Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion

A multi-sensor and robot technology, which is applied in the field of mountain agricultural robot obstacle avoidance system and obstacle avoidance system, can solve the problems of poor real-time performance, one-sided information acquisition, insufficient obstacle avoidance accuracy, etc., achieve higher speed, improve accuracy, and avoid measurement The effect of blind spots

Inactive Publication Date: 2013-04-03
NORTHWEST A & F UNIV
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Problems solved by technology

[0003] In order to overcome the shortcomings of one-sided acquisition of information by a single sensor, insufficient obstacle avoidance accuracy, and poor real-time performance, the present invention provides an obstac

Method used

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  • Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion
  • Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion
  • Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion

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Embodiment Construction

[0019] figure 1 Is the overall structure block diagram of the present invention. The visual sensor, ultrasonic sensor and infrared sensor collect and process the surrounding environment obstacle information through their corresponding DSP high-speed processors. After the obstacle information is processed, the DSP signal processor (TMS320F2812 chip) of the data fusion module receives the data and receives all the data. After the data, the DSP signal processor fuses the received data according to specific fusion rules, and then transmits the fusion data to the ARM processor (S3C2410) of the control module, and the ARM processor (S3C2410) performs behavioral decision-making and control, and then By controlling the actuator, the mountain agricultural robot performs corresponding forward, backward, left and right steering or braking actions to complete real-time obstacle avoidance.

[0020] figure 2 It is a structural block diagram of the visual sensor module of the present inve...

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Abstract

The invention discloses an obstacle avoidance system of a mountain farming robot on the basis of multi-sensor information fusion. The obstacle avoidance system mainly comprises a vision sensor module, an ultrasonic sensor module, an infrared sensor module, a data fusion module and a control module. DSPs (digital signal processors) of the various sensor modules process obstacle information, which is respectively acquired by the sensor modules, of peripheral environments; a DSP of the data fusion module receives obstacle information which is processed by the various sensor modules, and fuses the obstacle information according to a specific fusion rule, and fused data are transmitted to an ARM [advanced RISC (reduced instruction-set computer) machine] processor of the control module; and the ARM processor makes behavior decision and controls behavior, and obstacles around the mountain farming robot are avoided by means of controlling an actuator. The obstacle avoidance system has the advantages that the multi-sensor information is processed in parallel by the multiple DSPs, the data processing speed is increased, requirements on obstacle avoidance instantaneity and accuracy are met, and the robot can avoid the obstacles flexibly and reliably.

Description

technical field [0001] The invention relates to an obstacle avoidance system applied to mountain agricultural robots, in particular to an obstacle avoidance system for mountain agricultural robots that performs autonomous obstacle avoidance based on multi-sensor information fusion, and belongs to the technical field of robot obstacle avoidance. Background technique [0002] Mountain agricultural robots mainly work in hilly areas. In order to improve work efficiency, autonomous navigation has become an inevitable trend in the development of mountain agricultural robots, and autonomous obstacle avoidance is an important content of autonomous navigation of mountain agricultural robots. At present, the most widely used is the use of visual obstacle avoidance and ultrasonic obstacle avoidance. Using the visual sensor for obstacle avoidance, specific obstacle information can be obtained, so as to achieve the purpose of precise obstacle avoidance, but the visual obstacle avoidance ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 杨福增王涛王元杰蒲应俊刘虹玉张梦芸周渝
Owner NORTHWEST A & F UNIV
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