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Orchard mobile robot and autonomous navigation method thereof

A technology of mobile robots and orchards, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., to achieve the effect of avoiding sudden interruption

Pending Publication Date: 2021-06-11
CHINA AGRI UNIV
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  • Application Information

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Problems solved by technology

[0005] The present invention provides an orchard mobile robot and its autonomous navigation method to solve some or all of the above-mentioned problems existing in the prior art of orchard vehicle autonomous navigation

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  • Orchard mobile robot and autonomous navigation method thereof
  • Orchard mobile robot and autonomous navigation method thereof
  • Orchard mobile robot and autonomous navigation method thereof

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Embodiment Construction

[0051] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0052] Combine below Figure 1-Figure 10 A kind of orchard mobile robot and its autonomous navigation method of the present invention are described.

[0053] The invention provides a kind of orchard mobile robot, such as figure 1 As shown, it includes a power chassis 100 and a host computer 101, and also includes a pose module 102, a drive module 103, a drive motor 104 and an electric push ...

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Abstract

The invention provides an orchard mobile robot and an autonomous navigation method thereof, and belongs to the technical field of agricultural intelligence. The orchard mobile robot comprises a power chassis and an upper computer, and further comprises an attitude module, a driving module, a driving motor and an electric push rod, wherein the upper computer is used for collecting GPS sensor data, two-dimensional laser radar sensor data, attitude and heading reference module data and encoder data output by the attitude module within a sampling time interval, and fusing the data into attitude information of the orchard mobile robot at the current moment; and an optimal path is screened out under global path planning according to the attitude information, the orchard mobile robot is controlled to perform back-and-forth autonomous navigation under local path planning, and meanwhile, the driving motor and the electric push rod control the moving distance and the rotating angle of the power chassis within a sampling time interval through a driving module. Meanwhile, the invention discloses an autonomous navigation method of the orchard mobile robot. According to the invention, standard and orderly autonomous driving of the orchard mobile robot is realized.

Description

technical field [0001] The invention relates to the technical field of agricultural intelligence, in particular to an orchard mobile robot and an autonomous navigation method thereof. Background technique [0002] The participation of vehicles in the outdoor orchard industry chain, such as irrigation, fertilization, weeding, picking, and transportation, is still in the stage of manual control. Not only is the workload heavy, the labor intensity is high, and the operation efficiency is low. Further lacking, the solution to the problem of autonomous navigation of outdoor orchard vehicle machinery is imminent. [0003] At present, the autonomous navigation of outdoor orchard vehicles adopts the kinematics model of mobile robots. The construction of this model can be roughly divided into two categories. One is the kinematics model based on PWM signals to realize differential steering, which is mainly used in industry, service industry, and agriculture ( In the field of orchard ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0223G05D1/0221G05D1/0278G05D1/0276G05D1/0219
Inventor 赵龙莲邵志明董志城原育慧王怀彬薛金丹李军会
Owner CHINA AGRI UNIV
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