Agricultural unmanned vehicle cluster operation method based on ultra wide band

An unmanned vehicle, ultra-broadband technology, applied in motor vehicles, two-dimensional position/navigation control, vehicle position/route/altitude control, etc. Accuracy is not stable and other problems, to achieve the effect of excellent multipath resolution, high time resolution, and simple algorithm

Active Publication Date: 2021-07-13
JIANGSU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the most critical and most urgent problem to be solved is the precise positioning of vehicles in the greenhouse. At present, the widely used indoor positioning technologies include Wi-Fi, ZigBee, Bluetooth, ultrasonic, optical imaging, UWB, etc., among which Wi-Fi, ZigBee, Bluetooth Although the cost is low, the positioning accuracy is not high, which is not conducive to the precise operation of the unmanned vehicle in the greenhouse environment; although the ultrasonic positioning has high precision, but the real-time performance is poor; and optical imaging has high requirements for ambient light, positioning Unstable accuracy

Method used

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  • Agricultural unmanned vehicle cluster operation method based on ultra wide band
  • Agricultural unmanned vehicle cluster operation method based on ultra wide band
  • Agricultural unmanned vehicle cluster operation method based on ultra wide band

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Embodiment Construction

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0031] Such as figure 1 As shown, a UWB-based agricultural unmanned vehicle is composed of a steering gear 1, a controller 2, a base plate 3, a coupling 4, a shaft 5, a flange 6, a motor 7, and wheels 8. Further, there are mounting holes reserved on the base plate 3, and the steering gear 1 and the controller 2 are connected to the mounting holes through M3 locknuts and M3 screws so as to be fixed on the base plate, and the steering gear 1 is fixed on the base plate through the steering wheel and the M3 screws. It is connected with the coupling 4, the coupling 4 is fixed with the shaft 5 through the top screw, the shaft 5 is connected with the motor 7 through the flange 6 and the M3 screw, and the wheel 8 is connected with the motor through the gasket and the screw. The exten...

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Abstract

The invention discloses an agricultural unmanned vehicle cluster operation method based on an ultra wide band. The method comprises the following steps: 1, building an agricultural unmanned vehicle positioning system in a greenhouse environment through three base stations and a plurality of labels disposed on agricultural unmanned vehicles; 2, carrying out environment map modeling on the agricultural greenhouse, and digitalizing the working environment; 3, performing path planning of the agricultural unmanned vehicle; and 4, performing motion control on the agricultural unmanned vehicle. According to the invention, an artificial potential field method and a grid method are combined, so that a planned driving path of the agricultural unmanned vehicle is relatively smooth, the safety coefficient is high, and the structure is simple and easy to realize.

Description

technical field [0001] The invention relates to unmanned vehicle cluster control technology, in particular to a UWB (Ultra Wide Band, Ultra Wide Band)-based agricultural unmanned vehicle cluster operation method. Background technique [0002] With the continuous combination of modern science and technology and agriculture, future agricultural production activities will pay more attention to intelligence and informatization, and the agricultural production environment will gradually transform into intelligent agricultural greenhouses. The promotion and application of agricultural unmanned vehicles will become inevitable, and its division of labor will become more and more Clear and refined, so people began to pay attention to the collaborative operation ability of multiple agricultural unmanned vehicles with different functions in this standard greenhouse environment. Among them, the most critical and most urgent problem to be solved is the precise positioning of vehicles in ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0225G05D1/0214G05D1/0221G05D1/0276
Inventor 黄正阳沈跃王辉陈佳祺孙宇飞
Owner JIANGSU UNIV
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