Agricultural robot path position control system

Abstract

The invention relates to the technical field of agricultural robot path position control, and discloses an agricultural robot path position control system, which comprises a map loading unit, a path planning unit, an information acquisition unit, a path position control unit and a central processing unit. According to the agricultural robot path position control system, the current position of an agricultural robot is obtained through a position reading module, then a farmland map contour of the current position is selected through a region selection module, and obtained longitude and latitude information of a Beidou satellite map is converted into a local Cartesian coordinate system through a map conversion module; then the agricultural robot performs path planning through the path planning module, after planning is completed, path information is converted into a longitude and latitude coordinate system through the coordinate conversion module, and data is loaded to a map through the map loading module, so that the agricultural robot does not need to perform SLAM scanning planning when obtaining the map, and the agricultural robot is more convenient and faster to use. And the device can be directly used.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robot path position control, in particular to an agricultural robot path position control system. Background Art

[0002] Agricultural robots are automated equipment used in the agricultural field, designed to improve agricultural production efficiency, reduce labor costs and improve the quality of agricultural products. With the continuous development of intelligence, agricultural robots tend to be automated, and through settings, agricultural robots can automatically walk in the fields.

[0003] According to an agricultural robot path position control system disclosed on the patent website (application number: 202311006658.9), through the SLAM algorithm and the global positioning module, the agricultural robot position information collected by the position and distance acquisition unit is received, and the environmental mapping unit of the farmland environment is automatically established according to the collected agricultural robot position information, and the position information unit of the agricultural robot position is received. The position information of the distance between the agricultural robot and the target collected by the position and distance acquisition unit and the position of the agricultural robot is determined, and the agricultural robot path prediction equation is established through the SLAM algorithm and global positioning to predict the distance and path traveled by the agricultural robot at the next moment. However, in actual use, due to the large area of ​​the farmland, the farmland map established through SLAM is not suitable for practical applications. At the same time, when there are crops in the farmland, it is easy to damage the crops to obtain the farmland map in this way. Therefore, it is necessary to invent an agricultural robot path position control system to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide an agricultural robot path position control system to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a path position control system for an agricultural robot, comprising a map loading unit, a path planning unit, an information collection unit, a path position control unit, and a central processing unit, wherein the map loading unit is connected to the central processing unit by signal, the path planning unit is connected to the central processing unit by signal, the information collection unit is connected to the central processing unit by signal, the path position control unit is connected to the central processing unit by signal, the output end of the map loading unit is connected to the path planning unit by signal, and the information collection unit is connected to the path position control unit by signal.

[0006] The map loading unit comprises a position reading module, a database connection module and an area selection module. The output end of the position reading module is signal-connected to the database connection module, and the output end of the database connection module is signal-connected to the area selection module.

[0007] The path planning unit includes a map conversion module, a path planning module, a coordinate conversion module, and a map loading module. The output end of the map conversion module is connected to the path planning module signal, the output end of the path planning module is connected to the coordinate conversion module signal, and the output end of the coordinate conversion module is connected to the map loading module signal.

[0008] The information collection unit includes an information collection module, a crop identification module, a data analysis module, and a data feedback module. The output end of the information collection module is signal-connected to the crop identification module, the output end of the crop identification module is signal-connected to the data analysis module, and the output end of the data analysis module is signal-connected to the data feedback module.

[0009] The path position control unit includes a data receiving module, a walking control module, an automatic obstacle avoidance module, a path recording module, and a data uploading module. The output end of the data receiving module is connected to the walking control module signal, the output end of the walking control module is connected to the automatic obstacle avoidance module signal, the output end of the automatic obstacle avoidance module is connected to the path recording module signal, and the output end of the path recording module is connected to the data uploading module signal.

[0010] Preferably, the position reading module is used to obtain the latitude and longitude information of the current position of the agricultural robot, the database connection module is used to connect to the Beidou satellite database map, and the area selection module is used to select the farmland area of ​​the current position of the agricultural robot.

[0011] Preferably, the map conversion module is used to convert the longitude and latitude information of the Beidou satellite map into a local Cartesian coordinate system, the path planning module is used to plan the walking path of the agricultural robot for the map position, the coordinate conversion module is used to convert the planning algorithm results into a longitude and latitude coordinate system, and the map loading module is used to load the planning data results on the map.

[0012] Preferably, the map conversion module uses Python to parse kml files, and the map loading module writes the planning data into the .kml file according to the kml file format.

[0013] Preferably, the information collection module is used to collect information about crops in the farmland and information about obstacles ahead of the agricultural robot during its movement; the crop identification module is used to identify and determine the growth status of the crops; the data analysis module is used to analyze the identified data to determine whether the crops are to be harvested and to analyze obstacles encountered by the agricultural robot during its movement; and the data feedback module is used to feed back the analysis results to the central processing unit.

