CN206433397U - A kind of apple picking robot navigation control system - Google Patents
A kind of apple picking robot navigation control system Download PDFInfo
- Publication number
- CN206433397U CN206433397U CN201720040598.6U CN201720040598U CN206433397U CN 206433397 U CN206433397 U CN 206433397U CN 201720040598 U CN201720040598 U CN 201720040598U CN 206433397 U CN206433397 U CN 206433397U
- Authority
- CN
- China
- Prior art keywords
- chip microcomputer
- sensor
- control system
- picking robot
- utility
- 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
Abstract
The utility model provides a kind of apple picking robot navigation control system, including：Path detection mechanism, navigator fix mechanism, the path detection mechanism, the communication of navigator fix mechanism are connected to single-chip microcomputer, single-chip microcomputer connection control driving motor, driving motor provides power to manipulator, walking mechanism, and the utility model employs ultrasonic detection device detection obstacle information, course angle and distance are measured respectively using Magnetic Sensor and laser sensor, build grating map, global path planning is carried out, the performance of guider is improved, improves the precision of navigation.
Description
Technical field
The utility model is related to agricultural machinery technological field, specially a kind of apple picking robot navigation control system.
Background technology
China is apple production state and country of consumption maximum in the world, and cultivated area of the apple is huge, and product during apple-picking
A most laborious link in planting process can be crossed, the seasonal strong, labor intensity of harvesting operation is big, apple picking robot can be with
Harvesting expense is effectively reduced, picking efficiency is improved, therefore research and development apple picking robot becomes more and more urgent, and apple
The navigation system of fruit picking machine device people is emphasis and difficult point in robot research again, therefore the utility model is directed to apple picking
Device people's navigation system is studied.
Utility model content
The technical problem that the utility model is solved is to provide a kind of apple picking robot navigation control system, to solve
The problem of being proposed in certainly above-mentioned background technology.
The technical problem that the utility model is solved is realized using following technical scheme：A kind of apple picking robot is led
Boat control system, including：Path detection mechanism, navigator fix mechanism, the path detection mechanism, the communication of navigator fix mechanism connect
Single-chip microcomputer is connected to, single-chip microcomputer connection control driving motor, driving motor provides power, the path to manipulator, walking mechanism
Detection agency includes ultrasonic detection device, digital camera, and the ultrasonic detection device includes emission sensor, receives sensing
Device, the emission sensor is connected to single-chip microcomputer by radiating circuit, and the reception sensor passes through receiving circuit, detection circuit
It is connected to single-chip microcomputer.
The navigator fix mechanism includes laser sensor, Magnetic Sensor, and the laser sensor passes through signal condition electricity
Road is connected to single-chip microcomputer, and Magnetic Sensor is connected to single-chip microcomputer by amplification, LPF A/D change-over circuits.
Strong magnetic meter, gyroscope, accelerometer are also associated with the single-chip microcomputer, described single-chip microcomputer is mono- using AT89C51
Piece machine.
Compared with prior art, the beneficial effects of the utility model are：The utility model employs ultrasonic detection device
Obstacle information is detected, course angle and distance are measured using Magnetic Sensor and laser sensor respectively, grating map is built, carried out
Global path planning, improves the performance of guider, improves the precision of navigation.
Brief description of the drawings
Fig. 1 is structure principle chart of the present utility model.
Fig. 2 is ultrasonic detection device schematic diagram of the present utility model.
Fig. 3 is ultrasonic detection device radiating circuit of the present utility model.
Fig. 4 is ultrasonic detection device receiving circuit of the present utility model.
Fig. 5 is the detection circuit of ultrasonic detection device of the present utility model.
Fig. 6 is the signal conditioning circuit figure of laser sensor of the present utility model.
Embodiment
In order that of the present utility model realize that technological means, creation characteristic, reached purpose and effect are easy to understand, under
Face combines and is specifically illustrating, and the utility model is expanded on further.
As shown in figs. 1 to 6, a kind of apple picking robot navigation control system, including：Path detection mechanism, navigation are fixed
Position mechanism, the path detection mechanism, the communication of navigator fix mechanism are connected to single-chip microcomputer, and single-chip microcomputer connection controls driving motor,
Driving motor provides power to manipulator, walking mechanism.
The path detection mechanism includes ultrasonic detection device, digital camera, and the ultrasonic detection device includes hair
Penetrate sensor, receive sensor, the emission sensor is connected to single-chip microcomputer by radiating circuit, and the reception sensor passes through
Receiving circuit, detection circuit are connected to single-chip microcomputer, and described emission sensor and reception sensor is used to pass through ultrasonic listening
Obstacle information, described digital camera is used to detect ambient condition information, and described path detection mechanism believes according to barrier
Breath and ambient condition information, preliminary planning is carried out to the walking path of robot.
The navigator fix mechanism includes laser sensor, Magnetic Sensor, and the laser sensor passes through signal condition electricity
Road is connected to single-chip microcomputer, and Magnetic Sensor is by amplifying, LPF A/D change-over circuits are connected to single-chip microcomputer, the single-chip microcomputer, on
Strong magnetic meter, gyroscope, accelerometer are also associated with, because laser sensor distance measurement technique has higher precision, therefore is adopted
It is used to carry out range measurement with laser sensor；Magnetic course transmitter is using the magnetic field of the earth come robot measurement move angle；
Utilization magnetometer, gyroscope and accelerometer measures the robot position of robot are determined using laser sensor and Magnetic Sensor
Put velocity information and posture information.
Described single-chip microcomputer uses AT89C51 single-chip microcomputers.
