技术领域technical field
本实用新型涉及一种农业巡视机器人，特别涉及一种具有导航避障功能的农业巡视机器人。The utility model relates to an agricultural inspection robot, in particular to an agricultural inspection robot with navigation and obstacle avoidance functions.
背景技术Background technique
随着科技的进步，自动化程度日益提高，涉及农业领域的机器人智能化程度也在不断提高。农业机器人不仅能代替人类在恶劣的环境中从事生产劳动，还可以提高农业作业精度和生产效率。在农业机器人生产过程中，准确地获取农田中作物的生长信息能帮助人们实时了解农作物生长情况，指导人们准确的进行浇灌、施肥、喷药，最大限度地提高水、肥和杀虫剂的利用效率，同时减少环境污染。With the advancement of science and technology, the degree of automation is increasing day by day, and the degree of intelligence of robots involved in the agricultural field is also increasing. Agricultural robots can not only replace human beings to engage in productive labor in harsh environments, but also improve the precision and production efficiency of agricultural operations. In the production process of agricultural robots, accurately obtaining the growth information of crops in the farmland can help people understand the growth of crops in real time, guide people to accurately water, fertilize, and spray pesticides, and maximize the use of water, fertilizers, and pesticides efficiency while reducing environmental pollution.
农业机器人避障是农业机器人技术中一项最基础也是最关键的功能，它旨在让机器人行动过程中保持不发生碰撞，避免结构的过度老化、脱落。Agricultural robot obstacle avoidance is one of the most basic and critical functions in agricultural robot technology. It aims to keep the robot from colliding during the action and avoid excessive aging and falling off of the structure.
基于以上原因，需要开发一种具有导航避障功能的农业巡视机器人，在采集作物生长信息的同时可以完成对障碍物的躲避。Based on the above reasons, it is necessary to develop an agricultural patrol robot with navigation and obstacle avoidance functions, which can avoid obstacles while collecting crop growth information.
发明内容Contents of the invention
本实用新型公开了一种具有导航避障功能的农业巡视机器人，该机器人可根据预先规划的路径自主采集农田信息，并实时躲避障碍物，可有效减轻劳动强度，提高信息采集效率。The utility model discloses an agricultural inspection robot with navigation and obstacle avoidance functions. The robot can autonomously collect farmland information according to a pre-planned path and avoid obstacles in real time, which can effectively reduce labor intensity and improve information collection efficiency.
一种具有导航避障功能的农业巡视机器人，主要包括轮毂电机、机架、图传摄像头、激光扫描仪、光谱分析仪、红外测温仪、控制器、GPS和机载计算机。An agricultural inspection robot with navigation and obstacle avoidance functions mainly includes a hub motor, a frame, a video transmission camera, a laser scanner, a spectrum analyzer, an infrared thermometer, a controller, a GPS, and an onboard computer.
一种具有导航避障功能的农业巡视机器人，其主要特征在于：所述轮毂电机安装于两个前轮内，所述图传摄像头竖直向下安装于机器人机架前端，所述激光扫描仪倾斜安装于机器人机架前端，所述光谱分析仪和红外测温仪安装于机器人机架顶端下表面，所述控制器、GPS和机载计算机固定在机器人机架顶端。所述轮毂电机与控制器相连，所述图传摄像头、激光扫描仪、光谱分析仪、红外测温仪和GPS与机载计算机相连，控制器和机载计算机双向连接。An agricultural inspection robot with navigation and obstacle avoidance functions, its main features are: the hub motor is installed in the two front wheels, the image transmission camera is installed vertically downward on the front end of the robot frame, and the laser scanner It is obliquely installed on the front end of the robot frame, the spectrum analyzer and infrared thermometer are installed on the lower surface of the top of the robot frame, and the controller, GPS and onboard computer are fixed on the top of the robot frame. The in-wheel motor is connected with the controller, the image transmission camera, laser scanner, spectrum analyzer, infrared thermometer and GPS are connected with the onboard computer, and the controller and the onboard computer are bidirectionally connected.
本实用新型工作原理为：一种具有导航避障功能的农业巡视机器人横跨高杆植株行进，根据预先规划好的路径，GPS实时确定农业巡视机器人的位置并由机载计算机计算出下一个目标点，给控制器发送导航指令，由其控制轮毂电机按照指定路径行进。图传摄像头、光谱分析仪和红外测温仪实时采集作物的生长信息传输到机载计算机中进行存储，机载计算机将农田中各点的位置坐 标与作物生长信息相对应，即可得到整片农田的作物生长信息。前端图传摄像头还可与激光扫描仪搭配用来实时检测障碍物，当障碍物距离较远时，机载计算机可根据障碍物尺寸进行路径规划作出避障行为，当障碍物距离较近时，机器人应紧急停车，待障碍物远离后再重新启动。The working principle of the utility model is as follows: an agricultural patrol robot with navigation and obstacle avoidance function travels across tall plants, and according to the pre-planned path, GPS determines the position of the agricultural patrol robot in real time and calculates the next target by the onboard computer point, send navigation instructions to the controller, which controls the hub motor to follow the specified path. The image transmission camera, spectrum analyzer and infrared thermometer collect the growth information of the crops in real time and transmit them to the onboard computer for storage. Crop growth information in the field. The front-end image transmission camera can also be used with the laser scanner to detect obstacles in real time. When the obstacle is far away, the onboard computer can perform path planning according to the size of the obstacle and perform obstacle avoidance behavior. When the obstacle is close, The robot should stop in an emergency and restart after the obstacle is far away.
