CN212541102U - Automatic walking control system of plant protection unmanned vehicle - Google Patents
Automatic walking control system of plant protection unmanned vehicle Download PDFInfo
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- CN212541102U CN212541102U CN202021254823.4U CN202021254823U CN212541102U CN 212541102 U CN212541102 U CN 212541102U CN 202021254823 U CN202021254823 U CN 202021254823U CN 212541102 U CN212541102 U CN 212541102U
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Abstract
The utility model discloses a plant protection unmanned vehicle automatic walking control system, including management module and plant protection unmanned vehicle, the management module includes central processing unit, plant protection unmanned vehicle includes the automobile body, the crawler attachment who links to each other with the automobile body to and be located the automobile body and with central processing unit electrical connection spout medicine device, information perception device, RTK positioner, AI module, crawler attachment and central processing unit electrical connection, central processing unit control spout the opening and closing of medicine device; the information perception device at least comprises a plurality of ultrasonic sensors, and the ultrasonic sensors are used for perceiving obstacles in front of the vehicle body; the AI module comprises an AI board card, a display and a binocular camera, wherein the display and the binocular camera are connected with the AI board card, and the binocular camera is located on the front side of the vehicle body. The utility model discloses an unmanned car of plant protection can be to barrier automatic identification on the walking orbit and dodge.
Description
Technical Field
The utility model relates to an agricultural smart machine field, more specifically the automatic walking control system of plant protection unmanned car that says so.
Background
The pest and disease damage is an important influence factor for restricting the agricultural grain yield and the food quality, so that the pesticide spraying on crops becomes an essential operation link for preventing and controlling the pest and disease damage in agricultural production. Traditional mode of spouting medicine mainly spouts the medicine operation through the operation personnel manual work, and this kind of mode is not only that the cost of labor is high, efficient, and the operation personnel can not inhale the pesticide and cause the injury of health at the medicine in-process of spouting unavoidably.
In order to realize the intellectualization of the pesticide spraying operation, a pesticide spraying vehicle capable of realizing automatic walking and pesticide spraying is available in the market at present, for example, an electric crawler type pesticide spraying vehicle motion and operation control system disclosed in 2019, 5, month and 3 under the publication of Chinese patent No. CN208819092U, and the pesticide spraying vehicle can finish the automatic walking and pesticide spraying operation. However, in the process of implementing the invention, the inventor finds that the following problems exist in the prior art: the existing pesticide spraying vehicle cannot automatically identify and avoid the obstacles on the walking track.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic walking control system of plant protection unmanned aerial vehicle, the utility model discloses a plant protection unmanned aerial vehicle can be to barrier automatic identification on the walking orbit and dodge.
The technical scheme is as follows:
the plant protection unmanned vehicle automatic walking control system comprises a management module and a plant protection unmanned vehicle, wherein the management module comprises a central processing unit, the plant protection unmanned vehicle comprises a vehicle body, a crawler walking device connected with the vehicle body, and a pesticide spraying device, an information sensing device, an RTK positioning device and an AI module which are positioned on the vehicle body and electrically connected with the central processing unit, the crawler walking device is electrically connected with the central processing unit, and the central processing unit controls the pesticide spraying device to be opened and closed; the information perception device at least comprises a plurality of ultrasonic sensors, and the ultrasonic sensors are used for perceiving obstacles in front of the vehicle body; the AI module comprises an AI board card, a display and a binocular camera, wherein the display and the binocular camera are connected with the AI board card, and the binocular camera is located on the front side of the vehicle body.
The vehicle body is further provided with an inertial navigation module, the inertial navigation module is connected with the central processing unit, and the inertial navigation module is used for navigating the vehicle body.
The plant protection unmanned vehicle is also provided with a wireless communication module, and the wireless communication module is connected with the central processing unit through a serial interface.
The crawler traveling device comprises a left crawler, a right crawler, a left crawler driving motor and a right crawler driving motor, wherein the left crawler driving motor is connected with the left crawler, the right crawler driving motor is connected with the right crawler, and Hall sensors are respectively arranged on the left crawler driving motor and the right crawler driving motor.
