CN215729433U - Double-antenna RTK positioning and orienting unmanned agricultural machine control system based on Beidou - Google Patents
Double-antenna RTK positioning and orienting unmanned agricultural machine control system based on Beidou Download PDFInfo
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- CN215729433U CN215729433U CN202121101486.XU CN202121101486U CN215729433U CN 215729433 U CN215729433 U CN 215729433U CN 202121101486 U CN202121101486 U CN 202121101486U CN 215729433 U CN215729433 U CN 215729433U
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Abstract
The utility model discloses a double-antenna RTK positioning and orienting unmanned agricultural machine control system based on Beidou, which comprises an unmanned agricultural machine and a control system, wherein the unmanned agricultural machine comprises a vehicle body, a crawler walking device, an RTK positioning and orienting device, a sensor signal receiving device and a binocular camera, the RTK positioning and orienting device is connected with a Beidou navigation system, the control system comprises an embedded microprocessor, a vision extension module and an embedded microcontroller, the crawler walking device, the sensor signal receiving device and the RTK positioning and orienting device are all connected with the embedded microcontroller, the binocular camera is connected with the vision extension module, and the RTK positioning and orienting device comprises a double RTK signal receiving and analyzing module, an RTK main antenna and an RTK auxiliary antenna which are connected with the double RTK signal receiving and analyzing module. The unmanned agricultural machinery control system adopts an RTK positioning technology based on the Beidou navigation system, has high positioning precision and is not easily influenced by the environment.
Description
Technical Field
The utility model relates to the field of unmanned agricultural production, in particular to a Beidou based dual-antenna RTK positioning and orientation unmanned agricultural machine control system.
Background
The Beidou navigation system is a satellite navigation system with independent intellectual property rights in China, has strong signal coverage capability and high positioning accuracy, and provides important technical support for intelligent development of agriculture in China. Although the Beidou navigation system has obvious technical advantages, in the field of unmanned agricultural machinery, due to the influence of factors such as cultivated land distribution, population density, economic level and the like, the popularization rate of the Beidou system is still low, and the application range of the unmanned agricultural machinery based on Beidou is relatively small.
RTK positioning is a real-time dynamic technique based on carrier phase observations. At present, the traditional RTK-GPS technology is mostly adopted for agricultural machinery positioning and navigation in China, the observation error of the technical method can be increased along with the increase of the distance between a mobile station and a reference station, the accuracy of an observation result cannot be ensured, and navigation signals in hilly areas can be influenced by factors such as shielding, sparse distribution of signal enhancement stations and the like.
SUMMERY OF THE UTILITY MODEL
The unmanned agricultural machine control system adopts the RTK positioning technology based on the Beidou navigation system, has high positioning precision and is not easily influenced by the environment.
The technical scheme is as follows:
a double-antenna RTK positioning and orientation unmanned agricultural machine control system based on Beidou comprises an unmanned agricultural machine and a control system, wherein the unmanned agricultural machine comprises a vehicle body and a crawler traveling device connected with the vehicle body, and an RTK positioning and orienting device, a sensor signal receiving device and a binocular camera which are arranged on the vehicle body, the RTK positioning and orienting device is connected with a Beidou navigation system, the control system comprises an embedded microprocessor, a vision expansion module and an embedded microcontroller which are connected with the embedded microprocessor, the crawler traveling device, the sensor signal receiving device and the RTK positioning and orienting device are all connected with the embedded microcontroller, the binocular camera is connected with the vision extension module, and the RTK positioning and orientation device comprises a double RTK signal receiving and analyzing module, and an RTK main antenna and an RTK auxiliary antenna which are connected with the double RTK signal receiving and analyzing module.
Further, still be equipped with battery module on the unmanned agricultural machinery, battery module include the battery and with the voltage conversion module that the battery links to each other, the battery is unmanned agricultural machinery supplies power.
Furthermore, a router is further arranged on the vehicle body, and the embedded microprocessor is connected with the cloud service platform through the router.
Further, the RTK main antenna and the RTK auxiliary antenna are respectively fixed at the front end and the rear end of the vehicle body, and the RTK main antenna and the RTK auxiliary antenna are respectively positioned on the midline of the vehicle body; the binocular camera is fixed at the front end of the vehicle body and is located right ahead of the RTK main antenna.
