CN203012510U - Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion - Google Patents
Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion Download PDFInfo
- Publication number
- CN203012510U CN203012510U CN 201320004971 CN201320004971U CN203012510U CN 203012510 U CN203012510 U CN 203012510U CN 201320004971 CN201320004971 CN 201320004971 CN 201320004971 U CN201320004971 U CN 201320004971U CN 203012510 U CN203012510 U CN 203012510U
- Authority
- CN
- China
- Prior art keywords
- module
- information
- sensor module
- barrier
- dsp
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion, mainly comprising a visual sensor module, an ultrasonic sensor module, an infrared sensor module, a data fusion module and a control module. The DSP processor of each sensor module processes the surrounding environment barrier information acquired by the corresponding sensor module, the DSP processor of the data fusion module receives the barrier information processed by each sensor module and enables the received information to be fused according to a specific fusion rule, the fused data is transmitted to the ARM processor of the control module, the ARM processor is used for making a behavior decision and controlling a performer to achieve mountainous region agricultural robot obstacle-avoiding operation. According to the mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion, a plurality of DSP processors are employed for processing the information of a plurality of sensors, the data processing rate is raised, obstacle-avoiding real-time performance and accuracy requirements are satisfied, and the robot obstacle-avoiding is more flexible and reliable.
Description
Technical field
The utility model relates to a kind of obstacle avoidance system that is applied to the mountain farming robot, relates in particular to a kind of mountain farming robot obstacle-avoiding system that carries out automatic obstacle avoiding based on multi-sensor information fusion, belongs to the robot obstacle-avoiding technical field.
Background technology
The mountain farming robot operates mainly in the knob, and in order to increase work efficiency, independent navigation becomes the inexorable trend of mountain farming robot development, and automatic obstacle avoiding is an important content of the robot autonomous navigation of mountain farming.What application was more at present is to utilize vision to keep away barrier and capable of avoiding obstacles by supersonic wave.Utilize vision sensor to keep away barrier, can obtain concrete obstacle information, thereby reach the purpose of accurately keeping away barrier, but the vision obstacle avoidance algorithm is complicated, the image computational processing is large, can not requirement of real time, and when barrier not within the visual field or light when very dark, vision is kept away the barrier activity and is restricted.Utilize ultrasonic sensor to keep away barrier, speed is fast, is not vulnerable to the impact of the external conditions such as weather condition and ambient lighting, but can not obtain the specifying information of barrier, and only utilizes ultrasonic sensor to keep away barrier also to exist and measure the blind area, be prone to accidents.Utilize in recent years multi-sensor information fusion technology to keep away the scientific research field that barrier has developed into a hot topic, adopt multi-sensor information fusion technology can improve reliability and the robustness of system, observation scope on expansion time and space, strengthen the trust degree of data and the resolution characteristic of system, and adopt multi-sensor information fusion technology can take full advantage of limited sensor resource, both reduced costs, can improve the performance of mountain farming robot again, satisfy the needs of practical application.Therefore, the utility model proposes a kind of mountain farming robot obstacle-avoiding system based on multi-sensor information fusion that can satisfy automatic obstacle avoiding real-time and accuracy requirement.
The utility model content
For overcome the single-sensor obtaining information unilateral, keep away the shortcomings such as the barrier precision is not enough, real-time is poor, the utility model provides a kind of mountain farming robot obstacle-avoiding system based on multi-sensor information fusion, can obtain the specifying information of barrier, and satisfy the requirement of real-time and accuracy.
The technical solution of the utility model is: a kind of mountain farming robot obstacle-avoiding system based on multi-sensor information fusion comprises the vision sensor module (1), the ultrasonic sensor module (2) that is placed on mountain farming robot dead ahead and the left and right sides and infrared sensor module (3), data fusion module (4) and the control module (5) that are placed on mountain farming robot top.
