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

Abstract

The invention discloses an ultrasonic navigation device and method for a greenhouse autonomous mobile vehicle. The front and rear universal wheels can assist the crawler driving wheels of autonomous mobile vehicles in walking back and forth between narrow ridges, and can adapt to the terrain between greenhouse ridges. By automatically adjusting the speed of the left and right crawler wheels, the mobile vehicle can move in place with a small radius at the end of the ridges. Right angle steering. Six ultrasonic ranging sensors installed on the vehicle emit ultrasonic waves in real time. After receiving the ultrasonic waves reflected from the walls between the ridges, the current heading deviation and heading angle of the moving vehicle can be calculated. The ARM controller is then used to adjust the speed of the left and right track wheels to eliminate the heading. Deviation and heading angle, thereby realizing autonomous navigation control of autonomous mobile vehicles between ridges. The invention can adapt to the terrain between the greenhouse ridges, can effectively solve the problems of back-and-forth walking and small-radius in-situ right-angle steering in the narrow ridges of the greenhouse, and can be applied to intelligent operations in 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 different types of information is relatively cumbersome, slow, and poor in real-time performance. environment, the visual signal processing is more complicated and the precision is low, and the shortcomings of the navigation control method based on vision and ultrasonic are more obvious

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