Automatic seed falling type crop sowing robot

Abstract

The invention discloses an automatic seed falling type crop sowing robot, and belongs to the technical field of planting robots. The seeding robot is light in overall weight, low in cost, high in market competitiveness and high in popularization value, updating iteration from a manual operation mode to a remote control mode and then to an unmanned autonomous operation mode is achieved, and the robot is more automatic and intelligent; the seeding robot is reasonable in design, simple in structure, high in reliability, capable of adopting a self-contained independent power source and long in continuous operation time; the planting mechanism adopts a planting mode with high automation degree to replace traditional manual seed metering with high labor intensity, and can automatically work through automatic control, so that the labor intensity of workers is reduced, and the working efficiency is greatly improved; modularization can be achieved in the design of the seed-metering device, the planting modules are recombined according to agricultural requirements, planting of multiple rows and different row spacings can be achieved at a time, rotation of the seed-metering wheel is accurately controlled through the stepping motor, and precise seeding is flexibly and efficiently achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of planting robots, in particular to an automatic seed dropping type crop sowing robot. Background Art

[0002] Agriculture, as the primary industry in my country, is the source of food and clothing for human beings, the basis of survival, and the primary condition for all production. Traditional crop planting mainly relies on manual labor. The manual planting method has the problem of high labor costs. In the process of manual planting, labor is an indispensable factor. However, with the annual increase in labor costs, the labor costs of the planting industry have also increased.

[0003] The problems caused by manual planting await further improvement of the intelligent planting technology. With the development of technologies such as artificial intelligence, machine vision, and the Internet of Things, the research and application of intelligent agricultural machinery has gradually become a hot topic. Intelligent planting machines can integrate a variety of sensors and algorithms to achieve real-time monitoring and precise control of the planting environment, greatly improving the efficiency and stability of planting. Therefore, conducting research on planting machines and combining traditional planting methods with intelligent technology is an important measure to improve planting efficiency, reduce production costs, and ensure stable output.

[0004] At present, the core technology level of domestic planting machines on the market is relatively low, and it is impossible to achieve front-end intelligence. To achieve the intelligence of agricultural machinery, it is necessary to solve multiple key technical problems, including sensor technology, navigation and positioning, machine vision, decision support system, precision agriculture technology, automatic control, intelligent scheduling optimization, and data processing and analysis. With the continuous development and application of these technologies, the intelligence of agricultural machinery will provide strong support for the realization of agricultural modernization and sustainable development.

[0005] Therefore, there is an urgent need to improve the automation and intelligence level of agricultural planting machinery and equipment in my country, and solve the problem of manual planting still being used in some areas. Summary of the invention

[0006] In order to solve the above problems, the present invention provides an automatic seed dropping type crop sowing robot.

[0007] The present invention is achieved through the following technical solutions:

[0008] An automatic seeding crop sowing robot comprises a mobile chassis, a planting mechanism, a sensing system and an overall coordinated control system, wherein the sensing system comprises a detection module, a positioning and navigation system and a ridge and furrow identification and positioning system, and the mobile chassis, the planting mechanism and the sensing system are all electrically connected to the overall coordinated control system;

[0009] The mobile chassis is used to carry the entire robot, and has the functions of mobile operation and transfer transportation, including a drive system, a transmission system and a crawler walking mechanism, the drive system includes an engine group, a first pulley, a second pulley and a belt connecting the first pulley and the second pulley, the transmission system is composed of a transmission box and a steering box, the transmission box is connected to the drive system through a first connector, and the transmission box and the steering box are connected through a second connector; the crawler walking mechanism includes a crawler, a frame, a driving wheel, a guide wheel, a supporting roller and a tensioning mechanism, the tensioning mechanism is composed of a tensioning gasket, a tensioning nut, a tensioning spring and a tensioning bolt, and the crawler is arranged outside the traveling frame, the driving wheel, the guide wheel and the supporting roller;

[0010] The planting mechanism is used to store and sow crop seeds, and includes a storage box, a feeding box, a sliding rod, a seeding wheel and a hole opener. The storage box is connected to the feeding box through a feeding pipe, and the storage box is located above the vehicle frame. A push rod motor is provided on the front side of the storage box, and a sliding rod is connected below the push rod motor. The sliding rod is connected to the inner side of the feeding box, and a seeding wheel and a hole opener are connected below the feeding box.

