技术领域technical field
本实用新型涉及一种新型电动式果园自动导航作业车，属于农业机械领域，其特点为在非结构化果园环境下导航准确，自动化程度高，系统能耗及对环境污染小。The utility model relates to a novel electric orchard automatic navigation operation vehicle, which belongs to the field of agricultural machinery and is characterized by accurate navigation in an unstructured orchard environment, high degree of automation, low system energy consumption and low environmental pollution.
背景技术Background technique
中国是水果生产大国，目前我国果园无论是面积还是产量均居世界第一，但果树种植和管理技术相对落后。美国、日本等果园作业技术先进国家，已从果树的种植、管理到果实的采收等工序都实现了机械化，而我国果园机械化程度低、机械设备单一。China is a big fruit producing country. At present, my country's orchards rank first in the world in terms of area and output, but the technology of fruit tree planting and management is relatively backward. The United States, Japan and other countries with advanced orchard operation technology have realized mechanization from the planting and management of fruit trees to the harvesting of fruits, while my country's orchards have a low degree of mechanization and a single mechanical equipment.
20世纪80年代以来，随着计算机技术和信息技术的飞速发展，农业机器人已成为现代化农业装备研究中的重要组成部分。自动导航技术是移动机器人研究中的一项重要内容，通过导航系统对周围环境的感知，对机器人实时精准定位，能够使机器人自主完成多项作业工作，提高了农业作业效率和质量，降低了劳动成本。Since the 1980s, with the rapid development of computer technology and information technology, agricultural robots have become an important part of modern agricultural equipment research. Automatic navigation technology is an important content in the research of mobile robots. Through the perception of the surrounding environment by the navigation system, the real-time precise positioning of the robot can enable the robot to complete multiple tasks independently, improve the efficiency and quality of agricultural operations, and reduce labor costs. cost.
GNSS是一种典型的全局定位方法，用户可在果园作业车上配备一台高精度GNSS来实现自动导航。但是对于非结构化果园行内，由于果树树冠密集，卫星信号受到极大干扰，使作业机械可能失控。激光扫描仪由于其在复杂、未知的环境中具备精细的环境感知能力，被广泛应用于导航定位中，但是由于其本身存在着获取特征信息较少的缺陷，在非结构化果园中容易受到行间杂草和障碍物等影响，造成导航系统的稳定性和避障能力下降。机器视觉具有收集的信息丰富、目标信息完整等优点，但系统对设备性能要求高，同时由于环境噪声的影响，导致系统的适应性较差。GNSS is a typical global positioning method. Users can equip an orchard operation vehicle with a high-precision GNSS to realize automatic navigation. However, for unstructured orchards, due to the dense canopy of fruit trees, satellite signals are greatly interfered, which may cause the operating machinery to lose control. Laser scanners are widely used in navigation and positioning due to their fine environmental perception capabilities in complex and unknown environments. The influence of weeds and obstacles in the space will reduce the stability and obstacle avoidance ability of the navigation system. Machine vision has the advantages of rich information collected and complete target information, but the system has high requirements on equipment performance, and at the same time, due to the influence of environmental noise, the adaptability of the system is poor.
发明内容Contents of the invention
针对上述现有技术中存在的问题与缺陷，本实用新型提供了一种新型电动式果园自动导航作业车，该系统采用多传感器信息组合技术，能够有效克服单一传感器在非结构化果园中存在的局限性，使作业车具有更高的精确性、更远的检测距离、更好的实时性和更强的环境适应性，能够在市场大范围内普及。Aiming at the problems and defects in the above-mentioned prior art, the utility model provides a new type of electric orchard automatic navigation operation vehicle. Due to the limitations, the work vehicle has higher accuracy, longer detection distance, better real-time performance and stronger environmental adaptability, and can be widely used in the market.
本实用新型是通过以下技术方案实现的：一种新型电动式果园自动导航作业车，是由制动器（1），转向电机控制器（2），转向电机（3），方向盘（4）、控制器（5）、BDS接收机（6）、CCD相机（7）、支撑架（8）、车身（9）、霍尔编码器（10）、激光扫描仪（11）和系统电源（12）组成，其特征在于：所述的CCD相机（7）和激光扫描仪（11）利用支撑架（8）通过螺栓连接安装在车身（9）的前端，并与所述的控制器（5）通过串口进行通信，所述的BDS接收机（6）内置卫星天线，通过螺纹连接安装在车身（9）正上方，并与所述的控制器（5）通过RS232进行通信，所述的转向电机（3）通过联轴器安装在方向盘（4）上，并与所述的转向电机控制器（2）相连，所述的转向电机控制器（2）通过螺栓连接安装在车身（9）的中部，并与所述的控制器（5）相连，所述的霍尔编码器（10）安装在车辆前轮轴上，并与所述的控制器（5）相连，所述的制动器（1）安装在作业车制动踏板上，并与所述的控制器（5）相连。The utility model is realized through the following technical solutions: a new electric orchard automatic navigation operation vehicle is composed of a brake (1), a steering motor controller (2), a steering motor (3), a steering wheel (4), and a 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), It is characterized in that: the CCD camera (7) and the laser scanner (11) are installed on the front end of the vehicle body (9) by means of a support frame (8) through bolt connection, and communicate with the controller (5) through a serial port. Communication, the BDS receiver (6) has a built-in satellite antenna, is installed directly above the vehicle body (9) through a threaded connection, and communicates with the controller (5) through RS232, and the steering motor (3) Installed on the steering wheel (4) through a coupling, and connected with the steering motor controller (2), the steering motor controller (2) is installed in the middle of the vehicle body (9) through bolt connection, and connected with the steering motor controller (2). The controller (5) is connected, the Hall encoder (10) is installed on the front axle of the vehicle and connected with the controller (5), and the brake (1) is installed on the work vehicle on the brake pedal and connected with the controller (5).