[0014] Preferably, the input end signal of the information acquisition module is connected to a high-definition camera and an infrared laser radar.

[0015] Preferably, the data receiving module is used to receive collected data information, the walking control module is used to control the agricultural robot to walk according to the received data information, the automatic obstacle avoidance module is used to actively avoid obstacles when encountering obstacles, the path recording module is used to record the walking path of the farmland in the current area, and the data uploading module is used to record the path data into a database.

[0016] Preferably, the path planning module samples a quadratic planning algorithm,

[0017] Assume that the path point contains n variables x = x1, x2, x3, ..., x n-1 , x n A quadratic homogeneous function of :

[0018]

[0019] Take a ij =a ji , then we have 2a ij x i x j =a ij x i x+a ji x j x i , the above formula can be expressed as:

[0020]

[0021] The matrix is ​​represented as:

[0022] f = x T Ax.

[0024] Preferably, the output end signal of the walking control module is connected to a speed adjustment element and a direction adjustment element.

[0025] Preferably, the output end signal of the data upload module is connected to a cloud database.

[0026] Compared with the prior art, the present invention provides an agricultural robot path position control system, which has the following beneficial effects:

[0027] 1. The agricultural robot path position control system obtains the current position of the agricultural robot through the position reading module, and then connects it to the Beidou satellite database through the database connection module, retrieves the map of the current position, and then selects the farmland map outline of the current position through the area selection module, and converts the longitude and latitude information of the Beidou satellite map into a local Cartesian coordinate system through the map conversion module, and then plans the path through the path planning module. After the planning is completed, the path information is converted into a longitude and latitude coordinate system through the coordinate conversion module, and the data is loaded onto the map through the map loading module, so that the agricultural robot does not need to perform SLAM scanning planning when obtaining the map, making it more convenient and can be used directly.

[0028] 2. The agricultural robot path position control system collects information about crops in the farmland and information about obstacles ahead of the agricultural robot during its movement through the information collection module, identifies and determines the growth status of crops through the crop recognition module, analyzes the collected data information through the data analysis module, determines whether the crops are to be harvested, and analyzes obstacles when the agricultural robot is moving, and feeds back the data to the central processor through the data feedback module, thereby enabling the agricultural robot to adjust its path in real time according to the actual situation in the farmland during its movement.

[0029] 3. The agricultural robot path position control system receives the collected data through the data receiving module, and controls the agricultural robot to walk through the received collected data and the map path planning data, and avoids obstacles when encountering obstacles through the automatic obstacle avoidance module. After use, the walking path of the farmland in the current area is recorded through the path recording module, and the data is uploaded to the database through the data uploading module, thereby facilitating subsequent use in the area. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0031] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the map loading unit system of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the path planning unit system of the present invention;

[0034] Figure 4 This is a schematic diagram of the information acquisition unit system structure of the present invention;

[0035] Figure 5 It is a schematic diagram of the system structure of the path position control unit of the present invention.

[0036] In the figure: 1. Map loading unit; 11. Position reading module; 12. Database connection module; 13. Area selection module; 2. Path planning unit; 21. Map conversion module; 22. Path planning module; 23. Coordinate conversion module; 24. Map loading module; 3. Information collection unit; 31. Information collection module; 32. Crop recognition module; 33. Data analysis module; 34. Data feedback module; 4. Path position control unit; 41. Data receiving module; 42. Walking control module; 43. Automatic obstacle avoidance module; 44. Path recording module; 45. Data upload module; 5. Central processing unit. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] See also Figure 1-5 The present invention provides a technical solution: a path position control system for an agricultural robot, comprising a map loading unit 1, a path planning unit 2, an information collection unit 3, a path position control unit 4, and a central processing unit 5. The map loading unit 1 is connected to the central processing unit 5 by signal, the path planning unit 2 is connected to the central processing unit 5 by signal, the information collection unit 3 is connected to the central processing unit 5 by signal, the path position control unit 4 is connected to the central processing unit 5 by signal, the output end of the map loading unit 1 is connected to the path planning unit 2 by signal, and the information collection unit 3 is connected to the path position control unit 4 by signal.

[0040] The map loading unit 1 comprises a position reading module 11 , a database connection module 12 , and an area selection module 13 . The output end of the position reading module 11 is connected to the database connection module 12 by signals, and the output end of the database connection module 12 is connected to the area selection module 13 by signals.

[0041] The path planning unit 2 includes a map conversion module 21, a path planning module 22, a coordinate conversion module 23, and a map loading module 24. The output end of the map conversion module 21 is signal-connected to the path planning module 22, the output end of the path planning module 22 is signal-connected to the coordinate conversion module 23, and the output end of the coordinate conversion module 23 is signal-connected to the map loading module 24.