本实用新型一种具有导航避障功能的农业巡视机器人的有益效果是：The beneficial effect of a kind of agricultural inspection robot with navigation and obstacle avoidance function of the utility model is:
1.本实用新型采用桁架式结构，可获得其他采集平台无法收集的高杆植株的生长信息。1. The utility model adopts a truss structure, which can obtain the growth information of tall plants that cannot be collected by other collection platforms.
2.本实用新型采用轮毂电机进行转向控制，布局灵活，不需要复杂的机械结构。2. The utility model uses hub motors for steering control, with flexible layout and no complicated mechanical structure.
附图说明Description of drawings
图1为本实用新型一种具有导航避障功能的农业巡视机器人的结构简图。Fig. 1 is a structural diagram of an agricultural patrol robot with navigation and obstacle avoidance functions of the utility model.
图2为本实用新型一种具有导航避障功能的农业巡视机器人的系统结构框图。Fig. 2 is a system structure block diagram of an agricultural inspection robot with navigation and obstacle avoidance functions of the utility model.
具体实施方式Detailed ways
下面结合附图1、2对本实用新型作更进一步的说明：Below in conjunction with accompanying drawing 1,2 the utility model is described further:
一种具有导航避障功能的农业巡视机器人，主要包括问题所采用的技术方案是轮毂电机1、机架2、图传摄像头3、激光扫描仪4、光谱分析仪5、红外测温仪6、控制器7、GPS8和机载计算机9，其主要特征在于：所述轮毂电机1安装于两个前轮内，所述图传摄像头3竖直向下安装于机器人机架前端，所述激光扫描仪4倾斜安装于机器人机架前端，所述光谱分析仪5和红外测温仪6安装于机器人机架顶端下表面，所述控制器7、GPS8和机载计算机9固定在机器人机架顶端。所述轮毂电机1与控制器7相连，所述图传摄像头3、激光扫描仪4、光谱分析仪5、红外测温仪6和GPS8与机载计算机9相连，控制器7和机载计算机9双向连接。An agricultural inspection robot with navigation and obstacle avoidance functions, mainly including the technical solutions adopted for the problem: hub motor 1, frame 2, image transmission camera 3, laser scanner 4, spectrum analyzer 5, infrared thermometer 6, Controller 7, GPS 8 and on-board computer 9, its main feature is that: described in-wheel motor 1 is installed in two front wheels, described image transmission camera 3 is vertically installed on the front end of robot rack, and described laser scanning The instrument 4 is obliquely installed on the front end of the robot frame, the spectrum analyzer 5 and the infrared thermometer 6 are installed on the lower surface of the robot frame top, and the controller 7, GPS8 and onboard computer 9 are fixed on the robot frame top. The in-wheel motor 1 is connected with the controller 7, the image transmission camera 3, the laser scanner 4, the spectrum analyzer 5, the infrared thermometer 6 and the GPS 8 are connected with the on-board computer 9, and the controller 7 and the on-board computer 9 Two-way connection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936205.XUCN207139809U (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936205.XUCN207139809U (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
| Publication Number | Publication Date |
|---|---|
| CN207139809Utrue CN207139809U (en) | 2018-03-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720936205.XUExpired - Fee RelatedCN207139809U (en) | 2017-07-22 | 2017-07-22 | A kind of agriculture inspecting robot with navigation barrier avoiding function |
| Country | Link |
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| CN (1) | CN207139809U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278040A (en)* | 2017-07-22 | 2019-01-29 | 西北农林科技大学 | An agricultural patrol robot with navigation and obstacle avoidance function |
| CN110612492A (en)* | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
| CN111418296A (en)* | 2019-03-01 | 2020-07-17 | 中国石油大学(华东) | Intelligent Reclamation System for Abandoned Well Sites in Oil Fields |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278040A (en)* | 2017-07-22 | 2019-01-29 | 西北农林科技大学 | An agricultural patrol robot with navigation and obstacle avoidance function |
| CN110612492A (en)* | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
| CN111418296A (en)* | 2019-03-01 | 2020-07-17 | 中国石油大学(华东) | Intelligent Reclamation System for Abandoned Well Sites in Oil Fields |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
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| 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:20180327 Termination date:20180722 |