CN206869895U - High accuracy positioning self-navigation agricultural robot based on RTK technologies - Google Patents
High accuracy positioning self-navigation agricultural robot based on RTK technologies Download PDFInfo
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- CN206869895U CN206869895U CN201720441437.8U CN201720441437U CN206869895U CN 206869895 U CN206869895 U CN 206869895U CN 201720441437 U CN201720441437 U CN 201720441437U CN 206869895 U CN206869895 U CN 206869895U
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Abstract
The utility model provides a kind of high accuracy positioning self-navigation agricultural robot based on RTK technologies, and it includes：The walking moved on the ground and power set, system master unit, RTK location navigations unit, mission planning unit and agricultural operation unit, wherein RTK location navigations unit includes terminal module, base station module and locating module again, and system master unit includes data acquisition module, machine control module and communication module again.System master unit, the terminal module of RTK location navigation units and agricultural operation unit are each attached on walking and power set and driven by walking and power set and moved on the ground as described above；Mission planning unit is connected with system master unit by wireless network.The utility model RTK location navigation units have Centimeter Level or millimetre-sized positioning precision, and high accuracy positioning self-navigation agricultural robot of the utility model based on RTK technologies has nobody functionalized function, using RTK technologies, solve the problems, such as precise positioning.
Description
Technical field
The invention belongs to unmanned plane avoidance technical field, more particularly to a kind of high accuracy positioning based on RTK technologies are automatic
Navigate agricultural robot.
Background technology
Unmanned plane in the task process for the agricultural operation such as spraying insecticide for crops is performed, can be potentially encountered electric pole,
The barriers such as big tree are appeared in the path planning of unmanned plane during flying.If being unable to Real Time Obstacle Avoiding, unmanned plane is likely to result in
Direct air crash, therefore, the Real Time Obstacle Avoiding system of unmanned plane are the important safety guarantees that unmanned plane smoothly completes aerial mission, for
The normal operation of unmanned plane, play very crucial effect.
And traditional unmanned plane can not realize high-precision independent Real Time Obstacle Avoiding, therefore can only realize on the ground away from barrier
Fang Jinhang self-drivings are flown, and in the complicated flight range close to barrier, it can only be carried out by veteran winged hand manual
Assisting in flying.And most of unmanned plane Real Time Obstacle Avoiding system relies on steersman more all in simulation stage, ground robot at this stage
Manipulation is followed, it is really fewer with practicality and feasibility.
The content of the invention
Reach Centimeter Level or the millimetre-sized pinpoint height based on RTK technologies it is an object of the invention to provide a kind of
Precision positions self-navigation agricultural robot.
The present invention provides a kind of high accuracy positioning self-navigation agricultural robot based on RTK technologies, and it includes：On ground
The walking of upper motion and power set, system master unit, RTK location navigations unit, mission planning unit and agricultural are made
Industry unit, wherein, the system master unit, the terminal module of RTK location navigation units and agricultural operation unit are solid
It is scheduled on walking and power set, and is driven by walking and power set and moved on the ground；The RTK location navigations unit
Base station module, mission planning unit are connected with system master unit by wireless network；The mission planning unit passes through RTK
Positioning comes Centimeter Level/millimetre-sized running route of planning robot, walking and power set according to running route progress li
Meter level/grade precise motion.
Preferably, system master unit and RTK the location navigations unit is connected with each other.
Preferably, the mission planning unit includes the mobile module in the equipment such as mobile phone, PAD, VR, AR or PC
With the software module installed in server end, it is built-in with high-precision GIS-Geographic Information System.
Preferably, the mission planning unit is manually demarcated more by the RTK location navigation cell locations module of hand-held
Individual anchor point, the running route is formed between several anchor points.The mission planning unit passes through RTK location navigation units
Terminal module and system master unit instruct it is described walking and power set according to the running route between these anchor points
Unmanned automatically walk is carried out with corresponding agricultural operation intelligent algorithm.
Preferably, the walking and power set are provided with the receiving space for carrying the agricultural operation unit.
Preferably, the agricultural operation unit includes pesticide spraying module, data acquisition module, turns over module, sowing mould
Modularization device, each modules such as block, liquid manure module, harvesting module, carrier module, stalk processing module can make alone or in combination
With.
