CN209656066U - A kind of orchard vehicle automatic navigation system based on 2D laser scanning - Google Patents
A kind of orchard vehicle automatic navigation system based on 2D laser scanning Download PDFInfo
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- CN209656066U CN209656066U CN201920714227.0U CN201920714227U CN209656066U CN 209656066 U CN209656066 U CN 209656066U CN 201920714227 U CN201920714227 U CN 201920714227U CN 209656066 U CN209656066 U CN 209656066U
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- master controller
- vehicle
- orchard
- host computer
- laser scanning
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Abstract
A kind of orchard vehicle automatic navigation system based on 2D laser scanning of the utility model mainly includes 2D laser scanner, host computer PC, master controller, Hall encoder, motor driver, stepper motor and steering executing agency.It is characterized by: host computer PC acquired 2D laser point cloud data is filtered, cluster and straight line fitting processing, calculate vehicle target steering angle, the current front wheel angle information of Hall encoder acquisition vehicle is simultaneously transferred to master controller, corner information is converted into control signal by fuzzy-adaptation PID control and exported to motor driver by master controller, driver, to drive Vehicular turn executing agency to act, makes vehicle corner reach target value by control stepper motor rotation.The utility model can quickly position vehicle location under unstructured orchard environment, and accurately fit navigation reference line, realize the autonomous operation of orchard vehicle, reduce system cost, improve the reliability and safety of work.
Description
Technical field
The utility model relates to a kind of orchard vehicle automatic navigation systems, and in particular to a kind of fruit based on 2D laser scanning
Garden vehicle automatic navigation system belongs to orchard agricultural machinery control field.
Background technique
China is Production of fruit big country, by China's application area in 2016 be about 17,250,000 hectares, all kinds of fruit
Yield is about 283,190,000 tons, and either area or yield ranks first in the world, but since China is populous nation, to solve
Food Security, National agricultural mechanization strategic are unfolded mainly for staple food crops such as wheat, corn, rice,
Concern and investment for industrial crops such as fruit is relatively fewer；In addition China's planting fruit trees are concentrated mainly on knob, fruit
Garden working condition is poor, and agricultural machinery agronomy combines untight problem to be widely present, so that Machinery for orchardization development in China's is relatively stagnant
Afterwards.
Since the 1980s, computer and information technology are grown rapidly, and agricultural robot has become intelligent agricultural machinery dress
Standby and precision agriculture important component.Automated navigation system is integrated with the function such as environment sensing, precise positioning and path planning
Can, machinery can be made to realize multi-function operation in the case where unmanned manipulation, orchard operation efficiency and quality is improved, reduce labor
Dynamic cost, this technology will play an increasingly important role in the future of agriculture field.
GNSS is a kind of typical global localization method, and user can be in one high-precision GNSS of orchard operation vehicle
To realize self-navigation.But for unstructured orchard, since top fruit sprayer is intensive, satellite-signal will will receive greatly dry
It disturbs, or even since there are Loss for masking, causes Work machine completely out of control, security of system can be by extreme influence.Machine
Device visual simulation emulates human eye, not only can accurately obtain target fruit tree position, determine guidance path, while can also be to surrounding
Environment is perceived in detail, is obtained the information such as weeds, barrier, is improved the safety and stability of system.But on the one hand by
Relative complex and uncontrollable in orchard environment, the problems such as uneven illumination is even, shaded area is larger, is more prominent, and detection accuracy can not
It ensures；On the other hand, high-precision binocular camera is expensive, increases substantially orchard operation cost.
Summary of the invention
For above-mentioned problems of the prior art and defect, the utility model provides a kind of based on 2D laser scanning
Orchard vehicle automatic navigation system, which can effectively overcome GNSS sensor limitation present in unstructured orchard
Property, navigation and positioning accuracy is improved, while 2D laser scanner has the advantages such as price is low, reduces the overall cost of system, energy
It is enough universal in market is a wide range of.
The utility model is achieved through the following technical solutions: a kind of orchard vehicle based on 2D laser scanning is led automatically
Boat system Hall encoder, motor driver, stepper motor and is turned by 2D laser scanner, host computer PC, master controller
It is formed to executing agency, it is characterised in that: the 2D laser scanner, which is bolted, is mounted on front of the car, described
2D laser scanner is communicated with host computer PC by network interface, and the Hall encoder is mounted on vehicle front axle and and master control
Device processed is connected, and the motor driver is connected with master controller, and the stepper motor is mounted on Vehicular turn executing agency
Above and with motor driver it is connected, the master controller and host computer PC are bi-directionally connected by RS232.
The master controller is made of course changing control module, memory module and communication unit, the host computer PC packet
Include operating system, gui monitoring interface, storage unit and microprocessor unit.
