CN204576261U - The night-vision navigation system of a kind of agricultural harvesters device people - Google Patents
The night-vision navigation system of a kind of agricultural harvesters device people Download PDFInfo
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- CN204576261U CN204576261U CN201520188061.5U CN201520188061U CN204576261U CN 204576261 U CN204576261 U CN 204576261U CN 201520188061 U CN201520188061 U CN 201520188061U CN 204576261 U CN204576261 U CN 204576261U
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Abstract
The utility model discloses the night-vision navigation system of a kind of agricultural harvesters device people, belong to agricultural robot navigation field.It is characterized in that, this night-vision navigation system comprises machine vision module, GPS module, data fusion module and motion-control module.Described machine vision module and GPS module are transferred to information fusion module by after the information real time processing of collection, information fusion module will receive after information carries out fusion treatment and be transferred to motion-control module, motion-control module controls agricultural harvesters device people motion by controlling steering, thus realizes independent navigation.The utility model adopts Night Vision Imaging System, in conjunction with vision guided navigation and GPS navigation, efficiently solves the navigation problem of agricultural harvesters device people under overnight sight, improves the reliability of navigation.
Description
Technical field
The utility model belongs to agricultural robot navigation field, relates to a kind of navigational system, especially relates to the night-vision navigation system of a kind of agricultural harvesters device people.
Background technology
China is large agricultural country, and the agricultural harvesters device people possessing independent navigation ability will greatly promote the development of agricultural economy.Present stage China to the research of agricultural harvesters device people navigational system mainly based on the operation on daytime of robot, less to night-vision navigation systematic research.But because the optimum harvest date of some crops is short, the handling situations of harvesting robot is subject to again lot of essential factors restriction, easily causes the best opportunity of crop harvesting to be missed, causes the very big reduction of crop yield and quality.Agricultural harvesters device people night work not only can be enhanced productivity, the demand that the crops of gathering in the crops night were got the harvest in quickly and be adapted to crops can also be met, therefore, the night-vision navigation system studying agricultural harvesters device people is significant for the development improving agriculture production benefit and the future of agriculture.
Utility model content
In order to realize the independent navigation during people's night work of agricultural harvesters device, the utility model provides the night-vision navigation system of a kind of agricultural harvesters device people.
The technical solution of the utility model is: the night-vision navigation system of a kind of agricultural harvesters device people, comprise agricultural harvesters device human body, be arranged on the machine vision module directly over agricultural harvesters device people, be arranged on the GPS module in agricultural harvesters device people dead ahead, data fusion module and motion-control module.
Machine vision module comprises semiconductor laser Night Vision Imaging System and DSP image processor.Semiconductor laser Night Vision Imaging System comprises semiconductor laser, pulse laser driving source, transmitting optics camera lens, receives optical lens, low-illuminance cameras, processor and gate control circuit.When harvesting robot is walked under overnight sight, semiconductor laser is irradiated front road conditions by transmitting optics camera lens, receives optical lens and collects the optical radiation of target road conditions directly or after reflection; The pulsed laser width that pulse laser driving source control laser instrument sends and repetition frequency, while pulse laser emission, synchronous delay circuit and gating pulse source start work, they control the open and close of video camera according to target range, realize range gating, eliminate the interference of the back scattering that brings of pulse laser and parasitic light, make low-illuminance cameras collect the image information of high s/n ratio under overnight sight; The image information collected sends to DSP image processor through analog to digital conversion circuit, and by DSP real time image processing system, the image gathered is processed in real time, extract navigation route information, then by interface circuit, the navigation route information obtained is transferred to data fusion module.
GPS module comprises vehicular GPS and the DSP signal processor of GPS customer equipment part.Vehicular GPS comprises antenna, signal processing unit, storage unit, transmission unit.Satellite-signal is received by antenna, signal processing unit receives the signal from antenna, through series of preprocessing processes such as frequency conversion, amplification, filtering, realize the tracking to gps signal, locking, measurement, then by transmission unit, this data information transfer is processed further to DSP signal processor, obtain producing and calculate the data message (comprising three-dimensional position, speed and time) of position, finally by interface circuit by this data information transfer to data fusion module.
Data fusion module comprises an arm processor and peripheral circuit.After arm processor receives the operating environment information of agricultural harvesters device people and self posture information that machine vision module and GPS module transmission come, Data Fusion is carried out by specific fusion rule, and comprehensively analyze contrast with field Distribution GIS, obtain comparatively ideal navigational parameter and location data information, then by CAN, information is sent to motion control portion.