The vision sensor module comprises 1 CCD camera, 1 Video Decoder, 1 DSP image processor, external memory storage SDRAM, EEPROM, FLASH and peripheral circuit; FLASH is used for program code stored and start-up code, and SDRAM is program, data-carrier store, and EEPROM is used for storing various configuration informations; When the mountain farming robot ambulation, ccd video camera is used for the image information of Real-time Collection mountain farming robot road ahead, and it is transferred to Video Decoder, be transferred to the DSP image processor after information exchange being crossed cache memory section after video decoder decodes, obtain the image information of barrier after the DSP image processor is processed, then with the barrier image transmission to data fusion module.
The ultrasonic sensor module comprises 9 ultrasonic sensors, 1 temperature sensor, 1 DSP signal processor and peripheral circuit, 9 ultrasonic sensors are divided into 3 groups, every group 3, equidistantly be placed on respectively dead ahead and the left and right sides of mountain farming robot, survey the obstacle distance information of the place ahead and left and right sides 30cm～800cm, the DSP signal processor receives the signal that 9 ultrasonic sensors gather, and the environment temperature that gathers in conjunction with temperature sensor, convert the signal that gathers to range data, then range data is transferred to data fusion module.
Infrared sensor module comprises 9 infrared sensors, 1 DSP signal processor and peripheral circuit, 9 infrared sensors are divided into 3 groups, every group 3, equidistantly be placed on respectively dead ahead and the left and right sides of mountain farming robot, survey the place ahead and left and right sides 3cm～60cm distance whether barrier is arranged, the DSP signal processor receives the signal that 9 infrared sensors gather, and after being processed, the signal that gathers is transferred to data fusion module, the infrared sensor detection range is shorter, can make up the defective that there is range hole in ultrasonic sensor.
Data fusion module comprises 1 DSP signal processor and peripheral circuit, the DSP signal processor receives by vision sensor module, ultrasonic sensor module and the next obstacle information of infrared sensor module transmission, carry out data fusion by specific fusion rule, and the communication after merging carries out behaviour decision making and control to control module.
Control module comprises arm processor, control circuit and actuator, arm processor receives the information after being merged by data fusion module, then carry out behaviour decision making and control according to specific judgment rule, the mountain farming robot carried out advance accordingly by controlling actuator, retreat, left/right rotation to or braking maneuver, thereby realize keeping away barrier.
In sum, the obstacle avoidance system based on multi-sensor information fusion mountain farming robot that provides of the utility model can be realized the automatic obstacle avoiding in walking.Adopt vision sensor can obtain a large amount of ambient condition information, understand the concrete image information of barrier, improve the accuracy of keeping away barrier; Adopt distance measuring method that ultrasonic sensor and infrared sensor combine can Quick Measuring to get the range information of barrier, improve real-time, and can avoid single-sensor to have the defective of measuring the blind area, improve the accuracy and the security that keep away barrier, and data acquisition module and data fusion module all adopt independent DSP signal processor, by many dsp processors, multi-sensor information is carried out parallel processing, improve the speed of data acquisition and processing (DAP), satisfied the requirement of obstacle avoidance system real-time and high efficiency.
Description of drawings
Further illustrate the utility model below in conjunction with accompanying drawing.
Fig. 1 is general structure block diagram of the present utility model.
Fig. 2 is vision sensor modular structure block diagram of the present utility model.
Fig. 3 is ultrasonic sensor modular structure block diagram of the present utility model.
Fig. 4 is infrared sensor module structured flowchart of the present utility model.
Fig. 5 is data fusion process process flow diagram of the present utility model.
Fig. 6 is control module structured flowchart of the present utility model.
In figure: 1 is the vision sensor module, and 2 is the ultrasonic sensor module, and 3 is infrared sensor module, and 4 is data fusion module, and 5 is control module.
Embodiment
Fig. 1 is general structure block diagram of the present utility model.vision sensor, ultrasonic sensor and infrared sensor pass through separately, and corresponding DSP high speed processor gathers and processes the surrounding environment obstacle information, after handling obstacle information, the DSP signal processor of data fusion module (TMS320F2812 chip) receive data, after receiving total data, this DSP signal processor merges the data that receive by specific fusion rule, then fused data is transferred to the arm processor (S3C2410) of control module, this arm processor (S3C2410) carries out behaviour decision making and control, then the mountain farming robot is carried out advance accordingly by controlling actuator, retreat, left/right rotation to or braking maneuver, complete the real-time barrier of keeping away.
