receives signal
Time and the satellite information received show gap between the time on receiver, this gap is exactly you and satellite multiplied by the light velocity
The distance between；So you only need to solve four parameters: three-dimensional coordinate x, y, z and clock deviation on earth observe four
Satellite, so that it may construct four equations, solve four unknown numbers；The characteristics of due to position location satellite itself, do not exist all the time
Send then oneself spatial information, the i.e. coordinate information of x, y, z, and the exact time sent；
Wherein there was only x, y, z, the V of robot itselft0It is unknown number, remainder data is the accurate number that each satellite is sent
According to；
Therefore polynary solving equations can be become for current second generation Beidou satellite system:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)=D1 (1)
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)=D2 (2)
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)=D3 (3)
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)=D4 (4)
Wherein D1, D2, D3, D4 are respectively the receiver the distance between to each satellite, and c is the light velocity, (Vtn-Vt0) then
For the time difference between each satellite transmitted signal and receiver signal；The accurate of current robot can be calculated by the equation
Position；x1、x2、x3、x4、y1、y2、 y3、y4、z1、z2、z3、z4, it is coordinate information of four satellites in x, y, z respectively.
Robot system of the present invention merges multiple sensors, enable water flowers robot according to soil actual conditions
Targetedly poured.It is realized in terms of the control of irrigation amount full-automatic.By multivariant mechanical arm with watch
The combination for taking control system is able to achieve the intelligent path planning for robot of watering flowers and pours control.Big-dipper satellite is determined
Position system is combined with robot of watering flowers, and can easily realize the automatic control that operation is poured to robot of watering flowers.
The present invention determines the current position of robot, further according to the pouring model delimited before by BEI-DOU position system
It encloses, carries out route matching calculating.Obtain optimal pouring path.By controller driving motor, it is driven driving wheel, so that machine
Device people is close to the flowers for needing to pour.The mechanical arm for having humidity and soil sensor is stretched out, and is inserted into flower soil, is obtained
The accurate moisture content and neighbouring air humidity of flowers current soil.According to soil and air humidity, matching control system
The corresponding sprinkling irrigation information of storage inside.According to matched as a result, control has the mechanical arm of spray head, alignment needs the flower poured
Grass carries out the pouring operation of accurate control time control amount.During watering flowers, miniature webcam can be opened, nothing can be passed through if necessary
Line WiFi network will be on current sprinkling irrigation picture transmission to user mobile phone.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Specific embodiment
A kind of robot system of watering flowers based on big-dipper satellite positioning, including mounting electricity storage pack 2, water tank 20, water tank bottom dress turn
To wheel 1 and driving wheel 22, control system unit 17 is filled on water tank, control system unit is equipped with the first mechanical arm of spray head 12
Mechanism is installed with the second mechanical arm mechanism of soil moisture sensor 7 and humidity sensor 10 on control system unit；It is described
First mechanical arm mechanism includes that spray head rotates big arm component 5, and spray head rotates big arm component front end dress spray head and rotates small arm component
11, the spray head 12 that row is watered flowers is put into spray head rotation forearm front end, and spray head is by spray head rotation decelerating motor driving 13, spray head rotation
Forearm is rotated large arm and is driven by spray head rotation large arm decelerating motor 4 by the spray head rotation driving rotation of forearm decelerating motor 14, spray head
Rotation；The second mechanical arm mechanism includes that moisture probe rotates big arm component 15, and moisture probe rotates big arm component front end
It fills moisture probe and rotates small arm component 8, moisture probe rotates small arm component front end and is equipped with soil moisture sensor 7 and humidity biography
Sensor, moisture probe rotate big arm component and are driven by moisture probe rotation large arm decelerating motor 16, and moisture probe rotates forearm group
Part is driven by moisture probe rotation forearm decelerating motor 9, and moisture probe rotates forearm front end and camera 23 is housed；Control system
Ultrasonic distance-measuring sensor 24 is filled on unit；There are also control switch and electric-quantity display devices 3, control humidity sensor selection in figure
Moisture probe rotate decelerating motor 6, water tank inlet 18, water outlet of water tank 21, power source charges socket 19.
The control system includes:
1, embedded computer: the arithmetic core of control system.ARM chipset based on 32 A9 frameworks.
2, operation panel: one piece of touch screen.Various operation buttons, status indicator lamp composition are provided on screen, are realized to machine
The feature operation of device people.
3, ROM and RAM reservoir: storage program and parameter provide program running memory.
4, number and analog input and output: the input or output of various states and control command.
5, soil moisture sensor: for measuring the current moisture content of soil.
6, humidity sensor: for measuring the content of moisture in air.
7, it ultrasonic distance-measuring sensor: is used at a distance from flowers or barrier for judging in robot kinematics
Path planning and hide obstacle.
8, electric machine controller: mainly by the servo motor of 2500 line incremental encoder of band and common group of servo-driver
At.Realize each joint position of robot, velocity and acceleration control.The communication that RS485 is wherein carried in servo-driver connects
Mouthful, the interaction of data can be carried out with embedded computer.