The pesticide spraying device comprises a pesticide box, a first spray rod and a second spray rod, a water outlet of the pesticide box is respectively connected with water inlets of the first spray rod and the second spray rod through a water pump and a water pipe, and electromagnetic valves are respectively arranged on the water pipes connected with the first spray rod and the second spray rod.
The liquid level sensor is arranged in the medicine box and connected with the central processing unit, and the liquid level sensor is used for monitoring the amount of liquid medicine in the medicine box and transmitting the monitoring result to the central processing unit.
The automobile body is further provided with a status indicator lamp and/or a buzzer, and the status indicator lamp and/or the buzzer are electrically connected with the central processing unit.
The plant protection unmanned vehicle further comprises a remote controller, a receiver of the remote controller is electrically connected with the central processing unit, and the remote controller is provided with a plurality of remote control keys.
Still be equipped with power management module on the automobile body, power management module does plant protection unmanned vehicles supplies power.
The advantages or principles of the invention are explained below:
1. be equipped with information sensing device, RTK positioner and AI module on the unmanned car of plant protection, a plurality of ultrasonic sensor of information sensing device are located the automobile body front side, and at the in-process of the unmanned car walking of plant protection, ultrasonic sensor can respond to the condition of the barrier in plant protection unmanned car the place ahead in real time, cooperates the two mesh cameras of AI module simultaneously, realizes the function of dodging to the barrier in plant protection unmanned car the place ahead. The RTK positioning device provides a high-precision positioning navigation function in the walking process of the plant protection unmanned vehicle.
2. The utility model discloses still including being used to the navigation module, satellite signal is more weak in the environment that unmanned car of plant protection is located, or when no satellite signal, is used to the navigation module and fuses locator RTK and can provide high accuracy location navigation, guarantees navigation's normal work, improves the stability and the reliability of unmanned car navigation of plant protection.
Drawings
Fig. 1 is a block diagram of the structure of a control system of the present embodiment;
fig. 2 is a schematic structural view of the plant protection unmanned vehicle of the embodiment;
fig. 3 is another schematic structural diagram of the plant protection unmanned vehicle of the embodiment;
fig. 4 is a sectional view of the plant protection unmanned vehicle of the present embodiment;
fig. 5 is a traveling path of the plant protection unmanned vehicle of the present embodiment in a standard orchard;
fig. 6 is a driving path of the plant protection unmanned vehicle of the embodiment in a non-standard orchard;
description of reference numerals:
1. a management module; 11. a central processing unit; 2. A vehicle body; 3. a crawler traveling device; 31. a left track; 32. a right track; 33. a left track drive motor; 34. a right track drive motor; 35. a Hall sensor; 36. a driver; 12. RS485 communication bus; 4. a pesticide spraying device; 5. an information sensing device; 6. an RTK positioning device; 7. an AI module; 40. a medicine chest; 41. a first spray bar; 42. a second spray bar; 43. a first solenoid valve; 44. a second solenoid valve; 45. a water pump; 13. a MOS drive module; 51. a liquid level sensor; 52. an ultrasonic sensor; 71. an AI board card; 72. a display; 73. a binocular camera; 52. an inertial navigation module; 8. a wireless communication module; 81. a wifi communication unit; 82. a 4G/5G communication unit; 53. a power management module; 54. a power source; 14. an I2C interface; 15. a serial interface; 61. an RTK positioner; 62. positioning an antenna; 63. a differential compensation calibration cloud; 16. an SPI interface; 17. a FLASH extended memory; 9. a remote controller; 18. an indicator light and/or a buzzer.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.