[0011] The detection module includes a speed measuring device, which tests the speed of the crawler walking mechanism and feeds back the signal to the overall coordinated control system. The overall coordinated control system can adjust the speed and direction of the stepper motor according to the change of the pulse, coordinate the work of the crawler walking mechanism and the planting mechanism, and ensure that the planting row spacing is neat;

[0012] The positioning and navigation system includes inertial navigation and satellite navigation to achieve accurate positioning of the robot's driving path;

[0013] The ridge identification and positioning system includes a camera, which uses a camera module to collect information and compare it with a database to achieve image recognition and positioning functions, and assist the robot in autonomous driving and planting operations;

[0014] The overall collaborative control system is used to achieve fully automatic control of the robot.

[0015] A connecting seat is fixed above the frame, rods are connected between the connecting seats, and the push rod motor is fixed below the rods.

[0016] The camera is fixed at the middle part of the pole, and the camera is electrically connected to the overall coordinated control system.

[0017] The overall coordinated control system is arranged at the bottom of the robot.

[0018] A seed scraper is provided inside the feeding box, and the seed scraper is located on the side of the seed wheel.

[0019] A partition is provided on the feed box above the seeding wheel, and the partition separates the cavity in the box.

[0020] An insert plate is provided between the partition plate and the side wall of the feed box.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The seeding robot of the present invention has light weight, low cost, strong market competitiveness, high promotion value, and realizes the update and iteration from manual to remote control and then to unmanned autonomous operation mode, making the robot more automated and intelligent.

[0023] The sowing robot of the present invention has reasonable design, simple structure, high reliability, can adopt its own independent power source, and has a long continuous operation time; the planting mechanism adopts a planting mode with a high degree of automation to replace the traditional manual seeding with high labor intensity, and can operate independently through automatic control, thereby reducing the labor intensity of manual labor and greatly improving work efficiency;

[0024] The seeding device of the present invention can be designed to be modularized, and the planting modules can be reorganized according to agronomic requirements, so that multiple rows and different row spacings can be planted at one time. The rotation of the seeding wheel is accurately controlled by a stepping motor, so that precise seeding can be achieved flexibly and efficiently.

[0025] The control system of the present invention realizes software modularization and constructs a hardware platform of embedded architecture, which provides flexible scalability for the control system of the seeding robot, ensures that the control system of the seeding machine can operate stably and safely, and ensures the smooth progress of crop planting;

[0026] The present invention is designed to use a combined navigation system that can realize positioning and vision-assisted navigation, achieving high reliability, high availability and high-precision autonomous navigation;

[0027] The seeding robot of the present invention adopts a crawler chassis, has different driving modes and automatic obstacle avoidance functions, can autonomously drive and accurately avoid obstacles in different terrains and places, can prevent dents, improve grip, has a large operating range, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The structure of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the design structure of the mobile chassis of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the seeding wheel and the stepping motor of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the overall collaborative control system of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the sowing seed number control principle of the present invention;

[0034] Figure 7 It is a schematic diagram of the principle structure of the seeding mechanism of the present invention;

[0035] Figure 8 It is a schematic diagram of image recognition and segmentation in the ridge recognition and positioning system of the present invention.