9, ancillary equipment controls: the ancillary equipment control for cooperating with robot, such as manipulator limit switch.
10, port: realizing the information exchange of robot and other equipment, there is the COM string based on RS-232/RS-485
Mouth and Ethernet interface.
Positioning system:
1, absolute coordinate positions: BEI-DOU position system.System is positioned composed by any four star system by dipper system
System, obtains the position of robot.
2, relative positioning function: photoelectric encoder.By the numerical value of photoelectric encoder in train, can accurately obtain current
The movement position of robot.
Embedded computer is connect with positioning system, and the positioning system has absolute coordinate positioning, relative positioning function
Energy；The absolute coordinate positioning is positioned composed by any four star system by dipper system using BEI-DOU position system
System obtains the position of robot；The relative positioning function is to pass through photoelectric encoder in train using photoelectric encoder
Numerical value, can accurately obtain the movement position of current robot；
The control system includes three big modules: bottom communication module, Logic control module, human-computer interaction interface；Bottom
Communication module: it is mainly used for the acquisition of sensor/positioning system data, the output of motor control digital signal；Logic control mould
Block: logic control is poured in conjunction with air humidity and soil moisture content and accurately matches current irrigation amount, and predicts that next time pours
Fill the time；It is displaced planning control, by the amount of spin of location information and driving wheel, precise machine people position, road is poured in prediction
Diameter；Pour mechanical arm and train motion control；It is resolved by the spatial position to multi-joint mechanical arm, it is each to calculate mechanical arm
The running position of a joint control；Human-computer interaction interface: by equipment runnable interface, the real-time fortune of current robot is shown
Row parameter；By set interface, the various control parameters of the robot of watering flowers or the pouring flowers that increase and decrease is different can be set
Information realizes the optimum control to robot.
Absolutely orientation can compare to obtain using dipper system terminal positioning module when receiver receives signal
Time and the satellite information received show gap between the time on receiver, this gap is exactly you and satellite multiplied by the light velocity
The distance between；So you only need to solve four parameters: three-dimensional coordinate x, y, z and clock deviation on earth observe four
Satellite, so that it may construct four equations, solve four unknown numbers；The characteristics of due to position location satellite itself, do not exist all the time
Send then oneself spatial information, the i.e. coordinate information of x, y, z, and the exact time sent；
Wherein there was only x, y, z, the V of robot itselft0It is unknown number, remainder data is the accurate number that each satellite is sent
According to；
Therefore polynary solving equations can be become for current second generation Beidou satellite system:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)=D1 (1)
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)=D2 (2)
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)=D3 (3)
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)=D4 (4)
Wherein D1, D2, D3, D4 are respectively the receiver the distance between to each satellite, and c is the light velocity, (Vtn-Vt0) then
For the time difference between each satellite transmitted signal and receiver signal；The accurate of current robot can be calculated by the equation
Position；x1、x2、x3、x4、y1、y2、 y3、y4、z1、z2、z3、z4, it is coordinate information of four satellites in x, y, z respectively.
Dead reckoning:
It is Relative localization method and a kind of presently the most widely used positioning side of intelligent robot of a kind of classics
Method.It obtains the movement multidate information of robot using the various sensors of robotic equipment, adds up formula by recursion and obtains
Estimated location of the robot with respect to preliminary examination state.The more commonly used sensor of dead reckoning generally has: photoelectric encoder, inertia
Sensor etc..
Photoelectric encoder is used for cost consideration.Photoelectric encoder is generally using the photoelectric code disk being mounted on wheel
The revolution of wheel is recorded, and then obtains knots modification of the robot relative to upper sampling instant position and posture, passes through these positions
The accumulation of shifting amount can estimate the position of robot.Code-disc method advantage is that method is simple, cheap, but it is easy to be marked
The factors such as determining error, wheel-slip, jolt influences, and error is larger.It is easy to use but since code-disc is cheap, it can use
Location estimation in robot short period distance.
Incremental rotary encoder working principle:
Incremental rotary encoder converts the timing and phase relation of angle code-disc by two photosensitive receiving tubes, obtains
To the increase (positive direction) or reduction (negative direction) of angle code-disc amount angular displacement.
