CN209657155U - A kind of novel electric orchard self-navigation Operation Van - Google Patents
A kind of novel electric orchard self-navigation Operation Van Download PDFInfo
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- CN209657155U CN209657155U CN201920714978.2U CN201920714978U CN209657155U CN 209657155 U CN209657155 U CN 209657155U CN 201920714978 U CN201920714978 U CN 201920714978U CN 209657155 U CN209657155 U CN 209657155U
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- brake
- vehicle body
- steering motor
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Abstract
A kind of novel electric orchard self-navigation Operation Van of the utility model, mainly by brake, steering motor controller, steering motor, steering wheel, controller, BDS receiver, CCD camera, support frame, vehicle body, Hall encoder, laser scanner and system power supply composition.The image data acquired using CCD camera obtains orchard obstacle information by image preprocessing and SSD algorithm, if it exists barrier, control cabinet will control brake movement, make emergency brake of vehicle.The fruit tree point cloud data acquired using laser scanner fits navigation reference line by data processing, realizes Operation Van's straight-line travelling in the ranks.Real-time coordinates acquisition is carried out to the Operation Van for being located at the edge of a field using BDS receiver, realizes Operation Van edge of a field automatic turning.The utility model is characterized in that: can in the ranks whether there are obstacles with accurate judgement in unstructured orchard, whether need to take emergency braking strategy, it can quickly position current vehicle position simultaneously and fit navigation reference line, realize autonomous in the ranks walking and headland turn, system cost is reduced, the reliability and safety of work are improved.
Description
Technical field
The utility model relates to a kind of novel electric orchard self-navigation Operation Vans, belong to agricultural mechanical field, special
Point is accurate to navigate under unstructured orchard environment, and high degree of automation, system energy consumption and environmental pollution are small.
Background technique
China is Production of fruit big country, and China orchard either area or yield ranks first in the world at present, but fruit tree
Plantation and administrative skill fall behind relatively.The technologically advanced country of the orchard operations such as the U.S., Japan, from the plantation of fruit tree, management to
The processes such as the harvesting of fruit all realize mechanization, and China's Machinery for orchard degree is low, mechanical equipment is single.
Since the 1980s, with the rapid development of computer technology and information technology, agricultural robot is had become
Important component in agricultural modernization equipment research.Automatic navigation technology is in one in mobile robot research is important
Hold, the perception by navigation system to ambient enviroment, robot real-time and precise is positioned, robot autonomous completion can be made multinomial
Work operations improve agricultural operation efficiency and quality, reduce labour cost.
GNSS is a kind of typical global localization method, and user can be equipped with a high-precision GNSS on orchard operation vehicle
Realize self-navigation.But in unstructured orchard row, since top fruit sprayer is intensive, satellite-signal is greatly interfered,
Keep Work machine out of control.Laser scanner since it has fine environment sensing ability in complicated, unknown environment,
It is widely used in navigator fix, but due to itself haveing the defects that acquisition characteristic information is less, unstructured
It is easy to be influenced by inter-row weed and barrier etc. in orchard, causes the stability and obstacle avoidance ability decline of navigation system.Machine
Vision has many advantages, such as that the abundant information collected, target information are complete, but system requires height to equipment performance, simultaneously because environment
The influence of noise causes the adaptability of system poor.
Summary of the invention
For above-mentioned problems of the prior art and defect, the utility model provides a kind of novel electric orchard
Self-navigation Operation Van, the system use multi-sensor information combination technique, effectively single-sensor can be overcome non-structural
Change limitation present in orchard, makes Operation Van that there is higher accuracy, farther detecting distance, better real-time and more
Strong environmental suitability, can be universal in market is a wide range of.
The utility model is achieved through the following technical solutions: a kind of novel electric orchard self-navigation Operation Van,
Be by brake (1), steering motor controller (2), steering motor (3), steering wheel (4), controller (5), BDS receiver (6),
CCD camera (7), support frame (8), vehicle body (9), Hall encoder (10), laser scanner (11) and system power supply (12) composition,
It is characterized by: the CCD camera (7) and laser scanner (11) are bolted using support frame (8) is mounted on vehicle
The front end of body (9), and communicate through a serial port with the controller (5), described BDS receiver (6) the built-in satellite day
Line is connected through a screw thread and is mounted on right above vehicle body (9), and communicated with the controller (5) by RS232, described
Steering motor (3) be mounted on steering wheel (4) by shaft coupling, and be connected with the steering motor controller (2), it is described
Steering motor controller (2) middle part for being mounted on vehicle body (9) is bolted, and be connected with the controller (5), institute
The Hall encoder (10) stated is mounted on vehicle front axle, and is connected with the controller (5), the brake (1)
It is mounted on Operation Van's brake pedal, and is connected with the controller (5).