[0036] In the figure: 1, connecting seat; 2, push rod motor; 3, discharge port; 4, tensioning gasket; 5, tensioning nut; 6, tensioning spring; 7, tensioning bolt; 8, guide wheel; 10, first connector; 11, transmission box; 12, steering box; 13, second connector; 14, first pulley; 15, engine group; 16, second pulley; 17, crawler; 18, frame; 19, supporting wheel; 20, supporting wheel; 21, drive Driving wheel; 23. belt; 24. first bolt; 25. second bolt; 26. reduction gear unit; 27. camera; 28. storage box; 29. ​​slide bar; 30. mobile chassis; 31. planting mechanism; 32. feeding box; 33. seed wheel; 34. stepping motor; 35. hole opener; 36. rod; 37. seed scraper; 38. support block; 39. plug board; 40. sowing mechanism; 41. partition; 42. spline. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings:

[0038] An automatic seeding crop sowing robot comprises a mobile chassis 41, a planting mechanism 42, a sensing system and an overall coordinated control system, wherein the sensing system comprises a detection module, a positioning and navigation system and a ridge recognition and positioning system, and the mobile chassis 41, the planting mechanism 42 and the sensing system are all electrically connected to the overall coordinated control system;

[0039] The mobile chassis 41 is used to carry the entire robot, and has the functions of mobile operation and transfer transportation, including a drive system, a transmission system and a crawler walking mechanism. The drive system includes an engine group 15, a first pulley 14, a second pulley 16 and a belt 23 connecting the first pulley 14 and the second pulley 16. The transmission system consists of a transmission box 11 and a steering box 12. The transmission box 11 is connected to the drive system through a first connector 10, and the transmission box 11 and the steering box 12 are connected through a second connector 13; the crawler walking mechanism includes a crawler 17, a frame 18, a driving wheel 21, a guide wheel 8, a supporting roller 19 and a tensioning mechanism. The tensioning mechanism consists of a tensioning gasket 4, a tensioning nut 5, a tensioning spring 6 and a tensioning bolt 7. The crawler 17 is arranged outside the traveling frame 18, the driving wheel 21, the guide wheel 8 and the supporting roller 19;

[0040] The planting mechanism 31 is used to store and sow crop seeds, including a storage box 28, a feeding box 32, a slide bar 29, a seeding wheel 33 and a hole opener 35. The storage box 28 is connected to the feeding box 32 through a feeding pipe. The storage box 28 is located above the frame 18. A push rod motor 2 is provided on the front side of the storage box 28. A slide bar 29 is connected below the push rod motor 2. The slide bar 29 is connected to the inner side of the feeding box 32. The feeding box 32 is connected below the seeding wheel 33 and the hole opener 35.

[0041] The detection module includes a speed measuring device, which tests the speed of the crawler walking mechanism and feeds the signal back to the overall coordinated control system. The overall coordinated control system can adjust the speed and direction of the stepper motor according to the change of the pulse, coordinate the work of the crawler walking mechanism and the planting mechanism, and ensure the neat planting row spacing;

[0042] The positioning and navigation system consists of inertial navigation and satellite navigation to achieve accurate positioning of the robot's driving path;

[0043] The ridge identification and positioning system includes a camera 27, which uses a camera module to collect information and compare it with a database to achieve image recognition and positioning functions, and assist the robot in autonomous driving and planting operations;

[0044] The overall collaborative control system is used to achieve fully automatic control of the robot.

[0045] A connecting seat 1 is fixed above the vehicle frame 18 , rods 36 are connected between the connecting seats 1 , and the push rod motor 2 is fixed below the rod 36 .

[0046] The camera 27 is fixed to the middle of the pole 36, and the camera 27 is electrically connected to the overall cooperative control system.

[0047] The overall collaborative control system is set at the bottom of the robot.

[0048] A seed scraper 37 is provided inside the feed box 32 , and the seed scraper 37 is located on the side of the seed wheel 33 .

[0049] The feed box 32 located above the seed wheel 33 is provided with a partition 41, which divides the cavity inside the box.

[0050] An insert plate 39 is provided between the partition plate 41 and the side wall of the feed box 32 .

