CN206551025U - Rice transplanting robot control system based on GPS and inertial navigation - Google Patents
Rice transplanting robot control system based on GPS and inertial navigation Download PDFInfo
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- CN206551025U CN206551025U CN201720198163.4U CN201720198163U CN206551025U CN 206551025 U CN206551025 U CN 206551025U CN 201720198163 U CN201720198163 U CN 201720198163U CN 206551025 U CN206551025 U CN 206551025U
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 68
- 235000009566 rice Nutrition 0.000 title claims abstract description 68
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 67
- 238000004891 communication Methods 0.000 claims abstract description 37
- 230000000875 corresponding effect Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000007726 management method Methods 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
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Abstract
The utility model discloses a kind of rice transplanting robot control system based on GPS and inertial navigation, including CAN communication module, host computer, navigation positioning module, speed-variable module, transplanting module, steering module, power management module.Host computer is connected by CAN communication module with navigation positioning module, speed-variable module, transplanting module, steering module and power management module.Host computer obtains the information of other modules by CAN communication module in the utility model, realize the monitoring and the reading of parameter to other each module working conditions, host computer also transmits control information to corresponding module, and other modules for receiving control information control rice transplanting robot to perform corresponding action according to control information.The utility model has that cost is low, the degree of coupling is low, highly reliable, precision is high, the advantage of efficiency high.
Description
Technical field
The utility model is related to rice transplanting robot field, specifically a kind of to be controlled based on GPS and the rice transplanting robot of inertial navigation
System.
Background technology
The upper rice transplanter traveling of production at present and operation are completely by manually manipulating, and labor intensity is big, and operating efficiency is low, and
And traveling linearity is completely dependent on the operative skill of operator, driver's tracking dry as dust for a long time is driven to rice transplanter row
Sail accuracy and operation quality is produced a very large impact.Realize the automating of rice transplanter, it is intelligent, by operating personnel from severe
Paddy field production environment in free, be solve rice transplanting existing issue important technical.
Unmanned rice transplanter is the technologies such as integrated use computer, electronic communication, control, is inserted for solving pilot steering
The problems such as seedling machine labor intensity is big.Independent navigation is one of unmanned rice transplanter major function, major control travel direction and
Speed.Realizing unmanned rice transplanter under certain condition using GPS navigation at present realizes the function of autonomous, but control
The fault-tolerance of system processed is than relatively low, and straight-line travelling ratio of precision is relatively low, and application condition is big, and navigation accuracy is also difficult to meet rice transplanting operation
Required precision.Therefore, Low-cost, high-precision rice transplanting robot control system and its control method are to improving rice transplanting robot
Autonomous precision is significant.
Utility model content the purpose of this utility model is to provide a kind of based on GPS and the control of the rice transplanting robot of inertial navigation
System, realizes that the fault-tolerance of rice transplanter utonomous working presence is low, straight-line travelling precision is low, by mistake to solve prior art GPS navigation
The problem of poor big, navigation accuracy is also difficult to meet rice transplanting homework precision requirement.
In order to achieve the above object, the technical scheme that the utility model is used for：
Rice transplanting robot control system based on GPS and inertial navigation, it is characterised in that：Including CAN communication module, upper
Machine, navigation positioning module, speed-variable module, transplanting module, steering module, power management module, the host computer pass through CAN
Communication module is communicated to connect with navigation positioning module, speed-variable module, transplanting module, steering module, power management module respectively, institute
State power management module also by CAN communication module respectively with navigation positioning module, speed-variable module, transplanting module, turn to
Module is communicated to connect, wherein：
The navigation positioning module includes the GPS navigation locating module being installed in rice transplanting robot and inertial navigation positioning
Module, navigation positioning module realizes the positioning of rice transplanting robot, and position, course heading information are communicated mould by CAN
Block sends to host computer and carries out information fusion, is transmitted with obtaining more accurate navigation information by CAN communication module to change
Fast module and steering module；
The speed-variable module includes the speed of travel detection mould of the motor drive module of rice transplanting robot, rice transplanting robot
Block, speed-variable module obtains position, course heading information and travel commands that host computer is sent by CAN communication module,
When speed-variable module receives travel commands and position, the course heading information that host computer is sent, speed-variable module driving rice transplanter
The motor opsition dependent of device people, course heading information work are to perform travel commands, while speed-variable module is by the rice transplanter detected
The speed of travel information of device people is sent to host computer by CAN module；
Steering wheel drive module of the steering module including rice transplanting robot, the angle position being installed in rice transplanting robot
The corner information that angle displacement sensor is gathered is transferred to upper by displacement sensor, steering module by CAN communication module
Machine, and the corner instruction that host computer is sent is transferred to steering module by CAN communication module, by the side in steering module