Claims (2)
1. a kind of robot system of watering flowers based on big-dipper satellite positioning, it is characterized in that: including mounting electricity storage pack, water tank, water tank bottom
Deflecting roller and driving wheel are filled, control system unit is filled on water tank, control system unit is equipped with the first mechanical arm mechanism of spray head,
The second mechanical arm mechanism of soil moisture sensor and humidity sensor is installed on control system unit；The first mechanical arm
Mechanism includes that spray head rotates big arm component, and spray head rotates big arm component front end dress spray head and rotates small arm component, and spray head rotates forearm
The spray head that row is watered flowers is put into front end, and spray head is driven by spray head rotation decelerating motor, and spray head rotates forearm and subtracted by spray head rotation forearm
Speed motor driving rotation, spray head rotate large arm by spray head rotation large arm decelerating motor driving rotation；The second mechanical arm mechanism
Big arm component is rotated including moisture probe, moisture probe rotates big arm component front end dress moisture probe and rotates small arm component, humidity
Probe rotates small arm component front end and is equipped with soil moisture sensor and humidity sensor, and moisture probe rotates big arm component by humidity
Probe rotation large arm decelerating motor driving, moisture probe rotate small arm component and rotate the driving of forearm decelerating motor by moisture probe,
Moisture probe rotates forearm front end and camera is housed；Ultrasonic distance-measuring sensor is filled on control system unit；
The control system includes embedded computer, is the arithmetic core of control system, for the ARM core based on 32 A9 frameworks
Piece group；Embedded computer is connected to operation panel, realizes the feature operation to robot；Embedded computer is connected to ROM and RAM
Reservoir provides program running memory for storing program and parameter；Embedded computer is connected to number and analog input is defeated
Out, to the input or output of various states and control command；Embedded computer and soil moisture sensor, humidity sensor,
Ultrasonic distance-measuring sensor connection；Embedded computer is connected to port, realizes the information exchange of robot and other equipment, has
COM serial port and Ethernet interface based on RS-232/RS-485；
Embedded computer is connect with positioning system, and the positioning system has the function of absolute coordinate positioning, relative positioning；It is described
Absolute coordinate positioning is using BEI-DOU position system, and positioning system composed by any four star system by dipper system obtains
Obtain the position of robot；The relative positioning function, be using photoelectric encoder, by the numerical value of photoelectric encoder in train,
The movement position of current robot can accurately be obtained；
The control system includes three big modules: bottom communication module, Logic control module, human-computer interaction interface；Bottom communication
Module: it is mainly used for the acquisition of sensor/positioning system data, the output of motor control digital signal；Logic control module: it pours
When filling logic control and accurately match current irrigation amount in conjunction with air humidity and soil moisture content, and predicting that next time pours
Between；It is displaced planning control, by the amount of spin of location information and driving wheel, precise machine people position, path is poured in prediction；It pours
Mechanical arm and train motion control；It is resolved by the spatial position to multi-joint mechanical arm, calculates each joint control of mechanical arm
The running position of device processed；Human-computer interaction interface: by equipment runnable interface, the real time execution parameter of current robot is shown；It is logical
Set interface is crossed, the various control parameters of the robot of watering flowers or the pouring flowers information that increase and decrease is different, realization pair can be set
The optimum control of robot.
2. the robot system of watering flowers according to claim 1 based on big-dipper satellite positioning, it is characterized in that: absolute position is fixed
Position uses dipper system terminal positioning module, when receiver receives signal, can compare to obtain the time on receiver and receive
The satellite information arrived shows gap between the time, this gap is exactly the distance between you and satellite multiplied by the light velocity；So you only
Need to solve four parameters: three-dimensional coordinate x, y, z and clock deviation on earth observe four satellites, so that it may construct four
Equation solves four unknown numbers；The characteristics of due to position location satellite itself, is not sending then oneself spatial information all the time,
That is the coordinate information of x, y, z, and the exact time sent；
Wherein there was only x, y, z, the V of robot itselft0It is unknown number, remainder data is the accurate data that each satellite is sent；
Therefore polynary solving equations can be become for current second generation Beidou satellite system:
[(x1-x)2+(y1-y)2+(z1-z)2]1/2+c(Vt1-Vt0)=D1 (1)
[(x2-x)2+(y2-y)2+(z2-z)2]1/2+c(Vt2-Vt0)=D2 (2)
[(x3-x)2+(y3-y)2+(z3-z)2]1/2+c(Vt3-Vt0)=D3 (3)
[(x4-x)2+(y4-y)2+(z4-z)2]1/2+c(Vt4-Vt0)=D4 (4)
Wherein D1, D2, D3, D4 are respectively the receiver the distance between to each satellite, and c is the light velocity, (Vtn-Vt0) it is then each
The time difference between satellite transmitted signal and receiver signal；The accurate location of current robot can be calculated by the equation；x1、
x2、x3、x4、y1、y2、y3、y4、z1、z2、z3、z4, it is coordinate information of four satellites in x, y, z respectively.
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| CN110100705A (en) * | 2019-05-31 | 2019-08-09 | 首都师范大学 | A kind of high water storage mobile model farmland irrigating device |
| CN110199719A (en) * | 2019-07-05 | 2019-09-06 | 西南石油大学 | A kind of intelligent flower watering robot based on ROS |
| CN110604047A (en) * | 2019-10-24 | 2019-12-24 | 徐州才聚智能科技有限公司 | Flower watering robot |
| CN110865648A (en) * | 2019-12-16 | 2020-03-06 | 南京信息工程大学 | Household vegetable field supervision device based on biped robot |
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| CN111528059A (en) * | 2020-06-03 | 2020-08-14 | 北京世纪立成园林绿化工程有限公司 | Artificial intelligent watering equipment for landscaping |
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