[0051] As shown in the attached figure of the instruction manual Figure 1 and Figure 2 As shown in the figure, the overall structural design of the seeding robot mainly includes the following parts: a mobile chassis, a planting mechanism, a perception system consisting of a detection module, a positioning and navigation system, a ridge identification and positioning system, and an overall coordinated control system.

[0052] Among them, the mobile chassis is used to carry the entire planting robot, which has the functions of mobile operation and transfer transportation. It can adapt to more complex terrain and is convenient for large-area operation tasks, which can effectively improve work efficiency.

[0053] The planting mechanism is used to store and sow crop seeds, which can replace the traditional manual sowing mode with high labor intensity. Through automatic control, it can sow automatically and accurately, and can also be used for fertilization.

[0054] The detection module feeds back the signal to the control system through the speed measuring device, and can adjust the speed and direction of the stepper motor according to the change of the pulse, so that the autonomous walking mechanism and the planting mechanism can work in coordination with each other to ensure uniform planting row spacing.

[0055] The positioning and navigation system realizes the precise positioning of the robot's driving path, and combines inertial navigation and satellite navigation into a combined navigation system to achieve high reliability, high availability and high precision navigation goals.

[0056] The ridge identification and positioning system uses the camera module to collect information and compare it with the database to achieve image recognition and positioning functions, assisting the robot in autonomous driving and planting operations.

[0057] The overall collaborative control is used to realize the fully automatic control of the robot, and the overall collaborative control system is set at the bottom of the robot.

[0058] As shown in the attached figure of the instruction manual Figure 3 As shown, the mobile chassis can travel normally and can also carry actuators to perform corresponding operations. It is mainly composed of a power system, a transmission system, a steering system, and a crawler travel system. The mobile chassis as a whole is connected to the overall collaborative control system for operation.

[0059] The function of the crawler chassis's traveling mechanism is to transmit the transmission power to the ground, so that the chassis moves under the force of the crawler and the ground, and at the same time provide a connecting bridge for the various systems of the whole machine. The crawler traveling system is mainly composed of crawler tracks, drive wheels, guide wheels, supporting wheels and tensioning mechanisms. When the chassis moves forward, the drive wheel drives the crawler tracks to rotate, and the tensioning device plays the role of tensioning the crawler tracks and guides the direction of rotation of the crawler tracks. The tensioning wheel is used as a tensioning device to tighten the crawler tracks on the wheel to ensure that the crawler tracks can be transmitted normally. The tensioning wheel is used as a tensioning device to tighten the crawler tracks on the wheel to ensure that the crawler tracks can be transmitted normally.

[0060] To avoid water accumulation, the lowest position of the frame in the embodiment is 30 cm from the ground, which meets the height requirements for planting work and helps to maintain soil drainage.

[0061] Commonly used power systems mainly include fuel engines and electric motors. The present invention adopts a dual-side motor independent drive solution, because the dual-motor drive structure uses two motors to be independently controlled, and the batteries are used to power the motors on both sides respectively, driving the drive wheels to make the crawler chassis move forward. When turning, the motors on both sides are controlled to produce a speed difference to achieve the function. The advantages of this solution are: simple mechanical structure and high transmission efficiency; since the transmission shaft and other structures are omitted, it saves space, is flexible in layout, and is easy to implement.

[0062] As shown in the attached figure of the instruction manual Figure 4 As shown in the figure, the sowing mechanism is one of the important components of the entire robot system. It is the core device of the planter. The sowing mechanism transfers the seeds in the seed box to the duckbill hole opener of the seed leg according to the specified number (single seed, double seed, triple seed). The working performance of this device will directly affect the sowing quality of the planter. The planting mechanism consists of the main components such as the feed box, slide bar, seed wheel, duckbill hole opener, etc.

[0063] The planting mechanism can be adjusted and slid on the pole, so as to change the spacing between the planting mechanism units, which can meet different agronomic requirements and make the row spacing adjustable.