As shown in fig. 1 to 4, the present embodiment discloses an automatic walking control system for a plant protection unmanned vehicle, which includes a management module 1 and the plant protection unmanned vehicle. The management module 1 includes a central processing unit 11, and preferably, the model of the central processing unit 11 is STM32F407VGT 6. The plant protection unmanned vehicle comprises a vehicle body 2 and a crawler traveling device 3 connected with the vehicle body 2, wherein the crawler traveling device 3 drives the vehicle body 2 to travel. The crawler belt walking device 3 comprises a left crawler belt 31, a right crawler belt 32, a left crawler belt driving motor 33 and a right crawler belt driving motor 34, wherein the left crawler belt driving motor 33 is connected with the left crawler belt 31, the right crawler belt driving motor 34 is connected with the right crawler belt 32, and Hall sensors 35 are respectively arranged on the left crawler belt driving motor 33 and the right crawler belt driving motor 34. The driver 36 of the left track driving motor 33 and the driver 36 of the right track driving motor 34 are respectively connected with the central processing unit 11 through the RS485 communication bus 12, and the central processing unit 11 controls the drivers 36 to control the rotation of the left track driving motor 33 and the right track driving motor 34, so as to control the walking and the suspension of the crawler walking device 3.
The hall sensor 35 of the left track driving motor 33 feeds the rotating speed of the left track driving motor 33 back to the driver 36 of the left track driving motor 33 in real time, so that the driver 36 controls the left track driving motor 33. The hall sensor 35 of the right track driving motor 34 feeds the rotating speed of the right track driving motor 34 back to the driver 36 of the right track driving motor 34 in real time, so that the driver 36 can control the right track driving motor 34 in a closed loop mode. Meanwhile, the turning of the plant protection unmanned vehicle can be realized by the difference between the rotating speeds of the left track driving motor 33 and the right track driving motor 34 in the embodiment, and the in-situ turning of the plant protection unmanned vehicle can be realized when only the left track driving motor 33 rotates, or only the right track driving motor 34 rotates, or the left track driving motor 33 and the right track driving motor 34 synchronously rotate in different directions. Preferably, the left and right crawler belt driving motors 33 and 34 are brushless motors.
The vehicle body 2 is provided with a medicine spraying device 4, an information sensing device 5, an RTK positioning device 6 and an AI module 7, wherein the medicine spraying device 4, the information sensing device 5, the RTK positioning device 6 and the AI module 7 are respectively electrically connected with a central processing unit 11, and the operation of the central processing unit 11 is controlled. Preferably, the RTK positioning apparatus 6 of the present embodiment is model number TOP 306. And the RTK positioning device 6 is used for realizing accurate positioning on the plant protection unmanned vehicle. The RTK positioning device 6 of the present embodiment includes an RTK positioner 61, a positioning antenna 62, and a differential compensation calibration cloud 63.
The spraying device 4 includes a medicine box 40, a first spray rod 41 and a second spray rod 42, and a liquid medicine is provided in the medicine box 40. The water outlet of the medicine box 40 is connected with the water inlets of the first spray rod 41 and the second spray rod 42 through a water pump 45 and a water pipe respectively, electromagnetic valves are arranged on the water pipes connected with the first spray rod 41 and the second spray rod 42 respectively, the electromagnetic valve for controlling the first spray rod 41 is a first electromagnetic valve 43, and the electromagnetic valve for controlling the second spray rod 42 is a second electromagnetic valve 44. Preferably, the first and second spray bars 41, 42 are provided on both sides of the vehicle body 2, respectively. The water pump 45 and the two electromagnetic valves of this embodiment are electrically connected to the central processing unit 11 through the MOS driving module 13, and the central processing unit 11 controls the operation of the water pump 45 and the opening and closing of the two electromagnetic valves.
In order to monitor the liquid medicine in the medicine box 40, in the present embodiment, the liquid level sensor 51 is arranged in the medicine box 40, the liquid level sensor 51 is connected with the central processing unit 11 through the RS485 communication bus 12, the liquid level sensor 51 monitors the amount of the liquid medicine in the medicine box 40, and transmits a monitoring result to the central processing unit 11, and according to the monitoring result of the liquid level sensor 51, when the liquid medicine in the medicine box 40 is insufficient, the liquid medicine is convenient to be replenished in time.
The information sensing device 5 of the present embodiment includes a plurality of ultrasonic sensors 52, the plurality of ultrasonic sensors 52 are electrically connected to the central processing unit 11 through the RS485 communication bus 12, the plurality of ultrasonic sensors 52 are fixed to different positions on the front side of the vehicle body 2, and preferably, four ultrasonic sensors 52 are provided in the present embodiment. In the process of walking of the plant protection unmanned vehicle, the plurality of ultrasonic sensors 52 are used for sensing the obstacle in front of the vehicle body 2 and transmitting the sensing result to the central processing unit 11. Preferably, the ultrasonic sensor 52 of the present embodiment has a model number KS 136A.