Fig. 2 is vision sensor modular structure block diagram of the present utility model.This structure comprises 1 CCD camera, 1 Video Decoder, SDRAM, FLASH, EEPROM, 1 DSP image processor (TMS320DM642 chip), FLASH is used for program code stored and start-up code, SDRAM is program, data-carrier store, and EEPROM is used for storing various configuration informations and peripheral circuit.The CCD camera be positioned over the mountain farming robot directly over, Real-time Collection road image information, then being transferred to Video Decoder decodes, decoded information is processed through being transferred to this DSP image processor after cache memory section, obtain the image information of barrier after processing, afterwards with the DSP signal processor of barrier image transmission to data fusion module.
Fig. 3 is ultrasonic sensor modular structure block diagram of the present utility model.This structure comprises 9 ultrasonic sensors, 1 temperature sensor, 1 DSP signal processor (TMS320F2812 chip) and peripheral circuit.INIT1 to INIT9 is the control signal of controlling the ultrasonic pulse emission, and ECHO1 to ECHO9 is the feedback signal that ultrasonic sensor receives echo pulse signal.9 feedback signal ECHO1 to ECHO9 of ultrasonic sensor form an external interrupt input signal XINT of this dsp processor by logical “and”, any one in them or several signal that detects all trigger look-at-me XINT, this dsp processor enters interrupt routine afterwards, by data bus, the sensor reflected signal being transferred to this dsp processor processes, the ambient temperature information of temperature sensor collection also is transferred to this dsp processor after changing through A/D, the combining environmental temperature information, go out the range information of barrier from the transmitted signal to the Time Calculation that receives echo pulse signal by calculating, then the look-at-me of trigger data Fusion Module DSP signal processor, transmit this range information to it.
Fig. 4 is infrared sensor module structured flowchart of the present utility model.This structure comprises 9 infrared sensors, 1 DSP signal processor (TMS320F2812 chip) and peripheral circuit.Infrared sensor is whether to surpass a certain threshold value according to the infra-red intensity that reflects to determine whether sensor the place ahead exists barrier, and its output signal is switching signal.start infrared sensor, ECHO1 to ECHO9 forms the external interrupt signal XINT of DSP by logical “and”, any one in them or several signal that detects all trigger look-at-me, because infrared sensor adopts the 5V supply voltage, and DSP adopts the 3.3V supply voltage, so first carry out voltage transitions, start afterwards DSP and enter interrupt routine, by data bus, the sensor reflected signal is transferred to this dsp processor and carries out respective handling, then the look-at-me of trigger data Fusion Module DSP signal processor, infrared sensor signal after its transmission process.
Fig. 5 is data fusion process process flow diagram of the present utility model.This process step is as follows:
1) system's electrifying startup carries out initialization to system;
2) waiting timer interrupts 1;
3) judge whether to receive data, if receive, the total data that receives is carried out data fusion, the data transmission after fusion is carried out behaviour decision making and control to arm processor, then returns to timer and interrupts 1;
4) if judgement does not receive data, judge whether to receive the infrared sensor data, if it is produce and interrupt 2 reception infrared datas, then return to timer and interrupt 1; If not continuing to judge whether to receive Ultrasonic Sensor Data, if it is produce and interrupt 2 reception ultrasound datas, then return to timer and interrupt 1; Receive the vision sensor data if not producing look-at-me 2, then return to timer and interrupt 1;
5) repeat 2,3,4 steps.
Fig. 6 is control module structured flowchart of the present utility model.This structure comprises arm processor (S3C2410), control circuit and actuator.Arm processor (S3C2410) receives and processes the data after merging by data fusion module, by specific judgment rule, the mountain farming robot is carried out behaviour decision making and control, the mountain farming robot carried out advance accordingly by controlling the left and right actuator, retreat, left/right rotation or braking maneuver, keep away barrier thereby complete.
According to above-mentioned description, the relevant staff can in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on instructions, and all any modifications of doing within the spirit and principles in the present invention and be equal to replacement etc. are within all should being included in protection domain of the present utility model.