Motion-control module, comprises DSP motion controller and steering.DSP motion controller receives the real-time information after data fusion module fusion, positioning error is obtained according to the expected path of agricultural harvesters device people and locator data com-parison and analysis, the steering of pid control algorithm to agricultural harvesters device people is adopted to control, namely by regulating the front wheel angle of agricultural harvesters device people, obtain the lateral deviation and azimuth deviation that need, thus agricultural harvesters device people is walked by expectation path, realize night-vision navigation.
The beneficial effects of the utility model are:
(1) use Night Vision Imaging System in machine vision module, enrich complete environmental information when obtaining agricultural harvesters device people's operation at night, realize the vision guided navigation in overnight sight.
(2) vision guided navigation and GPS navigation two kinds of navigate modes are combined, carry out message complementary sense, the advantage of both performances, improve the accuracy, the safety and reliability that navigate in overnight sight.
(3) machine vision module and GPS module use dsp processor to carry out parallel processing to information respectively, improve real-time and the high efficiency of data acquisition and processing (DAP).
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
Fig. 1 is the general structure block diagram of the utility model embodiment;
Fig. 2 is GPS module structured flowchart of the present utility model;
Fig. 3 is the utility model machine vision module structured flowchart;
Fig. 4 is the utility model data fusion process process flow diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, explanation is further explained to the utility model:
Fig. 1 is the general structure theory diagram of the utility model embodiment.Agricultural harvesters device people is after starting working night, and machine vision module and GPS module start co-ordination simultaneously.Machine vision module obtains the real time environment image information (Fig. 2) of harvesting robot when farm work by night vision active imaging system, and be transferred to DPS image processor and carry out image procossing, extract navigation route information, be then transferred to data fusion module by interface circuit.GPS module accepts the signal from satellite by GPS, obtains producing the data message calculating position and comprises three-dimensional position, speed and time (Fig. 3), and be transferred to data fusion module by interface circuit through DSP signal processor.
The information obtained from machine vision module and GPS module and field Distribution GIS are analyzed rear fusion treatment by the arm processor of data fusion module, then by CAN, information are sent to motion-control module.The steering of pid control algorithm to agricultural harvesters device people is adopted to control after the DSP motion controller of motion-control module receives information, especially by the front wheel angle regulating agricultural harvesters device people, to obtain the lateral deviation and azimuth deviation that need, agricultural harvesters device people is walked by expectation path, realizes night-vision navigation.
Structure and working principle of the present utility model is explained above with specific embodiment; the utility model is not limited to above embodiment; according to above-mentioned description; all do within spirit of the present utility model and principle any amendment, replacement and improvement etc., all should be included within protection domain of the present utility model.
Claims (1)
1. an agricultural harvesters device people's night-vision navigation system, mainly comprises: machine vision module (1), GPS module (2), data fusion module (3) and motion-control module (4); It is characterized in that, described machine vision module comprises semiconductor laser Night Vision Imaging System and DSP image processor; Described GPS module comprises vehicular GPS and DSP signal processor; Described data fusion module comprises an arm processor and peripheral circuit; Described motion-control module comprises a DSP motion controller and steering; Described machine vision module and GPS module are by the information real time processing of collection and be transferred to data fusion module, data fusion module is transferred to motion-control module after the information received is carried out fusion treatment by arm processor, motion-control module controls steering finally by dsp controller, makes agricultural harvesters device people autonomous in overnight sight.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520188061.5U CN204576261U (en) | 2015-03-25 | 2015-03-25 | The night-vision navigation system of a kind of agricultural harvesters device people |
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| CN201520188061.5U CN204576261U (en) | 2015-03-25 | 2015-03-25 | The night-vision navigation system of a kind of agricultural harvesters device people |
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| CN204576261U true CN204576261U (en) | 2015-08-19 |
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| CN201520188061.5U Expired - Fee Related CN204576261U (en) | 2015-03-25 | 2015-03-25 | The night-vision navigation system of a kind of agricultural harvesters device people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111683517A (en) * | 2018-02-13 | 2020-09-18 | 罗伯特·博世有限公司 | Autonomous agricultural system and method for operating an agricultural system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111683517A (en) * | 2018-02-13 | 2020-09-18 | 罗伯特·博世有限公司 | Autonomous agricultural system and method for operating an agricultural system |
| CN111683517B (en) * | 2018-02-13 | 2022-11-25 | 罗伯特·博世有限公司 | Autonomous agricultural system and method for operating an agricultural system |
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Granted publication date: 20150819 Termination date: 20160325 |
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| CF01 | Termination of patent right due to non-payment of annual fee |