[0042] The information collection unit 3 includes an information collection module 31, a crop identification module 32, a data analysis module 33, and a data feedback module 34. The output end of the information collection module 31 is signal-connected to the crop identification module 32, the output end of the crop identification module 32 is signal-connected to the data analysis module 33, and the output end of the data analysis module 33 is signal-connected to the data feedback module 34.

[0043] The path position control unit 4 includes a data receiving module 41, a walking control module 42, an automatic obstacle avoidance module 43, a path recording module 44, and a data uploading module 45. The output end of the data receiving module 41 is signal-connected to the walking control module 42, the output end of the walking control module 42 is signal-connected to the automatic obstacle avoidance module 43, the output end of the automatic obstacle avoidance module 43 is signal-connected to the path recording module 44, and the output end of the path recording module 44 is signal-connected to the data uploading module 45.

[0044] Furthermore, the position reading module 11 is used to obtain the latitude and longitude information of the current position of the agricultural robot, the database connection module 12 is used to connect to the Beidou satellite database map, and the area selection module 13 is used to select the farmland area of ​​the current position of the agricultural robot.

[0045] Furthermore, the map conversion module 21 is used to convert the longitude and latitude information of the Beidou satellite map into a local Cartesian coordinate system, the path planning module 22 is used to plan the walking path of the agricultural robot for the map position, the coordinate conversion module 23 is used to convert the planning algorithm results into a longitude and latitude coordinate system, and the map loading module 24 is used to load the planning data results on the map.

[0046] Furthermore, the map conversion module 21 uses Python to decode the kml file, and the loading map module 24 writes the planning data into the .kml file according to the kml file format.

[0047] Furthermore, the information collection module 31 is used to collect information about crops in the farmland and information about obstacles ahead of the agricultural robot during its movement. The crop recognition module 32 is used to identify and determine the growth status of the crops. The data analysis module 33 is used to analyze the identified data to determine whether the crops are to be harvested, and to analyze obstacles encountered by the agricultural robot during its movement. The data feedback module 34 is used to feed back the analysis results to the central processor 5.

[0048] Furthermore, the input signal of the information collection module 31 is connected to a high-definition camera and an infrared laser radar.

[0049] Furthermore, the data receiving module 41 is used to receive the collected data information, the walking control module 42 is used to control the agricultural robot to walk according to the received data information, the automatic obstacle avoidance module 43 is used to actively avoid obstacles when encountering obstacles, the path recording module 44 is used to record the walking path of the farmland in the current area, and the data uploading module 45 is used to record the path data into the database.

[0050] Furthermore, the path planning module 22 samples a quadratic planning algorithm.

[0051] Assume that the path point contains n variables x = x1, x2, x3, ..., x n-1 , x n A quadratic homogeneous function of :

[0052]

[0053] Take a ij =a ji , then we have 2a ij x i x j =a ij x i x+a ji x j x i , the above formula can be expressed as:

[0054]

[0055] The matrix is ​​represented as:

[0056] f = x T Ax.

[0058] Furthermore, the output terminal signal of the walking control module 42 is connected to a speed adjustment element and a direction adjustment element.

[0059] Furthermore, the output signal of the data upload module 45 is connected to a cloud database.

[0060] In actual operation, when this device is used, the current position of the agricultural robot is first acquired through the position reading module 11, and then the robot is connected to the Beidou satellite database through the database connection module 12, and the map of the current position is retrieved, and then the contour of the farmland map of the current position is selected through the area selection module 13, and the longitude and latitude information of the Beidou satellite map acquired is converted into a local Cartesian coordinate system through the map conversion module 21, and then the path is planned through the path planning module 22. After the planning is completed, the path information is converted into a longitude and latitude coordinate system through the coordinate conversion module 23, and the data is loaded onto the map through the map loading module 24;

[0061] The information of crops in the farmland and the information of obstacles ahead of the agricultural robot during its movement are collected through the information collection module 31, and the growth status of the crops is identified and judged through the crop recognition module 32. The collected data information is analyzed through the data analysis module 33 to determine whether the crops are to be harvested, and the obstacles encountered by the agricultural robot during its movement are analyzed. At the same time, the data is fed back to the central processor 5 through the data feedback module 34;