Claims (1)
1. mountain farming robot obstacle-avoiding system based on multi-sensor information fusion is characterized in that:
This system comprises vision sensor module (1), ultrasonic sensor module (2), infrared sensor module (3), data fusion module (4) and control module (5); Vision sensor module (1) keeps away for the mountain farming robot image information that barrier provides barrier; Ultrasonic sensor module (2) and infrared sensor module (3) keep away for the mountain farming robot range information that barrier provides barrier; Data fusion module (4) receives the next obstacle information of each sensor assembly transmission and carries out data fusion, is transferred to control module after data are merged by ad hoc rules and carries out behaviour decision making and control; Control module (5) is carried out the mountain farming robot to advance by controlling actuator, is retreated, left/right rotation to or braking maneuver, thereby realize keeping away barrier;
described vision sensor module comprises 1 ccd video camera, 1 Video Decoder, 1 DSP image processor, external memory storage SDRAM, EEPROM, FLASH and peripheral circuit, FLASH is used for program code stored and start-up code, SDRAM is program, data-carrier store, EEPROM is used for storing various configuration informations, ccd video camera is used for the image information of Real-time Collection mountain farming robot road ahead, and it is transferred to Video Decoder, be transferred to the DSP image processor after information exchange being crossed cache memory section after video decoder decodes, after processing, the DSP image processor obtains the image information of barrier, then with the barrier image transmission to data fusion module,
described ultrasonic sensor module comprises 9 ultrasonic sensors, 1 temperature sensor, 1 DSP signal processor and peripheral circuit, 9 ultrasonic sensors are divided into three groups, every group 3, equidistantly be placed on respectively mountain farming robot dead ahead and the left and right sides, survey the obstacle distance information of the place ahead and the left and right sides 30～800cm, the DSP signal processor receives the signal that 9 ultrasonic sensors gather, and the environment temperature that gathers in conjunction with temperature sensor, convert the signal that gathers to range data, then range data is transferred to data fusion module,
Described infrared sensor module comprises 9 infrared sensors, 1 DSP signal processor and peripheral circuit, 9 infrared sensors are divided into three groups, every group 3, equidistantly be placed on respectively dead ahead and the left and right sides of mountain farming robot, survey the place ahead and the left and right sides 3～60cm distance whether barrier is arranged, the DSP signal processor receives the signal that 9 infrared sensors gather, and after being processed, the signal that gathers is transferred to data fusion module, the infrared sensor detection range is shorter, can make up the defective that there is range hole in ultrasonic sensor;
Described data fusion module comprises 1 DSP signal processor and peripheral circuit, the DSP signal processor receives by vision sensor module, ultrasonic sensor module and the next information of infrared sensor module transmission, carry out data fusion by specific fusion rule, and the communication after merging carries out behaviour decision making and control to control module;
Described control module comprises arm processor, control circuit and actuator, arm processor receives by the next information of data fusion module transmission, then carry out behaviour decision making and control according to specific judgment rule, the mountain farming robot carried out advance accordingly by controlling actuator, retreat, left/right rotation to or braking maneuver, thereby realize keeping away barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320004971 CN203012510U (en) | 2013-01-07 | 2013-01-07 | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320004971 CN203012510U (en) | 2013-01-07 | 2013-01-07 | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203012510U true CN203012510U (en) | 2013-06-19 |
Family
ID=48604084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320004971 Expired - Fee Related CN203012510U (en) | 2013-01-07 | 2013-01-07 | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203012510U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885449A (en) * | 2014-04-04 | 2014-06-25 | 辽宁工程技术大学 | Intelligent visual tracking wheeled robot based on multiple sensors and control method thereof |
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104765366A (en) * | 2014-11-27 | 2015-07-08 | 祝爱莲 | Service robot achieving intelligent obstacle surmounting |
