An ultrasonic navigation device and method for an autonomous mobile vehicle in a greenhouse

Abstract

The invention discloses an ultrasonic navigation unit of a greenhouse automatic moving vehicle and a method. Front universal wheels and rear universal wheels can help track driving wheels of the automatic moving vehicle to conduct round trips between narrow ridges, the ultrasonic navigation unit can adapt to terrain among the ridges in a greenhouse, and the moving vehicle can veer on site with a small radius in a right angle mode at the tail end of one ridge through automatic regulation of speed of the left track wheel and the right track wheel. Six ultrasonic distance measuring sensors arranged on the vehicle emit ultrasonic waves in real time, current course deviation and the current course deflection angle of the vehicle can be calculated by receiving the ultrasonic waves reflected by the walls of the ridges, and can be eliminated by using an ARM controller to control the speed of the left track wheel and the right track wheel, and therefore automatic navigation control of the automatic moving vehicle among the ridges is achieved. The ultrasonic navigation unit can adapt to the terrain among the ridges in the greenhouse, can effectively achieve the round trips and on-site small-radius right-angle veering among the narrow ridges in the greenhouse, and can be applied to intelligent operation of the greenhouse.

Description

technical field [0001] The invention belongs to the technical field of greenhouse facilities, and in particular relates to a greenhouse facility navigation technology. Background technique [0002] Facility agriculture plays an important role in my country's agricultural field, and the area of ​​multi-span greenhouses in my country ranks among the top in the world. In order to save labor, reduce labor intensity, and improve operating efficiency, intelligent operating tools in greenhouses are increasingly valued by scientific and technological personnel. The operations in the greenhouse involve daily crop information collection, crop protection management, fruit harvesting, etc. The use of intelligent autonomous mobile vehicles in large-area multi-span greenhouses is helpful for the efficient completion of these operations. As the core technology of intelligent mobile vehicles, navigation technology has become a research hotspot. At present, the navigation methods of autonom...

AI Technical Summary

Problems solved by technology

The navigation information obtained by ultrasound and the navigation information obtained by vision belong to information that does not blend with each other. The fusion of different types of information can certainly improve the accuracy of navigation, but the fusion of diffe...

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