An orchard robot and its multi-ultrasonic video point combined navigation method

Abstract

The invention discloses an orchard robot and a multi-ultrasound video point combined navigation method thereof. The orchard robot comprises a traveling mechanism and a positioning navigation unit mounting platform arranged above the traveling mechanism, wherein a positioning navigation unit is installed around the positioning navigation unit mounting platform, and comprises a camera the shooting angle of which can be adjusted by a control module, and an ultrasonic sensor capable of following the camera to move; a picking platform is fixed above the positioning navigation unit mounting platform, and is provided with a mechanical picking claw and a fruit storage box. The navigation method comprises the steps of first reading environment information and extracting the trunk features of a fruit tree through the camera, driving the camera to aim at the trunk center line through a motor under the control of the control module, measuring the distance between the camera and the trunk through the ultrasonic sensor, and recording the rotating angle of the camera relative to the initial position through an angle measuring module, so as to complete the positioning navigation of the orchard robot by virtue of angle and distance combined information. The orchard robot provided by the invention is low in cost and high in positioning accuracy.

Description

technical field [0001] The invention relates to positioning and navigation technology, in particular to an orchard robot and a multi-ultrasonic video point combined navigation method thereof. Background technique [0002] my country is the largest fruit producer in the world, but orchard work is still dominated by human labor, which is labor-intensive and low in production efficiency. In recent years, with the acceleration of industrialization and the intensification of population aging, the rural labor force has decreased sharply, and agricultural robots with autonomous navigation as the key technology have attracted more and more attention from researchers. In orchards, due to the frequent movement of robots under the tree canopy, the previous GPS positioning and navigation had shortcomings such as satellite signals being blocked by branches and leaves, multipath effects, and radio frequency interference; the cost of electromagnetic positioning and navigation for cable lay...

AI Technical Summary

Problems solved by technology

In orchards, due to the frequent movement of robots under the tree canopy, the previous GPS positioning and navigation had shortcomings such as satellite signals being blocked by branches and leaves, multipath effects, and radio frequency interference; the cost of electromagnetic positioning and navigation for cable laying and maintenance was high, and It cannot meet the requirements of high-speed walking of the robot; the environmental information perceived by ultrasonic positioning and navigation is less, and the reliability is insufficient; the laser scanning positioning and navigation cannot complete the positioning work alone when the fruit tree is missing; although the visual sensor can collect a large amount of environmental data, it is vulnerable to orchard Affected by the complex environment, it is difficult to work alone to meet the actual requirements, and it can only be used as an auxiliary positioning and navigation method

It is difficult for a single sensor to meet the accuracy and reliability requirements of the orchard robot positioning and navigation system. Therefore, it is necessary to design a positioning and navigation system that can combine multiple sensors to obtain more complete environmental information through information fusion. Quick positioning navigation

Images