所述的系统电源（12）为动力源安装在车身（9）内部，通过电线为所有子系统供电。The system power supply (12) is a power source installed inside the vehicle body (9), and supplies power to all subsystems through wires.
所述的控制器（5）由图像处理模块、激光数据处理模块、BDS数据处理模块、转向控制模块、制动控制模块、存储模块和通信单元组成。The controller (5) is composed of an image processing module, a laser data processing module, a BDS data processing module, a steering control module, a braking control module, a storage module and a communication unit.
本实用新型基于上述组成，其工作原理是：作业车在非结构化果园环境下行走时，CCD相机（7）采集果树行间图像信息，由控制箱（5）对图像信息进行处理，判断行间是否存在障碍物，若存在障碍物，控制箱（5）将会控制制动器（1）动作，使车辆紧急制动；若不存在障碍物，控制箱（5）将进一步判断作业车辆是否处于地头，若处于地头，BDS接收机（6）开始工作，实时获取作业车当前位置坐标，控制箱（5）利用已存储的用于描述预定曲线跟踪路径的二维数组，提取出用于实现车辆自动导航的控制参量，并解算出车辆目标转向角，霍尔编码器（10）采集作业车当前前轮转角信息并传输给控制箱（5），控制箱（5）通过模糊PID将转角信息转换成控制信号输出给转向电机控制器（2），控制转向电机（3）转动从而带动方向盘（4）转动，使车辆转角达到目标值，从而实现作业车地头自动转弯；若没有位于地头，激光扫描仪（11）开始工作，获取果树行两侧果树位置坐标，并拟合出直线导航基准线，从而实现作业车自动直线行驶。The utility model is based on the above composition, and its working principle is: when the work vehicle is walking in an unstructured orchard environment, the CCD camera (7) collects the image information between rows of fruit trees, and the control box (5) processes the image information to judge the row If there is an obstacle, the control box (5) will control the action of the brake (1) to make the vehicle brake urgently; if there is no obstacle, the control box (5) will further judge whether the working vehicle is on the ground , if it is in the ground, the BDS receiver (6) starts to work to obtain the current position coordinates of the vehicle in real time, and the control box (5) uses the stored two-dimensional array for describing the predetermined curve tracking path to extract the Navigation control parameters, and calculate the target steering angle of the vehicle. The Hall encoder (10) collects the current front wheel angle information of the work vehicle and transmits it to the control box (5). The control box (5) converts the angle information into The control signal is output to the steering motor controller (2), which controls the rotation of the steering motor (3) to drive the steering wheel (4) to rotate, so that the vehicle's corner angle reaches the target value, thereby realizing the automatic turning of the work vehicle; if it is not located on the ground, the laser scanner (11) Start to work, obtain the position coordinates of the fruit trees on both sides of the fruit tree row, and fit the straight-line navigation reference line, so as to realize the automatic straight-line driving of the work vehicle.
本实用新型一种新型电动式果园自动导航作业车的有益效果是：所提供的基于多传感器信息组合的新型电动式果园自动导航作业车可以在非结构化果园中准确判断行间是否存在障碍物，是否需要采取紧急制动策略，同时可以快速定位车辆当前位置并拟合出导航基准线，实现了自主行间行走和地头转弯，降低了系统成本，提高了工作的可靠性和安全性。The beneficial effect of a novel electric orchard automatic navigation operation vehicle of the utility model is that the provided novel electric orchard automatic navigation operation vehicle based on multi-sensor information combination can accurately judge whether there is an obstacle between rows in an unstructured orchard , whether it is necessary to adopt an emergency braking strategy, and at the same time, it can quickly locate the current position of the vehicle and fit the navigation reference line, realize autonomous inter-row walking and corner turning, reduce system cost, and improve work reliability and safety.
附图说明Description of drawings
图1为本实用新型一种新型电动式果园自动导航作业车外部结构示意图。Fig. 1 is a schematic diagram of the external structure of a new electric orchard automatic navigation operation vehicle of the present invention.