The AI module 7 of this embodiment includes an AI board 71, and a display 72 and a binocular camera 73 connected to the AI board 71, the binocular camera 73 is located on the front side of the vehicle body 2, and the AI board 71 is connected to the central processing unit 11 through the serial interface 15. The AI board card 71 is of the type Jetson TX 2.
The unmanned vehicle for plant protection of this embodiment is at the in-process of walking, and the condition of the barrier in front of the unmanned vehicle for plant protection can be responded to in real time to a plurality of ultrasonic sensor 52, cooperates binocular camera 73 of AI module 7 simultaneously, realizes the function of dodging to the barrier in front of the unmanned vehicle for plant protection. The RTK positioning device 6 provides a high-precision positioning navigation function in the walking process of the plant protection unmanned vehicle.
The display 72 of the AI module 7 of the present embodiment can be used to display the signal intensity of the RTK positioning device 6, the content of the liquid medicine in the medicine box 40, and the like in real time.
The plant protection unmanned vehicle is also provided with an inertial navigation module 52, the inertial navigation module 52 is connected with the central processing unit 11 through an I2C interface 14, and the inertial navigation module 52 is used for navigating the vehicle body 2. Preferably, the inertial navigation module 52 is of the type MPU 6050. When the satellite signal in the environment of the plant protection unmanned vehicle is weak or no satellite signal exists, the inertial navigation module 52 can provide high-precision positioning navigation, ensure the normal operation of the navigation system, and improve the stability and reliability of the plant protection unmanned vehicle navigation.
In order to realize the connection between the plant protection unmanned vehicle and the intelligent terminal or the remote cloud server, the plant protection unmanned vehicle of the embodiment is further provided with a wireless communication module 8, the wireless communication module 8 comprises a wifi communication unit 81 and a 4G/5G communication unit 82, and the wifi communication unit 81 and the 4G/5G communication unit 82 are respectively connected with the central processing unit 11 through a serial interface 15. The plant protection unmanned vehicle can be connected with an intelligent terminal (such as a mobile phone or a computer terminal), a cloud server terminal and the like through the wireless communication module 8, and data transmission and control between the mobile phone or the computer terminal and the plant protection unmanned vehicle are realized through the wireless communication module 81.
And a power supply management module 53 is further arranged on the plant protection unmanned vehicle, the power supply management module 53 comprises a power supply 54, and the power supply 54 supplies power to the plant protection unmanned vehicle. Preferably, the power management module 53 further includes a power monitoring device, the power monitoring device is used for monitoring the electric quantity of the power source 54, and the monitored electric quantity of the power source is fed back to the central processing unit 11 through the RS485 communication bus 12 and the electrical connection of the central processing unit 11 and then displayed on the display screen, or the result is fed back to the cloud server, and the user checks the result through the intelligent terminal. When the power supply 54 is low, the cpu 11 can send a return command to charge or replace the power supply 54 in time. Preferably, the power source 54 of the present embodiment is a battery.
The plant protection unmanned vehicle is also provided with a status indicator lamp and/or a buzzer, and the status indicator lamp and/or the buzzer are electrically connected with the central processing unit 11 through the MOS driving module 13. When the plant protection unmanned vehicle breaks down or encounters dangers such as obstacles, collisions, side turning and the like, and the electric quantity of a power supply or insufficient liquid medicine in the medicine box 40 is monitored, the user can be reminded through the state indicating lamp and/or the buzzer.
The plant protection unmanned vehicle of this embodiment can not only automatic navigation walk, still can be through remote control of remote controller 9 manual, and the receiver of remote controller 9 links to each other with central processing unit 11 electrical property, is equipped with a plurality of remote control button on the remote controller 9. After the RTK positioning device 6 and the inertial navigation module 52 of the plant protection unmanned vehicle are in fault, or the road conditions are complex, the mode can be switched to the remote controller mode, the remote controller 9 is used for manually controlling the vehicle to walk, and the walking safety of the plant protection unmanned vehicle is improved.