Corresponding angle is rotated according to corner order-driven steering wheel to dish driving module, to realize the steering of rice transplanting robot；
The transplanting module includes the control module of seedling case in rice transplanting robot, and the control module of the seedling case includes control seedling
The control module of the transplanting handle of case lifting, and seedling pawl control module, transplanting module obtained by CAN communication module
The seedling machine that host computer is sent performs rice transplanting job instruction, and performs rice transplanting job instruction driving transplanting handle control seedling according to seedling machine
Case is lifted, and controls the start and stop of seedling pawl rice transplanting operation；
The power management module obtains the keying information of other modules, realization pair by CAN communication module
The power supply of other each modules；
The host computer obtains the information of other modules by CAN communication module, realizes to navigator fix mould
Block, transplanting module, speed-variable module, the monitoring and the reading of parameter of steering module and power management module working condition, are expert at
The path of real-time planning robot's walking during walking, and show rice transplanting robot present position on a display screen, walked
Path and target position information, the destination path information after planning be stored in host computer for navigation positioning module refer to,
In addition host computer also transmits control information to corresponding module, receives other modules of control information according to control information
Rice transplanting robot is controlled to perform corresponding action.
The utility model has the advantages that：
Rice transplanting robot control system based on GPS and inertial navigation, is realized between modules by CAN communication module
Communication, reduces the coupling between module；Work is cooperateed with by GPS navigation locating module and inertial navigation module in navigation module
The information for making to send the position of output, course heading information into host computer melts module progress information fusion, reduces cost
The precision and fault-tolerance of rice transplanting robot navigation's operation are improved simultaneously.
Brief description of the drawings
Fig. 1 is rice transplanting robot control system figure.
Embodiment
As shown in figure 1, the rice transplanting robot control system based on GPS and inertial navigation, including it is CAN communication module, upper
Machine, navigation positioning module, speed-variable module, transplanting module, steering module, power management module, host computer are communicated by CAN
Module is communicated to connect with navigation positioning module, speed-variable module, transplanting module, steering module, power management module respectively, power supply pipe
Reason module is also communicated with navigation positioning module, speed-variable module, transplanting module, steering module respectively by CAN communication module
Connection, wherein：
Navigation positioning module includes the GPS navigation locating module and inertial navigation positioning mould being installed in rice transplanting robot
Block, navigation positioning module realizes the positioning of rice transplanting robot, and position, course heading information are passed through into CAN communication module
Send to host computer and carry out information fusion, transmitted with obtaining more accurate navigation information by CAN communication module to speed change
Module and steering module；
Speed-variable module includes motor drive module, the speed of travel detection module of rice transplanting robot of rice transplanting robot, becomes
Fast module obtains position, course heading information and travel commands that host computer is sent by CAN communication module, works as speed change
When module receives travel commands and position, the course heading information that host computer is sent, speed-variable module driving rice transplanting robot
Motor opsition dependent, course heading information work are to perform travel commands, while speed-variable module is by the rice transplanting robot detected
Speed of travel information is sent to host computer by CAN module；
Steering wheel drive module of the steering module including rice transplanting robot, the angle displacement being installed in rice transplanting robot are passed
The corner information that angle displacement sensor is gathered is transferred to host computer by sensor, steering module by CAN communication module, and
And the corner instruction that host computer is sent is transferred to steering module by CAN communication module, by the steering wheel in steering module
Drive module rotates corresponding angle according to corner order-driven steering wheel, to realize the steering of rice transplanting robot；
Transplanting module includes the control module of seedling case in rice transplanting robot, and the control module of the seedling case includes control seedling case liter
The control module of the transplanting handle of drop, and seedling pawl control module, transplanting module by CAN communication module obtain it is upper
The seedling machine that machine is sent performs rice transplanting job instruction, and performs rice transplanting job instruction driving transplanting handle control seedling case liter according to seedling machine
Drop, and control the start and stop of seedling pawl rice transplanting operation；
Power management module obtains the keying information of other modules by CAN communication module, realizes to other
The power supply of each module；
Host computer obtains the information of other modules by CAN communication module, realizes to navigation positioning module, inserts
The monitoring and the reading of parameter of module, speed-variable module, steering module and power management module working condition are planted, in walking process
In planning robot's walking in real time path, and the path for showing rice transplanting robot present position on a display screen, having walked
And target position information, the destination path information after planning is stored in host computer to be referred to for navigation positioning module, except this it
Outer host computer also transmits control information to corresponding module, and other modules for receiving control information control to insert according to control information
Seedling robot performs corresponding action.