RTK location navigations unit of the present invention has Centimeter Level or millimetre-sized positioning precision, based on the high-precision of RTK technologies
Degree positioning self-navigation agricultural robot has functionalized function；With prior art by way of handle come control machine people
Operation, the present invention use RTK technologies, solve the problems, such as positioning.
Brief description of the drawings
Fig. 1 show the structural representation of the high accuracy positioning self-navigation agricultural robot of the invention based on RTK technologies.
Embodiment
Below, refer to the attached drawing, the present invention is more fully illustrated, shown in the drawings of the exemplary implementation of the present invention
Example.However, the present invention can be presented as a variety of multi-forms, it is not construed as being confined to the exemplary implementation described here
Example.And these embodiments are to provide, so that the present invention is fully and completely, and it will fully convey the scope of the invention to this
The those of ordinary skill in field.
For ease of explanation, space relative terms such as " on ", " under " " left side " " right sides " can be used herein, for saying
The element or feature shown in bright figure is relative to another element or the relation of feature.It should be understood that except in figure
Outside the orientation shown, spatial terminology is intended to include the different azimuth of device in use or operation.If for example, in figure
Device is squeezed, be stated as positioned at other elements or feature " under " element will be located into other elements or feature " on ".Cause
This, exemplary term " under " both upper and lower orientation can be included.Device can be positioned otherwise（It is rotated by 90 ° or is located at
Other orientation）, can correspondingly be explained used herein of the relative explanation in space.
High accuracy positioning self-navigation agricultural robot of the invention based on RTK technologies, as shown in figure 1, it includes：Walking
And power set 101, system master unit 102, RTK location navigations unit 103, mission planning unit 104 and agricultural are made
Industry unit 105, wherein, system master unit 102, the terminal module 106 of RTK location navigations unit 103 and agricultural operation
Unit 105 is each attached on walking and power set 101 and is driven and moved on the ground by walking and power set 101, is expert at
Walk and power set 101 move during, agricultural operation unit 105 performs corresponding agricultural operation task.
RTK location navigations unit 103 includes terminal module 106, base station module 107 and locating module 108 again.RTK is positioned
Navigation elements 103 belong to a kind of high-precision location technique, i.e., by real time kinematic survey system (Real-TimeKinematic,
RTK), the key of RTK technologies is the carrier phase observed quantity for having used GPS, and make use of and seen between base station and movement station
The spatial coherence of error is surveyed, most of error in movement station observation data is removed by way of difference, so as to realize height
The positioning of precision.
Walking and power set 101 are controlled by RTK location navigations unit 103 and moved on the ground.
Mission planning unit 104 is connected with system master unit 102 by wireless network, in the present embodiment, task
Planning unit 104 is to include the mobile module that is arranged in the equipment such as mobile phone, PAD, VR, AR or PC and be arranged on server end
System module, it is built-in with high-precision GIS-Geographic Information System.The mobile module can be client software module, the system mould
Block can be software system module.The locating module 108 for the RTK location navigations unit 103 that mission planning unit 104 passes through hand-held
To demarcate several anchor points, location information is transferred to terminal module 106 by base station module 107.Pass through several anchor points
Between form the running route.
System master unit 102 and RTK location navigations unit 103 are connected with each other.
Walking and power set 101 are provided with the receiving space of carrying agricultural operation unit 105.
In the present invention, agricultural operation unit 105 may include pesticide spraying module, data acquisition module, turn over module, sowing
The modular units such as module, liquid manure module, harvesting module, carrier module, stalk processing module, to be applied to unmanned automation
Pesticide spraying, agricultural data acquisition, turn over, sow, liquid manure, harvesting, delivery, stalk processing etc. agricultural operation.Each module can
It is used alone or in combination.
In the present embodiment, agricultural operation unit 105 is set as pesticide spraying device, come be applied to agricultural chemicals nobody is automatic
Spraying operation.During work, using RTK location technologies, several anchor points in travel region are set, will be connected between anchor point
Into line, track route is formed.
Mission planning unit 104 is by RTK positioning come the Centimeter Level of planning robot/millimetre-sized running route, walking
And power set carry out Centimeter Level/grade precise motion according to the running route；
The operating path of setting walking and power set 101 in task planning unit 104, walking and power set 101
During route is run, agricultural operation unit 105 is sprayed insecticide according to the path of setting.RTK location navigation units
103, according to the setting of mission planning unit 104, instruct walking and power set 101 to be walked according to setting path.