The system power supply (12) is that power source is mounted on vehicle body (9) inside, is the power supply of all subsystems by electric wire.
The controller (5) is controlled by image processing module, laser data processing module, BDS data processing module, steering
Molding block, brake control module, memory module and communication unit composition.
The utility model is based on above-mentioned composition, its working principle is that: when Operation Van walks under unstructured orchard environment,
CCD camera (7) acquires fruit tree interline image information, is handled by control cabinet (5) image information, and judgement in the ranks whether there is
Barrier, barrier if it exists, control cabinet (5) will control brake (1) movement, make emergency brake of vehicle；Hinder if it does not exist
Hinder object, control cabinet (5) will further determine whether working truck is in the edge of a field, if being in the edge of a field, BDS receiver (6) starts work
Make, obtains Operation Van's current position coordinates in real time, control cabinet (5) is using stored for describing predetermined curve track path
Two-dimensional array extracts the controling parameter for realizing vehicle automatic navigation, and calculates vehicle target steering angle, Hall coding
The current front wheel angle information of device (10) Collecting operation vehicle is simultaneously transferred to control cabinet (5), and control cabinet (5) passes through fuzzy for corner
Information is converted into control signal and exports and give steering motor controller (2), and control steering motor (3) rotation is to drive steering wheel
(4) it rotates, so that vehicle corner is reached target value, to realize Operation Van's edge of a field automatic turning；If being not at the edge of a field, laser is swept
Instrument (11) start-up operation is retouched, fruit tree row two sides fruit tree position coordinates are obtained, and fit line navigation reference line, to realize work
Industry vehicle automatic linear traveling.
A kind of beneficial effect of novel electric orchard self-navigation Operation Van of the utility model is: provided based on more
The novel electric orchard self-navigation Operation Van of sensor information combination can accurate judgement be in the ranks in unstructured orchard
Whether there are obstacles, if needs to take emergency braking strategy, while can quickly position current vehicle position and fit
Navigate reference line, realizes autonomous in the ranks walking and headland turn, reduces system cost, improve the reliability and peace of work
Quan Xing.
Detailed description of the invention
Fig. 1 is a kind of novel electric orchard self-navigation Operation Van external structure schematic diagram of the utility model.
Fig. 2 is a kind of novel electric orchard self-navigation Operation Van data processing of the utility model and control method process
Figure.
Specific embodiment
1-2 is further described the utility model with reference to the accompanying drawing.
A kind of novel electric orchard self-navigation Operation Van is turned to by brake (1), steering motor controller (2)
Motor (3), steering wheel (4), controller (5), BDS receiver (6), CCD camera (7), support frame (8), vehicle body (9), Hall are compiled
Code device (10), laser scanner (11) and system power supply (12) composition, it is characterised in that: the CCD camera (7) and laser are swept
It retouches instrument (11) and the front end for being mounted on vehicle body (9) is bolted using support frame (8), and pass through with the controller (5)
Serial ports is communicated, described BDS receiver (6) the built-in satellite antenna, is connected through a screw thread and is mounted on right above vehicle body (9),
And communicated with the controller (5) by RS232, the steering motor (3) is mounted on steering wheel by shaft coupling
(4) on, and it is connected with the steering motor controller (2), installation is bolted in the steering motor controller (2)
It is connected at the middle part of vehicle body (9), and with the controller (5), the Hall encoder (10) is mounted on vehicle front axle
On, and be connected with the controller (5), the brake (1) is mounted on Operation Van's brake pedal, and with the control
Device (5) processed is connected.
The utility model passes through the image data that CCD camera (7) acquire, and obtains fruit by image preprocessing and SSD algorithm
Garden obstacle information, barrier if it exists, control cabinet (5) will control brake (1) movement, make emergency brake of vehicle.