图2为本实用新型一种新型电动式果园自动导航作业车数据处理及控制方法流程图。Fig. 2 is a flow chart of the data processing and control method of a novel electric orchard automatic navigation operation vehicle of the present invention.
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.
一种新型电动式果园自动导航作业车，是由制动器（1），转向电机控制器（2），转向电机（3），方向盘（4）、控制器（5）、BDS接收机（6）、CCD相机（7）、支撑架（8）、车身（9）、霍尔编码器（10）、激光扫描仪（11）和系统电源（12）组成，其特征在于：所述的CCD相机（7）和激光扫描仪（11）利用支撑架（8）通过螺栓连接安装在车身（9）的前端，并与所述的控制器（5）通过串口进行通信，所述的BDS接收机（6）内置卫星天线，通过螺纹连接安装在车身（9）正上方，并与所述的控制器（5）通过RS232进行通信，所述的转向电机（3）通过联轴器安装在方向盘（4）上，并与所述的转向电机控制器（2）相连，所述的转向电机控制器（2）通过螺栓连接安装在车身（9）的中部，并与所述的控制器（5）相连，所述的霍尔编码器（10）安装在车辆前轮轴上，并与所述的控制器（5）相连，所述的制动器（1）安装在作业车制动踏板上，并与所述的控制器（5）相连。A new electric orchard automatic navigation operation vehicle is composed of a brake (1), a steering motor controller (2), a steering motor (3), a steering wheel (4), a controller (5), a BDS receiver (6), CCD camera (7), support frame (8), vehicle body (9), Hall encoder (10), laser scanner (11) and system power supply (12), it is characterized in that: described CCD camera (7 ) and the laser scanner (11) are mounted on the front end of the vehicle body (9) through a bolted connection using the support frame (8), and communicate with the controller (5) through a serial port, and the BDS receiver (6) The built-in satellite antenna is installed directly above the vehicle body (9) through threaded connection, and communicates with the controller (5) through RS232, and the steering motor (3) is installed on the steering wheel (4) through a coupling , and connected with the steering motor controller (2), the steering motor controller (2) is installed in the middle of the vehicle body (9) through bolt connection, and connected with the controller (5), the The above-mentioned Hall encoder (10) is installed on the front axle of the vehicle and connected with the above-mentioned controller (5), and the above-mentioned brake (1) is installed on the brake pedal of the work vehicle, and is connected with the above-mentioned controller Device (5) is connected.
本实用新型通过CCD相机（7）采集的图像数据，通过图像预处理和SSD算法获取果园障碍物信息，若存在障碍物，控制箱（5）将会控制制动器（1）动作，使车辆紧急制动。The utility model obtains the orchard obstacle information through the image data collected by the CCD camera (7) through image preprocessing and the SSD algorithm. If there is an obstacle, the control box (5) will control the action of the brake (1) to make the vehicle emergency stop. verb: move.
本实用新型通过激光扫描仪（11）采集的果树点云数据，通过粒子滤波和聚类处理，获得果树中心点坐标，再利用Hough变化拟合出导航基准线，实现作业车行间直线行驶。The utility model uses the point cloud data of fruit trees collected by the laser scanner (11) to obtain the coordinates of the center point of the fruit trees through particle filtering and clustering processing, and then uses the Hough change to fit the navigation reference line to realize the straight-line driving between the work vehicles.
本实用新型通过BDS接收机（6）对位于地头的作业车进行实时坐标获取，并利用已存储在控制箱（5）中用于描述预定曲线跟踪路径的二维数组进行导航，实现作业车地头自动转弯。The utility model acquires the real-time coordinates of the work vehicle located at the head of the field through the BDS receiver (6), and uses the two-dimensional array stored in the control box (5) to describe the predetermined curve tracking path for navigation, so as to realize the work vehicle at the head of the field. Auto turn.
霍尔编码器（10）采集车辆当前前轮转角信息并传输给控制箱（5），控制箱（5）通过模糊PID将转角信息转换成控制信号输出给转向电机控制器（2），控制转向电机（3）转动从而带动方向盘（4）转动，使车辆转角达到目标值，从而实现作业车在果园环境下的全程自动导航。The Hall encoder (10) collects the current front wheel angle information of the vehicle and transmits it to the control box (5). The control box (5) converts the angle information into a control signal through fuzzy PID and outputs it to the steering motor controller (2) to control the steering. The rotation of the motor (3) drives the rotation of the steering wheel (4), so that the rotation angle of the vehicle reaches the target value, thereby realizing the full automatic navigation of the work vehicle in the orchard environment.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714978.2UCN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920714978.2UCN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
| Publication Number | Publication Date |
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| CN209657155Utrue CN209657155U (en) | 2019-11-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920714978.2UExpired - Fee RelatedCN209657155U (en) | 2019-05-19 | 2019-05-19 | A kind of novel electric orchard self-navigation Operation Van |
| Country | Link |
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| CN (1) | CN209657155U (en) |
| 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 |
| 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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