[0064] The planting process is as follows: the slide bar is placed between the two feeding boxes, and the slide bar can move up and down along the axis of the feeding box through the thrust of the electric push rod. The seeds or fertilizers in the storage box enter the feeding box from the feeding pipe. A double seed wheel is built into the lower end of the feeding box. The rotation of the seed wheel is precisely controlled by the stepper motor, and the position of the plug plate is adjusted to achieve precise sowing and fertilization, which improves the utilization rate of seeds or fertilizers. The seed wheel is connected to the hole opener through the seed legs, and the seeds or fertilizers can enter the hole opener: the hole opener consists of two halves of duckbill, one half of which is fixed on the discharge pipe, and the other half is slid on the discharge pipe and can move along the axis of the discharge pipe. When the two halves of the duckbill are closed together, the seeds and fertilizers can be wrapped in it: when the duckbill is opened, the seeds and fertilizers can be sent to the surface.

[0065] As shown in the attached figure of the instruction manual Figure 7 As shown in the figure, the planting mechanism uses an external groove seeder. The seeding capacity and displacement stability of the seeding wheel are also important indicators. According to the per-acre sowing rate set during operation, the rotation speed of the seeding wheel can be adjusted in real time according to the operating speed. Therefore, it is necessary to ensure that the displacement of the seeding wheel is stable and accurate. The displacement of the seeding wheel is the mass of seeds falling from the seed drop port when the seeder rotor rotates one circle, which is mainly related to the bulk density of the seeds and the design parameters of the rotor.

[0066] Table 1 shows the displacement correction coefficient of the seed wheel at different speeds.

[0067] Table 1 Displacement correction coefficient table at different speeds

[0068]

[0069] From Table 1, we can get the fitting formula of displacement correction coefficient C as follows:

[0070] C=0.02n+0.84 (1)

[0071] Where n is the rotation speed of the seed wheel rotor.

[0072] From Table 1 and Formula 1, we can know that the displacement correction coefficient is linearly related to the rotational speed, which is mainly caused by the influence of the rotational speed on the driving layer. The driving layer plays a compensatory role in filling the seed groove. At the same time, the driving layer is more obviously affected by the rotational speed and is linearly related to the rotational speed.

[0073] In addition, research shows that: if the diameter of the seeding wheel is too large, the rotation speed will be reduced, which will affect the uniformity of the seeding wheel; if the diameter is too small, the rotation speed must be increased, which will increase the damage rate of seeds. The rotor diameter of the seeding wheel designed in this paper is 5cm, the number of rotor slots is 8 rows, the effective depth of the rotor slot is 1cm, and the cross-sectional area of ​​a single rotor slot is 1cm 2 Taking pea seeds as an example, the bulk density of pea seeds is 0.8g / cm 3When the displacement correction coefficient is estimated as 1, the theoretical displacement of the seed wheel rotor of this design is 19.2g / r when it rotates one circle.

[0074] Taking pea planting as an example, when the seeding device is working, the seeds are filled into the shaped holes of the seeding wheel by gravity. The seed pits on the seeding wheel designed in this embodiment have a diameter of 10mm. The diameter of pea seeds usually planted is 5-8mm. Each seed pit can only accommodate one seed, and the seed scraper can block the excess seeds in the shaped hole; the stepper motor directly drives the spline to rotate, and indirectly drives the seeding wheel to rotate. By precisely controlling the rotation of the stepper motor, the rotation speed of the seeding wheel can be controlled and adjusted, and the seeds in the shaped hole can be dialed into the duckbill hole opener.