Claims (1)
1. the rice transplanting robot control system based on GPS and inertial navigation, it is characterised in that：Including CAN communication module, upper
Machine, navigation positioning module, speed-variable module, transplanting module, steering module, power management module, the host computer pass through CAN
Communication module is communicated to connect with navigation positioning module, speed-variable module, transplanting module, steering module, power management module respectively, institute
State power management module also by CAN communication module respectively with navigation positioning module, speed-variable module, transplanting module, turn to
Module is communicated to connect, wherein：
The navigation positioning module includes the GPS navigation locating module and inertial navigation positioning mould being installed in rice transplanting robot
Block, navigation positioning module realizes the positioning of rice transplanting robot, and position, course heading information are passed through into CAN communication module
Send to host computer and carry out information fusion, transmitted with obtaining more accurate navigation information by CAN communication module to speed change
Module and steering module；
The speed-variable module includes motor drive module, the speed of travel detection module of rice transplanting robot of rice transplanting robot, becomes
Fast module obtains position, course heading information and travel commands that host computer is sent by CAN communication module, works as speed change
When module receives travel commands and position, the course heading information that host computer is sent, speed-variable module driving rice transplanting robot
Motor opsition dependent, course heading information work are to perform travel commands, while speed-variable module is by the rice transplanting robot detected
Speed of travel information is sent to host computer by CAN module；
Steering wheel drive module of the steering module including rice transplanting robot, the angle displacement being installed in rice transplanting robot are passed
The corner information that angle displacement sensor is gathered is transferred to host computer by sensor, steering module by CAN communication module, and
And the corner instruction that host computer is sent is transferred to steering module by CAN communication module, by the steering wheel in steering module
Drive module rotates corresponding angle according to corner order-driven steering wheel, to realize the steering of rice transplanting robot；
The transplanting module includes the control module of seedling case in rice transplanting robot, and the control module of the seedling case includes control seedling case liter
The control module of the transplanting handle of drop, and seedling pawl control module, transplanting module by CAN communication module obtain it is upper
The seedling machine that machine is sent performs rice transplanting job instruction, and performs rice transplanting job instruction driving transplanting handle control seedling case liter according to seedling machine
Drop, and control the start and stop of seedling pawl rice transplanting operation；
The power management module obtains the keying information of other modules by CAN communication module, realizes to other
The power supply of each module；
The host computer obtains the information of other modules by CAN communication module, realizes to navigation positioning module, inserts
The monitoring and the reading of parameter of module, speed-variable module, steering module and power management module working condition are planted, in walking process
In planning robot's walking in real time path, and the path for showing rice transplanting robot present position on a display screen, having walked
And target position information, the destination path information after planning is stored in host computer to be referred to for navigation positioning module, except this it
Outer host computer also transmits control information to corresponding module, and other modules for receiving control information control to insert according to control information
Seedling robot performs corresponding action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720198163.4U CN206551025U (en) | 2017-03-02 | 2017-03-02 | Rice transplanting robot control system based on GPS and inertial navigation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720198163.4U CN206551025U (en) | 2017-03-02 | 2017-03-02 | Rice transplanting robot control system based on GPS and inertial navigation |
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| CN206551025U true CN206551025U (en) | 2017-10-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737693A (en) * | 2017-03-02 | 2017-05-31 | 安徽农业大学 | Rice transplanting robot control system and control method based on GPS and inertial navigation |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
-
2017
- 2017-03-02 CN CN201720198163.4U patent/CN206551025U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737693A (en) * | 2017-03-02 | 2017-05-31 | 安徽农业大学 | Rice transplanting robot control system and control method based on GPS and inertial navigation |
| CN106737693B (en) * | 2017-03-02 | 2023-05-16 | 安徽农业大学 | Transplanting robot control system and control method based on GPS and inertial navigation |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN111149490B (en) * | 2020-02-25 | 2024-04-16 | 安徽农业大学 | Automatic control system and control method for unmanned rice transplanter |
| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
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