| CN104898675A (en) * | 2015-06-05 | 2015-09-09 | 东华大学 | Robot intelligent navigation control method |
| CN106940208A (en) * | 2017-03-31 | 2017-07-11 | 东华大学 | Robot target demarcates the system with oneself state monitoring function |
| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109739223A (en) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | Robot obstacle-avoiding control method, device and terminal device |
| CN111413977A (en) * | 2020-04-01 | 2020-07-14 | 南京信息工程大学 | Path planning system and method of mowing robot based on machine vision |
| CN111966027A (en) * | 2020-08-31 | 2020-11-20 | 辽宁工业大学 | Industrial robot control system based on artificial intelligence |
-
2013
- 2013-01-07 CN CN 201320004971 patent/CN203012510U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885449A (en) * | 2014-04-04 | 2014-06-25 | 辽宁工程技术大学 | Intelligent visual tracking wheeled robot based on multiple sensors and control method thereof |
| CN103885449B (en) * | 2014-04-04 | 2016-03-23 | 辽宁工程技术大学 | Intelligent vision based on multi-sensor cooperation process follows the tracks of the control method of wheeled robot |
| CN104765366A (en) * | 2014-11-27 | 2015-07-08 | 祝爱莲 | Service robot achieving intelligent obstacle surmounting |
| CN104765366B (en) * | 2014-11-27 | 2017-03-01 | 浙江传媒学院 | Realize the service robot of intelligent obstacle detouring |
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN104898675A (en) * | 2015-06-05 | 2015-09-09 | 东华大学 | Robot intelligent navigation control method |
| CN106940208A (en) * | 2017-03-31 | 2017-07-11 | 东华大学 | Robot target demarcates the system with oneself state monitoring function |
| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
| CN108398951A (en) * | 2018-03-20 | 2018-08-14 | 广州番禺职业技术学院 | A kind of robot pose measurement method and apparatus combined of multi-sensor information |
| CN109739223A (en) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | Robot obstacle-avoiding control method, device and terminal device |
| CN109739223B (en) * | 2018-12-17 | 2020-07-03 | 中国科学院深圳先进技术研究院 | Robot obstacle avoidance control method and device, terminal device and storage medium |
| CN111413977A (en) * | 2020-04-01 | 2020-07-14 | 南京信息工程大学 | Path planning system and method of mowing robot based on machine vision |
| CN111966027A (en) * | 2020-08-31 | 2020-11-20 | 辽宁工业大学 | Industrial robot control system based on artificial intelligence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203012510U (en) | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion | |
| CN103019245A (en) | Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion | |
| CN104697587A (en) | Monitoring device for underground drainage pipe network and working mechanism of monitoring device | |
| CN103064416A (en) | Indoor and outdoor autonomous navigation system for inspection robot | |
| CN106383515A (en) | Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion | |
| CN103631273A (en) | Photoelectric tracking system and method based on absolute angle position track information | |
| CN103841378B (en) | A kind of video-aware sensor node of double-deck isomery | |
| CN105574468A (en) | Video flame detection method, device and system | |
| CN103901437A (en) | Infrared distance measurement system based on signal-chip microcomputer | |
| CN102135777B (en) | Vehicle-mounted infrared tracking system | |
| CN203872715U (en) | Intelligent and automatic voice irrigation system based on ZigBee technology | |
| CN110134080A (en) | A kind of monitoring and managing method of cultivating system, cultivating system and readable storage medium storing program for executing | |
| Chen et al. | Efficient and lightweight grape and picking point synchronous detection model based on key point detection | |
| CN203070098U (en) | Indoor and outdoor autonomous navigation system for patrol robot | |
| CN209648746U (en) | A kind of vision robot's remote monitoring system | |
| CN202003238U (en) | Gate control device | |
| CN113558031A (en) | Intelligent targeting pesticide spraying system | |
| CN202331202U (en) | Miniature agricultural machinery navigation and remote monitoring system based on digital signal processor (DSP) and binocular vision | |
| CN215736542U (en) | Intelligent targeting pesticide spraying system | |
| CN107330915A (en) | Target tracking method for AER imaging sensors | |
| Xu et al. | Application RFID and Wi-FI Technology in Design of IOT Sensor Terminal | |
| CN202632367U (en) | Shortwave non-refrigeration infrared imaging device | |
| Rajamohana et al. | Analysis of Smart Agriculture Systems Using IOT | |
| LU102217B1 (en) | A Kind of Sonar detection system for fish shoal and its Method | |
| CN203981178U (en) | A kind of agricultural machinery integrated navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20140107 |