Preferably, the management module of this embodiment may further connect to a FLASH expansion memory 17 through the SPI interface 16, so as to store the history data of the operation.
As shown in fig. 5 and 6, the working flow of one embodiment of the plant protection unmanned vehicle automatic walking control system of the present embodiment is as follows:
s1: judging whether the RTK positioning device 6 has a fixed solution, if so, starting an RTK positioning mode, entering S3, and if not, starting a binocular mode, and entering S10;
s2: carrying out route planning aiming at the coordinates of a start-stop target point which can be led in a standard orchard;
specifically, a route is planned by taking a start-stop target point as a reference according to the set line distance and the set line number, and route path target points are sequentially arranged;
s3: the plant protection unmanned vehicle takes the current position as a target starting point, an optimal path is searched by adopting an optimal path algorithm in the prior art, and the driving direction of the plant protection unmanned vehicle is adjusted;
s4: judging whether the driving direction of the plant protection unmanned vehicle faces the direction of the optimal path, if so, entering S5, otherwise, returning to S3, and continuously adjusting the driving direction of the plant protection unmanned vehicle;
s5: judging whether the RTK positioning device 6 still has a fixed solution, if so, entering S6, otherwise, entering S11, and automatically driving the plant protection unmanned vehicle to a target point by means of binocular recognition in a binocular mode;
s6: the plant protection unmanned vehicle automatically drives to a target point in an RTK positioning mode;
s7: judging whether the plant protection unmanned vehicle reaches a target point, if so, entering S8, otherwise, returning to S6, and continuing to drive;
s8: spraying pesticide on the fruit trees;
s9: judging whether the target point is the last target point, if so, stopping the vehicle, and ending the operation, otherwise, returning to the step S3;
s10: the RTK positioning device 6 has no fixed solution, is in a binocular mode at the moment, and can adjust the plant protection unmanned vehicle through manual remote control to enable the plant protection unmanned vehicle to be located at the starting point of the driving route and face the radial direction of the driving route, so that the target point is in the visual field of the binocular camera 73;
s11: the plant protection unmanned vehicle automatically drives to a target point in a binocular mode;
s12: in the process that the plant protection unmanned vehicle drives to the target point, whether the RTK positioning device 6 has a fixed solution or not is judged all the time, if yes, S13 is carried out, meanwhile, the RTK positioning mode is returned, and if not, S14 is carried out;
s13: judging whether the plant protection unmanned vehicle reaches a driving route end target point, if so, entering S16, otherwise, returning to S11;
s14: the plant protection unmanned vehicle continues to run in the binocular mode;
s15: judging whether the plant protection unmanned vehicle reaches the end of the road, if so, entering S13, otherwise, returning to S11;
s16: judging whether the end of the driving route is a terminal point, if so, stopping the vehicle, and ending the operation, otherwise, entering S17;
s17: the plant protection unmanned vehicle is driven to the next target point, and the process proceeds to S11.
The unmanned vehicle for plant protection of the embodiment can set the walking route of the unmanned vehicle for plant protection through route planning in a standard orchard. When the plant protection unmanned vehicle works, two points of a road entrance and a road end of a standard orchard can be set as a starting position and an ending position of the plant protection unmanned vehicle, and meanwhile, a row spacing is set according to the spacing between fruit trees in the orchard, and a walking route is planned.
When the RTK positioning device 6 has fixation, the plant protection unmanned vehicle automatically runs along the planned route, and the central processing unit 11 controls the pesticide spraying device 4 to spray pesticide on the fruit trees. When the RTK positioning device 6 is not solved, the plant protection unmanned vehicle can automatically drive to the target point in a binocular mode.
When the plant protection unmanned vehicle runs to the end and needs to enter the next line, the central processing unit 11 drives the left and right crawler driving motors 34 to rotate, and meanwhile, the differential speed is formed by controlling the rotating speed of the left and right crawler driving motors 34, so that the plant protection unmanned vehicle enters the next line after turning at a certain rotating angle.