When positioning multiple anchor points on the mobile phone interface in task planning unit 104, these anchor points are connected into line,
The anchor point that RTK location navigations unit 103 positions according to mission planning unit 104, it is actual to carry out positioning these points on ground, with
Walking and power set 101 are instructed to be walked according to these anchor points, during walking, agricultural operation unit 105 sprays
Agricultural chemicals is spilt, that is, forms the shape route of robot device.
RTK location navigations unit of the present invention has Centimeter Level or millimetre-sized positioning precision, based on the high-precision of RTK technologies
Degree positioning self-navigation agricultural robot has functionalized function；With prior art by way of handle come control machine people
Operation, the present invention use RTK technologies, solve the problems, such as positioning.
The preferred embodiment of the present invention described in detail above, but the present invention is not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, these
Equivalents belong to protection scope of the present invention.
Claims (7)
1. a kind of high accuracy positioning self-navigation agricultural robot based on RTK technologies, it is characterised in that it includes：On ground
The walking of upper motion and power set, system master unit, RTK location navigations unit, mission planning unit and agricultural are made
Industry unit, wherein, the system master unit, the terminal module of RTK location navigation units and agricultural operation unit are solid
It is scheduled on walking and power set, and is driven by walking and power set and moved on the ground；The RTK location navigations unit
Base station module, mission planning unit are connected with system master unit by wireless network；The mission planning unit passes through RTK
Positioning comes Centimeter Level/millimetre-sized running route of planning robot, walking and power set according to running route progress li
Meter level/grade precise motion.
2. the high accuracy positioning self-navigation agricultural robot according to claim 1 based on RTK technologies, its feature exist
In：System master unit and RTK the location navigations unit is connected with each other.
3. the high accuracy positioning self-navigation agricultural robot according to claim 1 based on RTK technologies, its feature exist
In：The mission planning unit includes being arranged on mobile phone, the mobile module in PAD, VR, AR or PC equipment and being arranged on server
The system module at end, it is built-in with high-precision GIS-Geographic Information System.
4. the high accuracy positioning self-navigation agricultural robot according to claim 1 based on RTK technologies, its feature exist
In：The locating module of the RTK location navigations unit that the mission planning unit passes through hand-held demarcates several positioning
Point, the running route is formed between several anchor points.
5. the high accuracy positioning self-navigation agricultural robot according to claim 4 based on RTK technologies, its feature exist
In：The terminal module and the system master unit of the mission planning unit by the RTK location navigations unit
The walking and power set are instructed to be walked according to the running route between anchor point these described.
6. the high accuracy positioning self-navigation agricultural robot according to claim 1 based on RTK technologies, its feature exist
In：The walking and power set are provided with the receiving space for carrying the agricultural operation unit.
7. the high accuracy positioning self-navigation agricultural robot according to claim 1 based on RTK technologies, its feature exist
In：The agricultural operation unit include pesticide spraying module, data acquisition module, turn over module, sowing module, liquid manure module,
Module, carrier module, stalk processing module are plucked, each module can be used alone or in combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720441437.8U CN206869895U (en) | 2017-04-25 | 2017-04-25 | High accuracy positioning self-navigation agricultural robot based on RTK technologies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720441437.8U CN206869895U (en) | 2017-04-25 | 2017-04-25 | High accuracy positioning self-navigation agricultural robot based on RTK technologies |
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| CN206869895U true CN206869895U (en) | 2018-01-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958716A (en) * | 2018-06-27 | 2018-12-07 | 森汉智能科技（深圳）有限公司 | Realize that mobile terminal programs the method in conjunction with ar system on intelligent robot |
| CN110531391A (en) * | 2019-09-04 | 2019-12-03 | 北京麦飞科技有限公司 | Field navigation methods and systems based on dynamic carrier phase difference technology |
-
2017
- 2017-04-25 CN CN201720441437.8U patent/CN206869895U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958716A (en) * | 2018-06-27 | 2018-12-07 | 森汉智能科技（深圳）有限公司 | Realize that mobile terminal programs the method in conjunction with ar system on intelligent robot |
| CN110531391A (en) * | 2019-09-04 | 2019-12-03 | 北京麦飞科技有限公司 | Field navigation methods and systems based on dynamic carrier phase difference technology |
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