[0075] As shown in the attached figure of the instruction manual Figure 6 As shown, the seeder is required to be able to control single-seed, double-seed and triple-seed sowing. The space above the seed wheel 33 is divided into two spaces A and B by a partition. When the insert plate 1 is inserted into the opening of the B space (i.e., as shown in FIG. Figure 6 The seeds in the seed box can only enter the A area to achieve single seed sowing; and when the plug 1 is inserted into the opening of the A space (i.e. Figure 6 If the insert plate is removed (not inserted into any opening), the seeds in the seed box can only enter area B, and double-seed seeding can be achieved. If the insert plate is removed (without inserting any opening), the seeds in the seed box can enter areas A and B, and three-seed seeding can be achieved. The stepper motor drives the fixed-angle rotation of the seed wheel and the position adjustment of the insert plate to cooperate with each other to achieve precise control of sowing and fertilization. By accurately controlling the rotation of the seed wheel with the stepper motor and adjusting the position of the insert plate, precise sowing and fertilization can be achieved, improving the utilization rate of seeds and fertilizers.

[0076] As shown in the attached figure of the instruction manual Figure 5 As shown in the figure, the overall collaborative control system is mainly divided into four modules: environmental perception, human-computer interaction, computing and processing, and control execution. The robot's fully automatic operation is completed by the cooperation of these four functions.

[0077] Among them, the tasks of the environmental perception module mainly include two aspects. On the one hand, it is responsible for the autonomous walking function of the mobile platform system, mainly including mapping and positioning in the working environment. The sensors used are lidar and GNSS. Through SLAM, a point cloud map of the working environment is constructed, and the specific position of the chassis in the map can be determined. On the other hand, it is necessary to detect and identify the location of obstacles and the location of the sowing site. The sensors used include lidar and cameras. Through the fusion processing of point clouds and images, the three-dimensional information of farmland ridges is obtained, and then transmitted to the lower-level computing unit for further processing.

[0078] The computing and processing part includes a core computing platform for running the host computer algorithm and a lower computer computing system. The core computing platform is a high-performance industrial computer used to run the core algorithm, including sensor data processing, SLAM mapping and positioning, mobile platform path planning, robotic arm collaborative control, etc. The lower computer is mainly used for chassis motion control and planting device control. The lower computer receives the motion instructions from the upper computer and performs kinematics calculations in real time. It issues control instructions to the servo drive through the bus to achieve collaborative control of vehicle speed, vertical motion speed of the planting mechanism, seeding amount and pressure.

[0079] Detection module: In order to facilitate the start and stop adjustment of the planting mechanism during sowing, a counting device is set on the autonomous walking mechanism, which can detect the speed of the driving wheel on the autonomous walking mechanism, and the descending action of the planting mechanism can be adjusted according to the change of the driving speed of the autonomous walking mechanism. The stepper motor is an open-loop control element that converts electrical pulse signals into angular displacement or linear displacement. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change, that is, when a pulse signal is added to the motor, the motor turns a step angle. The existence of this linear relationship, coupled with the characteristics of the stepper motor having only periodic errors but no cumulative errors, makes it very simple to use stepper motors to control in the fields of speed, position and other control. In view of this feature of the stepper motor, the signal fed back to the control system by the counting device can be used to adjust the speed and direction of the stepper motor according to the change of the pulse, so that the planting mechanism and the autonomous walking mechanism can work in coordination with each other to ensure normal and orderly sowing work.

[0080] Positioning and navigation system:

[0081] A. Positioning algorithm based on pseudorange

[0082] Due to the limitation of the quality of pseudo-range observations, the ideal positioning accuracy can only reach the sub-meter level, and in areas with greater environmental impact, sub-meter accuracy is often not achieved. At the same time, in the application scenarios of small planting robots, sub-meter accuracy cannot meet the needs. Therefore, it is necessary to introduce carrier phase observations and use RTK algorithms for high-precision positioning. The observation error of the carrier phase, whether it is thermal noise error or multipath error, can be reduced by at least two orders of magnitude compared to the pseudo-range, so the positioning accuracy can be improved to the centimeter level.