Further, crawler travel unit includes left track, right track, left track driving motor, right track driving motor, left drive unit, right drive unit, left side track driving motor with left track links to each other, left side drive unit links to each other with left track driving motor, right track driving motor with right track links to each other, right side drive unit with right track driving motor links to each other, left side drive unit, right side drive unit all with embedded microcontroller links to each other.
Furthermore, the sensor signal receiving device at least comprises a plurality of ultrasonic sensors and a plurality of radar sensors, the ultrasonic sensors and the radar sensors are located on the periphery of the vehicle body, and the ultrasonic sensors and the radar sensors are used for sensing obstacles on the periphery of the vehicle body.
Furthermore, an inertial sensor is further arranged on the vehicle body and connected with the embedded microcontroller, and the inertial sensor is used for navigating the unmanned agricultural machine.
Further, still be equipped with tristimulus designation lamp and/or bee calling organ on the automobile body, tristimulus designation lamp and/or bee calling organ with embedded microcontroller links to each other.
Furthermore, a display is further arranged on the vehicle body and connected with the embedded microprocessor, and the display is located at the rear end of the vehicle body.
Further, unmanned agricultural machinery still includes the remote controller, the remote controller with embedded microcontroller links to each other.
The following illustrates the advantages or principles of the utility model:
the utility model is provided with an RTK positioning and orientation device on an unmanned agricultural machine, wherein the RTK positioning and orientation device comprises a double RTK signal receiving and analyzing module, an RTK main antenna and an RTK auxiliary antenna. The RTK positioning and orientation device is connected with the Beidou navigation system through the RTK main antenna and the RTK auxiliary antenna. The RTK positioning and orienting device receives Beidou satellite signals through the RTK main antenna and the RTK auxiliary antenna at the same time, and obtains longitude and latitude coordinates and course angle information of the unmanned agricultural machine through differential operation, so that the unmanned agricultural machine is accurately positioned. The RTK positioning and orienting device realizes positioning based on the Beidou navigation system, has high positioning precision, is not easily influenced by the environment, and is more suitable for unmanned agricultural machinery.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned agricultural machine control system;
FIG. 2 is a schematic diagram of an RTK position orientation apparatus;
FIG. 3 is an internal cross-sectional view of the unmanned agricultural vehicle;
FIG. 4 is a rear view of the unmanned agricultural machine;
FIG. 5 is a front view of the unmanned agricultural machine;
description of reference numerals:
10. unmanned agricultural machinery; 20. a control system; 11. a vehicle body; 30. a crawler traveling device; 40. an RTK positioning and orientation device; 50. a sensor signal receiving device; 60. a binocular camera; 21. an embedded microprocessor; 22. a vision extension module; 23. an embedded microcontroller; 41. a dual RTK signal receiving and analyzing module; 42. an RTK main antenna; 43. an RTK secondary antenna; 70. a router; 31. a left track; 32. a right track; 33. a right track drive motor; 34. a left drive unit; 35. a right drive unit; 51. an ultrasonic sensor; 52. a radar sensor; 130. an inertial sensor; 80. a display; 90. a knob switch; 100. a signal antenna; 110. a battery module; 111. a battery; 112. a voltage conversion module; 120. and a remote controller.
Detailed Description
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "middle", "inner", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the utility model easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the utility model.
As shown in fig. 1 to 5, the present embodiment discloses a dual-antenna RTK positioning and orientation unmanned agricultural machine control system based on the big dipper, which includes an unmanned agricultural machine 10 and a control system 20, wherein the operation of the unmanned agricultural machine 10 is controlled by the control system 20.
The unmanned agricultural machine 10 comprises a vehicle body 11, a crawler traveling device 30 connected with the vehicle body 11, and an RTK positioning and orienting device 40, a sensor signal receiving device 50 and a binocular camera 60 which are arranged on the vehicle body 11. The RTK positioning and orienting device 40 is connected with a Beidou navigation system. The control system 20 includes an embedded microprocessor 21, and a vision extension module 22 and an embedded microcontroller 23 connected to the embedded microprocessor 21. The crawler traveling device 30, the sensor signal receiving device 50 and the RTK positioning and orienting device 40 are all connected with the embedded microcontroller 23, and the binocular camera 60 is connected with the vision extension module 22. The RTK positioning and orientation device 40 includes a dual RTK signal receiving and analyzing module 41, and an RTK main antenna 42 and an RTK auxiliary antenna 43 connected to the dual RTK signal receiving and analyzing module 41.