Described path searching mechanism is used for according to the ambient condition information and obstacle information received, due to picking machine
Device people local environment is typically relatively more neat, therefore builds grating map, makes picking robot success avoiding barrier and determines to carry
Robot is moved to the optimal path of target point.
Main working process of the present utility model is as follows：
Step one：Utilize digital vedio recording machine testing ambient condition information；
Step 2：Peripheral obstacle information is detected using ultrasonic detection device, ultrasonic detection device is separately mounted to
The center direction of robot, left front, right front；
Step 3：Using gyroscope and accelerometer detection apple picking robot position and speed information；
Step 4：Displacement is measured by signal conditioning circuit using magneto-optical sensor；Using Magnetic Sensor by putting
Greatly, LPF, the angle of A/D change-over circuits measurement apple picking robot movement；
Step 4:Grating map is built, global path planning is carried out；
Step 5：Robot performs operation.
General principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the utility model spirit and scope are not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed the utility model.The utility model
Claimed scope by appended claims and its equivalent thereof.
Claims (3)
1. a kind of apple picking robot navigation control system, it is characterised in that：Including：Path detection mechanism, navigator fix machine
Structure, the path detection mechanism, the communication of navigator fix mechanism are connected to single-chip microcomputer, single-chip microcomputer connection control driving motor, transmission
Motor provides power to manipulator, walking mechanism, and the path detection mechanism includes ultrasonic detection device, digital camera, institute
Stating ultrasonic detection device includes emission sensor, reception sensor, and the emission sensor is connected to list by radiating circuit
Piece machine, the reception sensor is connected to single-chip microcomputer by receiving circuit, detection circuit.
2. a kind of apple picking robot navigation control system according to claim 1, it is characterised in that：The navigation is fixed
Position mechanism includes laser sensor, Magnetic Sensor, and the laser sensor is connected to single-chip microcomputer by signal conditioning circuit, and magnetic is passed
Sensor is connected to single-chip microcomputer by amplification, LPF A/D change-over circuits.
3. a kind of apple picking robot navigation control system according to claim 1 or 2, it is characterised in that：The list
Strong magnetic meter, gyroscope, accelerometer are also associated with piece machine, described single-chip microcomputer uses AT89C51 single-chip microcomputers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720040598.6U CN206433397U (en) | 2017-01-13 | 2017-01-13 | A kind of apple picking robot navigation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720040598.6U CN206433397U (en) | 2017-01-13 | 2017-01-13 | A kind of apple picking robot navigation control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206433397U true CN206433397U (en) | 2017-08-25 |
Family
ID=59635806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720040598.6U Expired - Fee Related CN206433397U (en) | 2017-01-13 | 2017-01-13 | A kind of apple picking robot navigation control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206433397U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600221A (en) * | 2017-08-28 | 2018-01-19 | 电子科技大学 | A kind of intelligent omnidirectional AGV dollies and its control method |
| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
-
2017
- 2017-01-13 CN CN201720040598.6U patent/CN206433397U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600221A (en) * | 2017-08-28 | 2018-01-19 | 电子科技大学 | A kind of intelligent omnidirectional AGV dollies and its control method |
| CN112243698A (en) * | 2020-10-22 | 2021-01-22 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
| US11406061B2 (en) | 2020-10-22 | 2022-08-09 | Anhui Agricultural University | Automated walnut picking and collecting method based on multi-sensor fusion technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105206063B (en) | A kind of transport information monitoring harvester and detection method based on GMI sensors | |
| CN206433397U (en) | A kind of apple picking robot navigation control system | |
| CN107421535A (en) | A kind of indoor pedestrian's alignment system walked based on magnetic signature and acceleration information meter | |
| CN207081412U (en) | A kind of animal body chi ultrasound noncontacting measurement device | |
| CN105856234B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core two | |
| CN206248127U (en) | Ecological environment is perceived and precision agriculture integral application platform | |
| CN107797554A (en) | A kind of high-precision intelligent setting-out dolly | |
| CN207240184U (en) | Mobile object follows the trail of robot | |
| CN108536146A (en) | The intelligent control method of localization for Mobile Robot recharging base based on path and RSSI | |
| CN105856237B (en) | It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system | |
| CN206756870U (en) | A kind of spherical three-dimensional multi-functional air speed measuring apparatus | |
| CN210037861U (en) | Natural river surface flow velocity and underwater flow velocity synchronous measurement device | |
| CN108356840A (en) | Robot and robot system for wisdom agriculture test | |
| CN101907895B (en) | Beam rider type laser navigation unit | |
| CN204043703U (en) | A kind of indoor environment data acquisition system (DAS) | |
| CN107356902B (en) | WiFi positioning fingerprint data automatic acquisition method | |
| CN108646740A (en) | Mobile robot return path planing method based on double wireless networks | |
| CN207636625U (en) | A kind of hand-hold ultrasonic anemoclinograph | |
| CN204189024U (en) | A kind of signals collecting robot | |
| CN109144074A (en) | A kind of Intelligent golf vehicle and intelligent follower method based on DSP | |
| CN206610170U (en) | A kind of aircraft of the trajectory planning synthesized based on velocity | |
| CN103698741B (en) | The electromagnetic location probe of radio frequency powered | |
| CN105856236B (en) | It is wirelessly transferred the quick natural gas line robot control system of four core, four axis crawler type | |
| CN105856239B (en) | A kind of axle caterpillar type high-speed natural gas line robot control system of three core eight | |
| CN105118319B (en) | Shaping-circuit-based mode identification prompting system for infrared positioning signal lamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20180113 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |