Agricultural quadruped robot based on PC and WIFI network

Abstract

The invention relates to an agricultural quadruped robot based on a PC and a WIFI network. The agricultural quadruped robot comprises a walking main body; the cloud server is connected with the walking main body through a wireless network and sends a motion control instruction to the walking main body; the cloud brain can perform data interaction with the cloud server and can send a motion control instruction to the walking main body; wherein the walking main body comprises a hardware module used for driving the walking main body to move, a map building module used for obtaining surrounding environment information, an autonomous navigation and path planning module and an information acquisition module used for acquiring farmland environment data. According to the agricultural quadruped robot, the advancing path and the operation mode can be flexibly adjusted according to the actual situation of a farmland, the adaptability problem of a traditional agricultural robot in different terrains and operation environments can be effectively solved, and the efficiency and quality of agricultural production are improved.

Description

Technical Field

[0001] The present application relates to the field of smart agricultural technology, and in particular to an agricultural quadruped robot based on PC and WIFI network. Background Art

[0002] With the continuous growth of the global population and the increasing demand for agricultural production, the application of agricultural robots has become an important trend in the development of modern agriculture. Traditional agricultural production methods have problems such as high labor costs, low efficiency, and waste of resources. Agricultural robots can help farmers improve production efficiency, reduce production costs, reduce labor intensity, and improve the quality and benefits of agricultural production. Therefore, the development and promotion of agricultural robots is of great significance, which can promote the modernization and intelligence of agricultural production, improve the efficiency and quality of agricultural production, and provide farmers with better production conditions and quality of life.

[0003] At present, agricultural quadruped robots are increasingly used in the agricultural field. However, agricultural quadruped robots still have many limitations when dealing with my country's complex agricultural environment. For example, they cannot better adapt to complex terrain and working environment, resulting in low work efficiency. Summary of the invention

[0004] The purpose of this application is to provide an agricultural quadruped robot based on PC and WIFI network, which can flexibly adjust the travel path and operation mode according to the actual situation of the farmland, effectively solve the adaptability problems of traditional agricultural robots in different terrains and working environments, and improve the efficiency and quality of agricultural production.

[0005] The agricultural quadruped robot based on PC and WIFI network provided in this application adopts the following technical solutions:

[0006] An agricultural quadruped robot based on PC and WIFI network, the device comprises:

[0007] Walking subject;

[0008] A cloud server is connected to the walking subject via a wireless network and sends motion control instructions to the walking subject; and

[0009] The cloud brain can exchange data with the cloud server and issue motion control instructions to the walking subject;

[0010] Among them, the walking body includes a hardware module for driving the walking body to move, a map construction module for obtaining surrounding environment information, an autonomous navigation and path planning module, and an information collection module for collecting farmland environment data.

[0011] As a preferred technical solution of the present application, the hardware module includes a robot dog, a lower protective component installed on the feet of the robot dog, and an upper protective component installed on the back of the robot dog. The lower protective component is used to support the feet of the robot dog, and the upper protective component is used to protect the robot dog from the top of the robot dog.

[0012] As a preferred technical solution of the present application, the lower protective assembly includes a fixed ring fixedly mounted on the limbs and feet of the robot dog, a movable ring movably mounted on the limbs and feet of the robot dog, and an elastic buffer connected between the fixed ring and the movable ring, and the fixed ring is arranged above the movable ring.

[0013] As a preferred technical solution of the present application, the upper protective assembly includes an umbrella handle fixedly connected to the back of the robot dog, an umbrella cover connected to the umbrella handle, a magnetic umbrella-supporting ring slidably connected to the umbrella handle, and a variable electromagnetic ring fixedly connected to the lower end of the umbrella handle, and the magnetic umbrella-supporting ring opens the umbrella cover by rising.

[0014] As a preferred technical solution of the present application, the robot dog includes a sensor module, a control module, a drive module and a power module.

[0015] As a preferred technical solution of the present application, the map construction module includes a laser radar and a visual sensor installed on the robot dog. The laser radar or the visual sensor is used to obtain environmental information in real time, and a detailed map is constructed in combination with the SLAM algorithm.

[0016] As a preferred technical solution of the present application, the autonomous navigation and path planning module is installed on the robot dog, including two parts: positioning and path planning. The AMCL algorithm is used and a particle filter is adopted to track the position of the robot dog in a known map, thereby obtaining the positioning of the robot dog in the known map.

[0017] As a preferred technical solution of the present application, path planning includes global planning and local planning. The global planning adopts the A* global path planner, and the local planning adopts the TEB local path planner.

[0018] As a preferred technical solution of the present application, the information collection module includes an information collection sensor and a OneNet platform. The information collection sensor includes a temperature and humidity sensor, a light sensor, and a carbon dioxide concentration sensor. The information collection sensor collects environmental data of the farmland and transmits the data to OneNet for analysis.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] 1. The agricultural quadruped robot of this application is more intelligent and autonomous, and has stronger perception, decision-making and execution capabilities. Through the application of technologies such as deep learning and artificial intelligence, the robot can better adapt to different farmland environments and operational requirements, and achieve more efficient agricultural production.

[0021] 2. Agricultural quadruped robots will have more functions and application scenarios, and can complete a variety of tasks such as weeding, fertilizing, irrigation, and picking. At the same time, the various modules of the robot can be flexibly combined to achieve rapid customization and adapt to different agricultural production needs.

[0022] 3. Agricultural quadruped robots will pay more attention to data collection, analysis and utilization, and realize data-driven intelligent decision-making through big data and cloud computing technology. Robots can analyze real-time and historical data to provide farmers with more scientific agricultural management suggestions.

[0023] 4. Agricultural quadruped robots will collaborate more with humans to realize a human-machine symbiotic agricultural production model. At the same time, the service-oriented agricultural robots will be further developed to provide farmers with more comprehensive agricultural services and help them improve production efficiency and economic benefits.

[0024] 5. Agricultural quadruped robots will pay more attention to ecological environment protection and sustainable development. The design of robots will pay more attention to energy conservation and emission reduction, resource utilization efficiency and environmental friendliness, providing more sustainable solutions for agricultural production.

[0025] 6. Agricultural quadruped robots can adapt to different terrains and environments, including mountainous areas, hills, terraces and other special terrains, opening up areas that are difficult for traditional agriculture to enter.

[0026] 7. Agricultural quadruped robots can collect information such as field temperature, humidity, light, and carbon dioxide. By collecting environmental data such as field temperature, humidity, light, and carbon dioxide, agricultural quadruped robots can help farmers achieve precision agricultural management, adjust agricultural production measures such as irrigation and fertilization according to the needs of different plots and crops, and improve crop yields and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a connection relationship diagram between the walking subject and the remote control system in the embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of the structure of the hardware module in the embodiment of the present application;

[0029] Figure 3 is a schematic diagram of the structure of the robot dog in the embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the principle of path planning in an embodiment of the present application;

[0031] In the figure, 1. robot dog; 2. lower protection assembly; 21. fixed ring; 22. movable ring; 23. elastic buffer; 3. upper protection assembly; 31. umbrella handle; 32. umbrella cover; 33. magnetic umbrella support ring; 34. variable electromagnetic ring. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1 -Attached Figure 4 , further details of this application are given.

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] Embodiment: This application proposes an agricultural quadruped robot based on PC and WIFI network, referring to Figure 1 The device includes a walking body for performing construction operations on a farm site and a remote control system for remotely controlling the walking body.

[0035] The walking body includes a hardware module, a map construction module, an autonomous navigation and path planning module, and an information collection module. The hardware module is a mechanical motion structure used to drive the walking body to move. The map construction module is used to obtain environmental information around the robot's position. The autonomous navigation and path planning are used to plan the robot's walking path and autonomous navigation. The information collection module is used to collect environmental data of the farmland. A high-definition camera is installed on the walking body to shoot high-definition video.

[0036] The remote control system is installed on the PC and connected to the walking body through the WIFI network. The remote control system includes a cloud server and a cloud brain. The cloud server is connected to the walking body through a wireless network. The walking body transmits high-definition video to the cloud server. The cloud server realizes diversified video display based on video information, analyzes and processes abnormal situations, realizes human-machine collaboration, and issues motion control instructions to the walking body.

[0037] The cloud brain can interact with the cloud server to store and process the data information collected by the walking subject, conduct autonomous learning through the acquired data, accurately locate the location of the walking subject, and the cloud brain can also issue motion control instructions to the walking subject.

[0038] In order to realize the information exchange between the walking body of the agricultural robot and the PC terminal, this embodiment adopts the TCP / IP protocol as the network communication protocol. The TCP / IP protocol defines the connection of the device to the network in detail, formulates the rules for data transmission between each network layer, and can link multiple operating systems to ensure accurate and fast network transmission.

[0039] Reference Figure 2 The hardware module includes a robot dog 1, a lower protection component 2 and an upper protection component 3. The robot dog 1 adopts a common four-legged robot dog. The lower protection component 2 is installed at the feet of the robot dog 1. The lower protection component 2 supports and protects the robot dog 1 to prevent the robot dog 1 from stepping into the muddy land and sinking into it, thereby increasing the contact surface between the limbs and the soil layer; the upper protection component 3 is installed on the back of the robot dog 1 and adopts an umbrella structure that can be opened to reduce the impact of rain, snow or sprinkler irrigation on the circuits and circuit boards in the robot dog 1.

[0040] The lower protection assembly 2 includes a fixed ring 21, a movable ring 22 and an elastic buffer 23. The fixed ring 21 is a circular ring, which is fixedly set at the position of 10 cm from the toes of the robot dog 1's limbs. The movable ring 22 is also set as a circular ring, which is movably set at the feet of the robot dog 1's limbs, and the movable ring 22 is located below the fixed ring 21. The elastic buffer 23 uses four springs, which are evenly distributed and connected between the fixed ring 21 and the movable ring 22. When the robot dog 1 sinks into the mud, the toes sink deeply and contact the muddy surface through the movable ring 22 to prevent the limbs from sinking too deep and being unable to extricate themselves or falling. The elastic buffer 23 helps the robot dog 1 to pull out its limbs.

[0041] The upper protection component 3 includes an umbrella handle 31, an umbrella surface 32, a magnetic umbrella support ring 33 and a variable electromagnetic ring 34. The umbrella handle 31 is fixedly connected to the back of the robot dog 1. The inner circle of the umbrella surface 32 is connected to the upper end of the umbrella handle 31. The umbrella surface 32 is connected to the magnetic umbrella support ring 33 through the umbrella ribs. The magnetic umbrella support ring 33 can slide on the umbrella handle 31. The variable electromagnetic ring 34 is fixedly connected to the lower end of the umbrella handle 31. The positive and negative poles of the upper and lower sides of the variable electromagnetic ring 34 can be changed. When the variable electromagnetic ring 34 and the magnetic umbrella support ring 33 are opposite in polarity, the variable electromagnetic ring 34 and the magnetic umbrella support ring 33 are mutually attracted, and the umbrella surface 32 is folded. When it is necessary to open the umbrella surface 32, by changing the positive and negative poles of the variable electromagnetic ring 34, the variable electromagnetic ring 34 and the magnetic umbrella support ring 33 are repelled by the same poles, and the magnetic umbrella support ring 33 rises along the umbrella handle 31 to open the umbrella surface 32.

[0042] Reference Figure 3The robot dog 1 includes a sensor module, a control module, a drive module and a power module. The sensor module includes an encoder, an IMU and a Lidar optical radar, the controller module includes a Raspberry Pi microcomputer and an industrial computer, and the drive module includes a motor driver and a servo motor. The power module uses a lithium battery to drive the servo motor through the motor driver. The power module also supplies power to the Raspberry Pi microcomputer and the industrial computer. Data can be exchanged between the Raspberry Pi microcomputer and the industrial computer. The encoder is connected to the Raspberry Pi microcomputer through a line, and the IMU and Lidar optical radar are connected to the industrial computer.

[0043] The map construction module includes a laser radar and a visual sensor installed on the robot dog 1. The laser radar or the visual sensor can obtain environmental information in real time, and a detailed map can be constructed in combination with the SLAM algorithm. The SLAM algorithm can help the quadruped robot obtain its own position information in real time, and combine it with map construction to achieve high-precision positioning. The quadruped robot can continuously update map information, including the structure of the environment, the location of obstacles, etc. Based on the constructed map, the quadruped robot can perform effective path planning and select the optimal path. It can help the robot avoid obstacles and optimize the route, thereby improving movement efficiency and safety. The map constructed by the SLAM algorithm can not only help the quadruped robot to locate and navigate, but also provide it with environmental perception capabilities. The robot can identify objects, structures and features in the environment based on the map information, further improving its understanding and response capabilities to the environment.