Preferably, the embedded microprocessor 21 is Raspberry Pi (Raspberry Pi), the board model of the vision extension module 22 is NVIDIA Jetson TX2, and the model of the embedded microcontroller 23 is STM 32. The vision expansion module 22 is used for image processing, target identification, AI mapping and other functions, the embedded microprocessor 21 is based on a Linux system, the embedded microprocessor 21 is small in size, high in processing capacity, high in integration level and high in processing speed, and is the core of the whole unmanned agricultural machinery 10 control system, and the embedded microcontroller 23 is mainly responsible for executing instructions of the embedded microprocessor 21 to each control device and returning device state information to the embedded microprocessor 21.
Further, a router 70 is further arranged on the vehicle body 11, and the embedded microprocessor 21 is connected with a cloud service platform through the router 70. Data transmission can be realized between the cloud service platform and the embedded microprocessor 21, and the cloud service platform can also realize remote control of the embedded microprocessor 21.
The RTK main antenna 42 and the RTK auxiliary antenna 43 of this embodiment are respectively fixed to the front end and the rear end of the vehicle body 11, and the RTK main antenna 42 and the RTK auxiliary antenna 43 are respectively located on the centerline of the vehicle body 11. When the unmanned agricultural machine 10 works, the RTK main antenna 42, the RTK auxiliary antenna 43 and the reference station receive signals of the Beidou satellite at the same time, and receive data such as carrier phase observation data, pseudo-range observation values, reference station coordinates and the like which are measured by the base station and uploaded to the cloud background through the data transmission unit DTU in real time from the data transmission unit DTU. Then, the measurement error is eliminated through differential processing, so that the baseline vectors of the reference station and the RTK positioning and orienting device 40 are obtained, and the baseline vector between the RTK main antenna 42 and the RTK auxiliary antenna 43 is obtained through vector operation. And finally, obtaining the attitude information of the unmanned agricultural machine 10 through coordinate conversion to obtain a centimeter-level positioning result.
An RTK main antenna 42 and an RTK auxiliary antenna 43 of the RTK positioning and orienting device 40, wherein one antenna is used for obtaining longitude and latitude coordinates, and the other antenna is used for assisting in obtaining the heading angle of the unmanned agricultural machine 10.
The unmanned agricultural machine 10 of the embodiment is driven to travel by the crawler belt traveling device 30, and the crawler belt traveling device 30 includes a left crawler belt 31, a right crawler belt 32, a left crawler belt driving motor, a right crawler belt driving motor 33, a left driving unit 34, and a right driving unit 35. The left crawler belt driving motor is connected with the left crawler belt 31, the left driving unit 34 is connected with the left crawler belt driving motor, the right crawler belt driving motor 33 is connected with the right crawler belt 32, the right driving unit 35 is connected with the right crawler belt driving motor 33, and the left driving unit 34 and the right driving unit 35 are connected with the embedded microcontroller 23. The left driving unit 34 is a driver of the left crawler driving motor, and the right driving unit 35 is a driver of the right crawler driving motor 33.
The unmanned agricultural machine 10 controls the rotation speed of the left crawler belt driving motor by the left driving unit 34, and controls the rotation speed of the right crawler belt driving motor 33 by the right driving unit 35, thereby controlling the traveling speed and the traveling direction of the unmanned agricultural machine 10. Further, in this embodiment, the walking speed of the unmanned agricultural machine 10 can be controlled by controlling the rotation speeds of the left track driving motor and the right track driving motor 33 at the same time, and the steering control of the unmanned agricultural machine 10 can be realized by controlling the rotation speed difference between the left track driving motor and the right track driving motor 33.
The sensor signal receiving device 50 at least includes a plurality of ultrasonic sensors 51 and a plurality of radar sensors 52, the plurality of ultrasonic sensors 51 and the plurality of radar sensors 52 are located around the vehicle body 11, and the plurality of ultrasonic sensors 51 and the plurality of radar sensors 52 are used for sensing obstacles around the vehicle body 11. During the walking process of the unmanned agricultural machine 10, obstacles around the unmanned agricultural machine 10 are monitored in real time by the plurality of ultrasonic sensors 51 and the plurality of radar sensors 52.