[0083] To achieve centimeter-level high-precision positioning, it is necessary to break through a number of key technologies: the first is carrier phase tracking technology. General navigation receivers use pseudorange as the main observation quantity, and have relatively low quality requirements for carrier tracking, and may even only track the frequency of the carrier but not the phase of the carrier. Therefore, how to achieve carrier phase tracking in a complex environment, suppress cycle slips, and add strict quality control has become the basis for making good use of carrier phase observations. Secondly, in order to improve positioning accuracy, the real-time differential positioning technology (Real-time Kinematic, RTK) in GNSS is used for positioning. Traditional RTK is used for measuring high-precision receivers. Receiving dual-frequency or multi-frequency signals at the same time can eliminate the influence of the ionosphere.

[0084] And it usually works in a relatively ideal environment. For single-frequency RTK, it is a challenging task to model and estimate the ionosphere at the same time under the condition of a limited number of available observations. The third is the carrier integer recovery technology. Usually for dual-frequency receivers, after the signal is interrupted and restored, the wide lane wavelength formed by the dual-frequency combination can recover the integer relatively quickly. However, for single-frequency receivers, after the signal is interrupted due to obstruction, special methods are needed to quickly recover the carrier integer in order to achieve continuous high-precision positioning.

[0085] B. Low-cost inertial sensor integrated navigation technology

[0086] GNSSRTK equipment can provide absolute positioning with centimeter-level accuracy for planting robots, but good GNSS signals are not available in all environments and at all times. Therefore, the output of GNSSRTK is generally integrated with the inertial navigation system to form a complementary system.

[0087] Inertial navigation system refers to a sensor system that can independently navigate to a target without external information, including accelerometers, gyroscopes, and magnetic sensors. Accelerometer sensors measure the rate of change of velocity of each axis of the sensor over time. The position change between two moments can be estimated by integrating the velocity change over time. The three-axis gyroscope sensor measures the rate of change of the rotational speed of each axis.

[0088] Inertial navigation and satellite navigation are naturally complementary. Inertial navigation systems are not easily affected by external interference, and have relatively high short-term positioning accuracy, but the positioning accuracy diverges rapidly over time. Satellite navigation, on the other hand, is susceptible to interference. Although the single-point positioning accuracy is not very high, the accuracy does not change over time, and the accuracy can be further improved if filtering and smoothing are performed. Therefore, combining inertial navigation and satellite navigation into a combined navigation system can take into account the advantages of both and realize a navigation system with high reliability, high availability and high accuracy.

[0089] Ridge identification and positioning system: uses cameras to collect information and compare it with the database to realize image recognition and positioning functions, assist the robot in autonomous driving and planting operations, and debug and learn the program through the steps of object detection and data collection → training identifier → object recognition to improve image recognition and positioning functions.

[0090] It can be divided into two tasks: one is to find the objects in the scene and give the bounding box information of the objects; the other task is to identify the category of the objects based on the found objects. This process is also called target detection. Target detection can be divided into the following stages, as shown in the figure of the manual Figure 8 shown.

[0091] First, the input image or video frame is preprocessed. Preprocessing is a step that the target detection algorithm must go through in the learning and prediction process. In the learning stage, preprocessing needs to find the best data set from a large amount of data, normalize the data, and generate data in a standard format; in the preprocessing stage, the image is generally denoised, mean subtracted, and scaled. There may be multiple objects in the image, and the shape and size of the object are uncertain. In order to locate the position of the object, it is necessary to traverse the entire image, and different sizes and aspect ratios need to be considered. This will produce too many redundant windows and high time complexity. At present, the candidate region (region proposal) method effectively solves this problem. The candidate region effectively utilizes the texture, edge and other information in the image, greatly reducing redundant windows. Overall principle: Traveling along the route set by the microcomputer motherboard program in the farmland, the 0V5647 mini camera module captures the image and returns it to the database and compares it with the database. It can be identified as a planting area to carry out planting work, and at the same time, the road obstacles between farmlands are identified to achieve obstacle avoidance. After completing the planting operation in an area, the microcomputer motherboard issues an instruction to the robot to transfer to the next area for planting operations.