The utility model is based on above-mentioned composition, its working principle is that: vehicle in fruit tree walking operations in the ranks, sweep by 2D laser
Instrument acquisition two sides fruit tree point cloud information is retouched, and is handled and is fitted by host computer PC and to data collected, use is extracted
In the controling parameter for realizing vehicle automatic navigation, the target steering angle calculated is finally transferred to master controller, Hall coding
The current front wheel angle information of device acquisition vehicle is simultaneously transferred to master controller, and master controller passes through fuzzy-adaptation PID control for corner information
It is converted into control signal to export to motor driver, driver is by control stepper motor rotation to drive Vehicular turn to execute
Mechanism action makes vehicle corner reach target value, to realize the self-navigation of vehicle in the ranks in orchard.
A kind of beneficial effect of the automatic guiding systems of orchard vehicle based on 2D laser scanning of the utility model is: provided
Orchard vehicle automatic navigation system based on 2D laser scanner can be such that vehicle quickly positions under unstructured orchard environment
Vehicle location, and navigation reference line is accurately fitted, the autonomous operation of orchard vehicle is realized, system cost is reduced,
Improve the reliability and safety of work.
Detailed description of the invention
Fig. 1 is a kind of automatic guiding systems structural block diagram of orchard vehicle based on 2D laser scanning of the utility model.
Fig. 2 is a kind of automatic guiding systems data processing of orchard vehicle based on 2D laser scanning of the utility model and controlling party
Method flow chart.
Specific embodiment
1-2 is further described the utility model with reference to the accompanying drawing.
A kind of automatic guiding systems of orchard vehicle based on 2D laser scanning, are by 2D laser scanner, host computer PC, master control
Device processed, Hall encoder, motor driver, stepper motor and steering executing agency composition, it is characterised in that: the 2D laser
Scanner, which is bolted, is mounted on front of the car, and the 2D laser scanner is communicated with host computer PC by network interface, institute
The Hall encoder stated is mounted on vehicle front axle and is connected with master controller, the motor driver and master controller phase
Even, the stepper motor is mounted in Vehicular turn executing agency and is connected with motor driver, the master controller and
Host computer PC is bi-directionally connected by RS232.
The utility model obtains orchard in the ranks two sides trunks of fruit trees and inter-row weed by reading 2D laser scanner data
Point cloud information.The point cloud information collected is transmitted to host computer PC by network interface, host computer PC to all point cloud datas into
The processing of row particle filter, rejects the abnormal point for representing weeds, then using the method for k-means cluster, after filtering
Point cloud data classify, and according to the geometry constraint conditions of orchard planting environment obtain fruit tree center point coordinate, finally adopt
With the method for Hough transform, navigation reference line i.e. fruit tree center line in the ranks is fitted, and combines self vehicle position, is calculated
Master controller is transferred to for the controling parameter of vehicle automatic navigation, and by target steering angle.Before encoder acquisition vehicle is current
Wheel corner information is simultaneously transferred to master controller, and master controller is converted into the corner information to control signal defeated by fuzzy-adaptation PID control
Out to motor driver, driver, to drive Vehicular turn executing agency to act, makes vehicle by control stepper motor rotation
Corner reaches target value, to realize the self-navigation of vehicle in the ranks in orchard.
Claims (3)
- It mainly include 2D laser scanner 1. a kind of orchard vehicle automatic navigation system based on 2D laser scanning, host computer PC, Master controller, Hall encoder, motor driver, stepper motor and steering executing agency, it is characterised in that: the 2D laser Scanner, which is bolted, is mounted on front of the car, and the 2D laser scanner is communicated with host computer PC by network interface, institute The Hall encoder stated is mounted on vehicle front axle and is connected with master controller, the motor driver and master controller phase Even, the stepper motor is mounted in Vehicular turn executing agency and is connected with motor driver, the master controller and Host computer PC is bi-directionally connected by RS232.
- 2. a kind of orchard vehicle automatic navigation system based on 2D laser scanning according to claim 1, it is characterised in that: The master controller is made of course changing control module, memory module and communication unit.
- 3. a kind of orchard vehicle automatic navigation system based on 2D laser scanning according to claim 1, it is characterised in that: The host computer PC includes operating system, gui monitoring interface, storage unit and microprocessor unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714227.0U CN209656066U (en) | 2019-05-18 | 2019-05-18 | A kind of orchard vehicle automatic navigation system based on 2D laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714227.0U CN209656066U (en) | 2019-05-18 | 2019-05-18 | A kind of orchard vehicle automatic navigation system based on 2D laser scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209656066U true CN209656066U (en) | 2019-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920714227.0U Expired - Fee Related CN209656066U (en) | 2019-05-18 | 2019-05-18 | A kind of orchard vehicle automatic navigation system based on 2D laser scanning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009453A (en) * | 2020-07-30 | 2020-12-01 | 北京农业智能装备技术研究中心 | Method and device for controlling walking of orchard operation vehicle |
-
2019
- 2019-05-18 CN CN201920714227.0U patent/CN209656066U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009453A (en) * | 2020-07-30 | 2020-12-01 | 北京农业智能装备技术研究中心 | Method and device for controlling walking of orchard operation vehicle |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191119 Termination date: 20200518 |