When the obstacle is monitored, the monitoring result is transmitted to the embedded microcontroller 23, and the embedded microcontroller 23 transmits the received monitoring result to the embedded microprocessor 21 according to the transmission protocol for judgment. When the unmanned agricultural machinery 10 continues to travel a certain distance and is about to approach an obstacle, if the obstacle still exists, the embedded microprocessor 21 sends a parking and alarm instruction to the embedded microcontroller 23, and the embedded microcontroller 23 converts the instruction sent by the embedded microprocessor 21 into an executable program and sends a parking instruction to the crawler traveling device 30. If the obstacle is found to have disappeared, no operation is performed.
An inertial sensor 130(IMU)) is also provided on the vehicle body, the inertial sensor 130 is connected to the embedded microcontroller 23, and the inertial sensor 130 is used for navigating the unmanned agricultural machine 10. When the RTK positioning and orienting device 40 cannot work normally, the inertial sensor 130 temporarily completes the navigation function, thereby improving the stability and reliability of the unmanned agricultural machine control system.
Further, the binocular camera 60 is fixed to the front end of the vehicle body 11, and the binocular camera 60 is located right in front of the RTK main antenna 42. The binocular camera 60 is used for collecting images in front of the vehicle body 11, transmitting the collected image data to the vision expansion module 22, and analyzing the image data through the vision expansion module to realize the identification of the front obstacle.
And a three-color indicator light and/or a buzzer are further arranged on the vehicle body 11, and the three-color indicator light and/or the buzzer are connected with the embedded microcontroller 23. When the unmanned agricultural machine 10 approaches an obstacle, an alarm may be given by a three-color indicator lamp and/or a buzzer.
The vehicle body 11 is further provided with a display 80, a knob switch 90 and a signal antenna 100, the display 80 is connected with the embedded microprocessor 21, and the display 80, the knob switch 90 and the signal antenna 100 are all located at the rear end of the vehicle body 11. The obstacle recognition result of the vision expanding module 22, the strength of the RTK positioning and orienting device 40 signal, the operation state of the unmanned agricultural machine 10, and the like can be displayed through the display 80.
Still be equipped with battery module 110 on unmanned agricultural machinery 10, battery module 110 include battery 111 and with the voltage conversion module 112 that battery 111 links to each other, battery 111 does unmanned agricultural machinery 10 supplies power, voltage conversion module 112 can for the ordinary module that can realize voltage conversion who uses now. The battery 111 is a rechargeable battery, the output voltage is 48V, and the conversion of the output voltage is realized by the voltage conversion module 112, and the converted voltage includes voltages required by various hardware of the unmanned agricultural machinery 10, such as 3.3V, 5V, 12V, 19V, and the like. The battery module 110 provides a 3.3V power supply for the embedded microcontroller 23, a 5V power supply for the embedded microprocessor 21, a 12V power supply for the display 80, the RTK positioning and orienting device 40, the sensor signal receiving device 50, and the router 70, a 19V power supply for the vision extension module 22, and a 48V power supply for the crawler 30. The vehicle body 11 is provided with a charging port through which the battery 111 can be charged.
The unmanned agricultural machine 10 further comprises a remote controller 120, and the remote controller 120 is connected with the embedded microcontroller 23. The unmanned agricultural machine 10 can also manually control the walking of the unmanned agricultural machine 10 through the remote controller 120 in addition to completing the automatic navigation walking. When the RTK positioning and orienting device 40 and the inertial sensor 130 of the unmanned agricultural machine 10 are in failure or the road conditions are complicated, the mode can be switched to the remote control mode, and the remote controller 120 controls the walking, so that the walking safety of the unmanned agricultural machine 10 is improved.
When the unmanned agricultural machine 10 works, the cloud service platform issues a running path, and the unmanned agricultural machine 10 goes to a path starting point according to the received running path. The travel path is composed of a start point represented by latitude and longitude, a target point, and a series of coordinate points therebetween. When the unmanned agricultural machinery 10 receives the driving path, the unmanned agricultural machinery drives to the starting point according to the planned optimal path for going to the starting point. When the unmanned agricultural machine 10 reaches the starting point, the current coordinate point is taken as the starting point, the next coordinate point is taken as the target, the driving path of the unmanned agricultural machine 10 is planned and executed, and the like is repeated until the final target point is reached.
The embodiments of the present invention are not limited thereto, and according to the above-mentioned contents of the present invention, the present invention can be modified, substituted or combined in other various forms without departing from the basic technical idea of the present invention.