[0062] The collected data is received by the data receiving module 41, and the walking control module 42 controls the agricultural robot to walk through the received collected data and the map path planning data, and the automatic obstacle avoidance module 43 avoids obstacles when encountering obstacles. After use, the walking path of the farmland in the current area is recorded through the path recording module 44, and the data is uploaded to the database through the data uploading module 45, so as to facilitate subsequent use in the area.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. An agricultural robot path position control system, comprising a map loading unit (1), a path planning unit (2), an information collection unit (3), a path position control unit (4), and a central processing unit (5), characterized in that: The map loading unit (1) is connected to the central processing unit (5) by signal, the path planning unit (2) is connected to the central processing unit (5) by signal, the information collection unit (3) is connected to the central processing unit (5) by signal, the path position control unit (4) is connected to the central processing unit (5) by signal, the output end of the map loading unit (1) is connected to the path planning unit (2) by signal, and the information collection unit (3) is connected to the path position control unit (4) by signal; The map loading unit (1) comprises a position reading module (11), a database connection module (12), and an area selection module (13); the output end of the position reading module (11) is signal-connected to the database connection module (12), and the output end of the database connection module (12) is signal-connected to the area selection module (13); The path planning unit (2) comprises a map conversion module (21), a path planning module (22), a coordinate conversion module (23), and a map loading module (24); the output end of the map conversion module (21) is signal-connected to the path planning module (22); the output end of the path planning module (22) is signal-connected to the coordinate conversion module (23); and the output end of the coordinate conversion module (23) is signal-connected to the map loading module (24); The information collection unit (3) comprises an information collection module (31), a crop identification module (32), a data analysis module (33), and a data feedback module (34); the output end of the information collection module (31) is signal-connected to the crop identification module (32), the output end of the crop identification module (32) is signal-connected to the data analysis module (33), and the output end of the data analysis module (33) is signal-connected to the data feedback module (34); The path position control unit (4) comprises a data receiving module (41), a walking control module (42), an automatic obstacle avoidance module (43), a path recording module (44), and a data uploading module (45); the output end of the data receiving module (41) is signal-connected to the walking control module (42); the output end of the walking control module (42) is signal-connected to the automatic obstacle avoidance module (43); the output end of the automatic obstacle avoidance module (43) is signal-connected to the path recording module (44); and the output end of the path recording module (44) is signal-connected to the data uploading module (45).

2. The agricultural robot path position control system according to claim 1, characterized in that: The position reading module (11) is used to obtain the longitude and latitude information of the current position of the agricultural robot, the database connection module (12) is used to connect to the Beidou satellite database map, and the area selection module (13) is used to select the farmland area of ​​the current position of the agricultural robot.

3. The agricultural robot path position control system according to claim 1, characterized in that: The map conversion module (21) is used to convert the longitude and latitude information of the Beidou satellite map into a local Cartesian coordinate system, the path planning module (22) is used to plan the walking path of the agricultural robot for the map position, the coordinate conversion module (23) is used to convert the planning algorithm result into a longitude and latitude coordinate system, and the map loading module (24) is used to load the planning data result on the map.

4. The agricultural robot path position control system according to claim 3, characterized in that: The map conversion module (21) uses Python to decode kml files, and the map loading module (24) writes the planning data into the .kml file according to the kml file format.

5. The agricultural robot path position control system according to claim 1, characterized in that: The information collection module (31) is used to collect information about crops in the farmland and information about obstacles ahead of the agricultural robot during its movement; the crop recognition module (32) is used to recognize and determine the growth status of the crops; the data analysis module (33) is used to analyze the recognized data to determine whether the crops are to be harvested and to analyze obstacles encountered by the agricultural robot during its movement; and the data feedback module (34) is used to feed back the analysis results to the central processor (5).

6. The agricultural robot path position control system according to claim 5, characterized in that: The input end signal of the information acquisition module (31) is connected to a high-definition camera and an infrared laser radar.

7. The agricultural robot path position control system according to claim 1, characterized in that: The data receiving module (41) is used to receive collected data information, the walking control module (42) is used to control the agricultural robot to walk according to the received data information, the automatic obstacle avoidance module (43) is used to actively avoid obstacles when encountering obstacles, the path recording module (44) is used to record the walking path of the farmland in the current area, and the data uploading module (45) is used to record the path data in a database.

8. The agricultural robot path position control system according to claim 3, characterized in that: The path planning module (22) samples a quadratic planning algorithm, Assume that the path point contains n variables x = x1, x2, x3, ..., x n-1 , x n A quadratic homogeneous function of : Take a ij =a ji , then we have 2a ij x i x j =a ij x i x+a ji x j x i , the above formula can be expressed as: The matrix is ​​represented as: f=x T Ax。 9. The agricultural robot path position control system according to claim 7, characterized in that: The output end signal of the walking control module (42) is connected to a speed adjustment element and a direction adjustment element.

10. The agricultural robot path position control system according to claim 7, characterized in that: The output end signal of the data uploading module (45) is connected to a cloud database.

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