[0092] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0093] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0094] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0095] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. All equivalent changes and modifications to the shapes, structures, features and spirits described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An automatic seeding crop sowing robot, characterized in that: It comprises a mobile chassis (41), a planting mechanism (42), a sensing system and an overall coordinated control system, wherein the sensing system comprises a detection module, a positioning and navigation system and a ridge identification and positioning system, and the mobile chassis (41), the planting mechanism (42) and the sensing system are all electrically connected to the overall coordinated control system; The mobile chassis (41) is used to carry the entire robot and has the functions of mobile operation and transfer transportation. It includes a drive system, a transmission system and a crawler walking mechanism. The drive system includes an engine group (15), a first pulley (14), a second pulley (16) and a belt (23) connecting the first pulley (14) and the second pulley (16). The transmission system is composed of a transmission box (11) and a steering box (12). The transmission box (11) is connected to the drive system through a first connector (10). The transmission housing (11) and the steering housing (12) are connected via a second connector (13); the crawler travel mechanism comprises a crawler (17), a frame (18), a driving wheel (21), a guide wheel (8), a supporting roller (19) and a tensioning mechanism, wherein the tensioning mechanism comprises a tensioning gasket (4), a tensioning nut (5), a tensioning spring (6) and a tensioning bolt (7); the crawler (17) is arranged outside the traveling frame (18), the driving wheel (21), the guide wheel (8) and the supporting roller (19); The planting mechanism (31) is used for storing and sowing crop seeds, and comprises a storage box (28), a feeding box (32), a slide bar (29), a seeding wheel (33) and a hole opener (35); the storage box (28) is connected to the feeding box (32) through a feeding pipe; the storage box (28) is located above the vehicle frame (18); a push rod motor (2) is provided on the front side of the storage box (28); a slide bar (29) is connected below the push rod motor (2); the slide bar (29) is connected to the inner side of the feeding box (32); and a seeding wheel (33) and a hole opener (35) are connected below the feeding box (32); The detection module includes a speed measuring device, which tests the speed of the crawler walking mechanism and feeds back the signal to the overall coordinated control system. The overall coordinated control system can adjust the speed and direction of the stepper motor according to the change of the pulse, coordinate the work of the crawler walking mechanism and the planting mechanism, and ensure that the planting row spacing is neat; The positioning and navigation system includes inertial navigation and satellite navigation to achieve accurate positioning of the robot's driving path; The ridge identification and positioning system comprises a camera (27), which uses a camera module to collect information and compare it with a database to achieve image recognition and positioning functions, thereby assisting the robot in autonomous driving and planting operations; The overall collaborative control system is used to achieve fully automatic control of the robot.

2. The automatic seeding crop sowing robot according to claim 1, characterized in that: A connecting seat (1) is fixed above the vehicle frame (18), a rod (36) is connected between the connecting seats (1), and the push rod motor (2) is fixed below the rod (36).

3. The automatic seeding crop sowing robot according to claim 1, characterized in that: The camera (27) is fixed to the middle of the pole (36), and the camera (27) is electrically connected to the overall coordinated control system.

4. The automatic seeding crop sowing robot according to claim 1, characterized in that: The overall coordinated control system is arranged at the bottom of the robot.

5. The automatic seeding crop sowing robot according to claim 1, characterized in that: A seed scraper (37) is provided inside the feed box (32), and the seed scraper (37) is located on the side of the seed wheel (33).

6. The automatic seeding crop sowing robot according to claim 1, characterized in that: A partition (41) is provided in the feed box (32) located above the seed wheel (33), and the partition (41) divides the cavity in the box.

7. The automatic seeding crop sowing robot according to claim 6, characterized in that: An insert plate (39) is provided between the partition plate (41) and the side wall of the feed box (32).

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