Claims (10)
1. The utility model provides a two antenna RTK location orientation unmanned agricultural machinery control system based on big dipper, its characterized in that, includes unmanned agricultural machinery and control system, unmanned agricultural machinery includes the automobile body, with crawler travel unit that the automobile body links to each other, and set up in RTK location orientation unit, sensor signal receiving arrangement, binocular camera on the automobile body, RTK location orientation unit establishes the connection with big dipper navigation system, control system includes embedded microprocessor, and with the vision extension module and the embedded microcontroller that embedded microprocessor links to each other, crawler travel unit, sensor signal receiving arrangement, RTK location orientation unit all link to each other with the embedded microcontroller, binocular camera with the vision extension module links to each other, RTK location orientation unit includes two RTK signal reception and analysis module, RTK location orientation unit, And an RTK main antenna and an RTK auxiliary antenna connected to the dual RTK signal receiving and analyzing module.
2. The Beidou based dual-antenna RTK positioning and orientation unmanned agricultural machine control system of claim 1, further comprising a battery module disposed on the unmanned agricultural machine, wherein the battery module comprises a battery and a voltage conversion module connected to the battery, and the battery supplies power to the unmanned agricultural machine.
3. The Beidou based dual-antenna RTK positioning and orienting unmanned agricultural machinery control system of claim 1, characterized in that a router is further arranged on the vehicle body, and the embedded microprocessor is connected with a cloud service platform through the router.
4. The Beidou based dual-antenna RTK positioning directional unmanned agricultural machine control system of any one of claims 1 to 3, characterized in that the RTK main antenna and the RTK auxiliary antenna are respectively fixed at a front end and a rear end of the vehicle body, and the RTK main antenna and the RTK auxiliary antenna are respectively located on a midline of the vehicle body; the binocular camera is fixed at the front end of the vehicle body and is located right ahead of the RTK main antenna.
5. The Beidou based dual-antenna RTK positioning and orientation unmanned agricultural machinery control system of claim 1, wherein the crawler traveling device comprises a left crawler, a right crawler, a left crawler driving motor, a right crawler driving motor, a left driving unit and a right driving unit, the left crawler driving motor is connected with the left crawler, the left driving unit is connected with the left crawler driving motor, the right crawler driving motor is connected with the right crawler, the right driving unit is connected with the right crawler driving motor, and the left driving unit and the right driving unit are both connected with the embedded microcontroller.
6. The Beidou based dual antenna RTK positioning directional unmanned agricultural machine control system of any one of claims 1 to 3, characterized in that the sensor signal receiving means comprises at least a plurality of ultrasonic sensors, a plurality of radar sensors, a plurality of said ultrasonic sensors, a plurality of said radar sensors are located around the vehicle body, a plurality of said ultrasonic sensors, a plurality of said radar sensors are used for sensing obstacles around the vehicle body.
7. The Beidou based dual antenna RTK positioning directional unmanned agricultural machinery control system of claim 1, further comprising an inertial sensor disposed on the vehicle body, the inertial sensor connected to the embedded microcontroller, the inertial sensor for navigating the unmanned agricultural machinery.
8. The Beidou based dual-antenna RTK positioning and orienting unmanned agricultural machinery control system of claim 1, characterized in that a tricolor indicator light and/or a buzzer are further arranged on the vehicle body, and the tricolor indicator light and/or the buzzer are connected with the embedded microcontroller.
9. The Beidou based dual-antenna RTK positioning and orienting unmanned agricultural machine control system of claim 1, further comprising a display on the vehicle body, wherein the display is connected to the embedded microprocessor, and the display is located at the rear end of the vehicle body.
10. The Beidou based dual antenna RTK positioning directional unmanned agricultural machine control system of claim 1, further comprising a remote controller connected to the embedded microcontroller.
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| CN202121101486.XU CN215729433U (en) | 2021-05-21 | 2021-05-21 | Double-antenna RTK positioning and orienting unmanned agricultural machine control system based on Beidou |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115027427A (en) * | 2022-06-23 | 2022-09-09 | 多伦科技股份有限公司 | Vehicle anti-collision method and device and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115027427A (en) * | 2022-06-23 | 2022-09-09 | 多伦科技股份有限公司 | Vehicle anti-collision method and device and electronic equipment |
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