In a non-standard orchard, the management module 1 can be introduced after a route is manually planned, and the central processing unit 11 drives according to the manually planned route. The remote controller 9 can also control the plant protection unmanned vehicle to run in the orchard according to a certain route, the plant protection unmanned vehicle records the running route through the RTK positioning device 6 and the binocular camera 73 in the running process, and the subsequent plant protection unmanned vehicle automatically runs in the orchard according to the running route.
The embodiment of the present invention is not limited to this, according to the above-mentioned content of the present invention, the common technical knowledge and the conventional means in the field are utilized, without departing from the basic technical idea of the present invention, the present invention can also make other modifications, replacements or combinations in various forms, all falling within the protection scope of the present invention.
Claims (9)
1. The plant protection unmanned vehicle automatic walking control system comprises a management module and a plant protection unmanned vehicle, wherein the management module comprises a central processing unit, and is characterized in that the plant protection unmanned vehicle comprises a vehicle body, a crawler walking device connected with the vehicle body, a pesticide spraying device, an information sensing device, an RTK positioning device and an AI module, wherein the crawler walking device is electrically connected with the central processing unit, and the central processing unit controls the pesticide spraying device to be opened and closed; the information perception device at least comprises a plurality of ultrasonic sensors, and the ultrasonic sensors are used for perceiving obstacles in front of the vehicle body; the AI module comprises an AI board card, a display and a binocular camera, wherein the display and the binocular camera are connected with the AI board card, and the binocular camera is located on the front side of the vehicle body.
2. The plant protection unmanned vehicle automatic walking control system of claim 1, wherein the vehicle body is further provided with an inertial navigation module, the inertial navigation module is connected with the central processing unit, and the inertial navigation module is used for navigating the vehicle body.
3. The automatic walking control system of plant protection unmanned vehicle according to any one of claims 1 or 2, wherein the plant protection unmanned vehicle is further provided with a wireless communication module, and the wireless communication module is connected with the central processing unit through a serial interface.
4. The automatic walking control system of plant protection unmanned vehicle as claimed in claim 1, wherein the crawler walking device comprises a left crawler, a right crawler, a left crawler driving motor and a right crawler driving motor, the left crawler driving motor is connected with the left crawler, the right crawler driving motor is connected with the right crawler, and the left crawler driving motor and the right crawler driving motor are respectively provided with a hall sensor.
5. The automatic walking control system of a plant protection unmanned aerial vehicle as claimed in claim 1, wherein the pesticide spraying device comprises a pesticide box, a first spray rod and a second spray rod, a water outlet of the pesticide box is respectively connected with water inlets of the first spray rod and the second spray rod through a water pump and a water pipe, and electromagnetic valves are respectively arranged on the water pipes connected with the first spray rod and the second spray rod.
6. The automatic walking control system for plant protection unmanned aerial vehicle as claimed in claim 5, wherein a liquid level sensor is arranged in the medicine box, the liquid level sensor is connected with the central processing unit, and the liquid level sensor is used for monitoring the amount of liquid medicine in the medicine box and transmitting the monitoring result to the central processing unit.
7. The automatic walking control system of plant protection unmanned vehicle according to claim 1, wherein the vehicle body is further provided with a status indicator light and/or a buzzer, and the status indicator light and/or the buzzer are electrically connected with the central processing unit.
8. The automatic walking control system of plant protection unmanned vehicle as claimed in claim 1, wherein the plant protection unmanned vehicle further comprises a remote controller, a receiver of the remote controller is electrically connected with the central processing unit, and the remote controller is provided with a plurality of remote control keys.
9. The automatic walking control system of plant protection unmanned vehicle according to claim 1, wherein the vehicle body is further provided with a power management module, and the power management module supplies power to the plant protection unmanned vehicle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113575555A (en) * | 2021-08-24 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Unmanned pesticide spraying vehicle |
| CN113575093A (en) * | 2021-08-23 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Mowing robot |
-
2020
- 2020-07-01 CN CN202021254823.4U patent/CN212541102U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113575093A (en) * | 2021-08-23 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Mowing robot |
| CN113575555A (en) * | 2021-08-24 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Unmanned pesticide spraying vehicle |
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