The utility model passes through the fruit tree point cloud data that laser scanner (11) acquire, at particle filter and cluster
Reason obtains fruit tree center point coordinate, and Hough variation is recycled to fit navigation reference line, realizes Operation Van's straight-line travelling in the ranks.
The utility model carries out real-time coordinates acquisition to the Operation Van for being located at the edge of a field by BDS receiver (6), and using
It is stored in control cabinet (5) and navigates for describing the two-dimensional array of predetermined curve track path, realize the Operation Van edge of a field certainly
Turn is curved.
The current front wheel angle information of Hall encoder (10) acquisition vehicle is simultaneously transferred to control cabinet (5), and control cabinet (5) passes through
Corner information is converted into control signal and exports and give steering motor controller (2) by fuzzy, control steering motor (3) rotation from
And steering wheel (4) is driven to rotate, so that vehicle corner is reached target value, to realize that Operation Van is whole-process automatic under the environment of orchard
Navigation.
Claims (3)
1. a kind of novel electric orchard self-navigation Operation Van mainly includes brake (1), steering motor controller (2), turn
To motor (3), steering wheel (4), controller (5), BDS receiver (6), CCD camera (7), support frame (8), vehicle body (9), Hall
Encoder (10), laser scanner (11) and system power supply (12) composition, it is characterised in that: the CCD camera (7) and laser
The front end for being mounted on vehicle body (9) is bolted using support frame (8) in scanner (11), and logical with the controller (5)
Cross serial ports to be communicated, described BDS receiver (6) the built-in satellite antenna, be connected through a screw thread be mounted on vehicle body (9) just on
Side, and communicated with the controller (5) by RS232, the steering motor (3) is mounted on direction by shaft coupling
On disk (4), and it is connected with the steering motor controller (2), peace is bolted in the steering motor controller (2)
It is connected mounted in the middle part of vehicle body (9), and with the controller (5), the Hall encoder (10) is mounted on vehicle front-wheel
On axis, and be connected with the controller (5), the brake (1) is mounted on Operation Van's brake pedal, and with it is described
Controller (5) is connected.
2. a kind of novel electric orchard self-navigation Operation Van according to claim 1, it is characterised in that: described is
System power supply (12) is that power source is mounted on vehicle body (9) inside, is the power supply of all subsystems by electric wire.
3. a kind of novel electric orchard self-navigation Operation Van according to claim 1, it is characterised in that: the control
Device (5) processed is by image processing module, laser data processing module, BDS data processing module, course changing control module, control for brake
Module, memory module and communication unit composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714978.2U CN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714978.2U CN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209657155U true CN209657155U (en) | 2019-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920714978.2U Expired - Fee Related CN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
Country Status (1)
| Country | Link |
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| CN (1) | CN209657155U (en) |
Cited By (4)
| 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 |
| CN112824991A (en) * | 2019-11-21 | 2021-05-21 | 西北农林科技大学 | Tractor soil preparation operation early warning system that borders on |
| CN112904863A (en) * | 2021-01-27 | 2021-06-04 | 北京农业智能装备技术研究中心 | Walking control method and device based on laser and image information fusion |
| CN114485667A (en) * | 2022-01-13 | 2022-05-13 | 中国农业大学 | Light and intelligent orchard ground navigation method |
-
2019
- 2019-05-19 CN CN201920714978.2U patent/CN209657155U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112824991A (en) * | 2019-11-21 | 2021-05-21 | 西北农林科技大学 | Tractor soil preparation operation early warning system that borders on |
| 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 |
| CN112904863A (en) * | 2021-01-27 | 2021-06-04 | 北京农业智能装备技术研究中心 | Walking control method and device based on laser and image information fusion |
| CN112904863B (en) * | 2021-01-27 | 2023-10-20 | 北京农业智能装备技术研究中心 | Walking control method and device based on laser and image information fusion |
| CN114485667A (en) * | 2022-01-13 | 2022-05-13 | 中国农业大学 | Light and intelligent orchard ground navigation method |
| CN114485667B (en) * | 2022-01-13 | 2024-05-24 | 中国农业大学 | Light intelligent orchard ground navigation method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191119 Termination date: 20200519 |
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| CF01 | Termination of patent right due to non-payment of annual fee |