[0044] Reference Figure 4 The autonomous navigation and path planning module is installed on the robot dog, including positioning and path planning. The AMCL algorithm is used for autonomous positioning. The AMCL algorithm is an adaptive Monte Carlo positioning algorithm based on multiple Monte Carlo fusion algorithms. It is used for the probabilistic positioning of the robot in two-dimensional space. The AMCL algorithm uses a particle filter to track the position of the robot in a known map, thereby obtaining the positioning of the robot dog in a known map. The AMCL algorithm can estimate the position of the robot in real time during its movement and provide high positioning accuracy. At the same time, it can adapt to different types of environments and terrains, including indoor, outdoor, and complex environments, so that the quadruped robot can achieve reliable positioning in various scenarios. The use of the AMCL algorithm for autonomous positioning enables the quadruped robot to have higher autonomous performance, without relying on external positioning systems or pre-built maps, thereby enhancing its adaptability and exploration capabilities in unknown environments.

[0045] Path planning includes global planning and local planning. The global planning uses the A* global path planner, and the local planning uses the TEB local path planner. Before navigation, the robot first needs to locate its own position, and then perform global path planning through the topological map established by SLAM for the robot. After the global path planner plans the global path, in order to make the robot follow the planned global path as much as possible and avoid colliding with sudden obstacles on the route, the local path planner will plan a local path based on the scanning information of the laser radar, and then continuously send the speed to the chassis controller according to the local path to complete navigation.

[0046] The information collection module includes information collection sensors and the OneNet platform. Information collection sensors include but are not limited to temperature and humidity sensors, light sensors, and carbon dioxide concentration sensors. Information collection sensors collect environmental data of farmland and transmit these data to OneNet for analysis. Connect the sensor to the Raspberry Pi microcomputer, write a python program to collect sensor information, configure the OneNet platform, write a python program to upload data to OneNet, use the http protocol to access the device on Benetton, and display the collected data on the OneNet platform for data analysis.

[0047] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An agricultural quadruped robot based on PC and WIFI network, characterized in that: The device includes: Walking subject; A cloud server is connected to the walking subject via a wireless network and sends motion control instructions to the walking subject; and The cloud brain can exchange data with the cloud server and issue motion control instructions to the walking subject; Among them, the walking body includes a hardware module for driving the walking body to move, a map construction module for obtaining surrounding environment information, an autonomous navigation and path planning module, and an information collection module for collecting farmland environment data.

2. The agricultural quadruped robot based on PC and WIFI network according to claim 1, characterized in that: The hardware module comprises a robot dog (1), a lower protective component (2) installed on the foot of the robot dog (1), and an upper protective component (3) installed on the back of the robot dog (1), wherein the lower protective component (2) is used to support the foot of the robot dog (1), and the upper protective component (3) is used to protect the robot dog (1) from the top of the robot dog (1).

3. The agricultural quadruped robot based on PC and WIFI network according to claim 2, characterized in that: The lower protection component (2) comprises a fixed ring (21) fixedly mounted on the limbs and feet of the robot dog (1), a movable ring (22) movably mounted on the limbs and feet of the robot dog (1), and an elastic buffer (23) connected between the fixed ring (21) and the movable ring (22), wherein the fixed ring (21) is arranged above the movable ring (22).

4. The agricultural quadruped robot based on PC and WIFI network according to claim 2, characterized in that: The upper protection component (3) comprises an umbrella handle (31) fixedly connected to the back of the robot dog (1), an umbrella cover (32) connected to the umbrella handle (31), a magnetic umbrella support ring (33) slidably connected to the umbrella handle (31), and a variable electromagnetic ring (34) fixedly connected to the lower end of the umbrella handle (31); the magnetic umbrella support ring (33) opens the umbrella cover (32) by rising.

5. The agricultural quadruped robot based on PC and WIFI network according to claim 2, characterized in that: The robot dog (1) comprises a sensor module, a control module, a drive module and a power module.

6. An agricultural quadruped robot based on PC and WIFI network according to any one of claims 1 to 5, characterized in that: The map construction module comprises a laser radar and a visual sensor installed on the robot dog (1), and acquires environmental information in real time through the laser radar or the visual sensor, and constructs a detailed map in combination with the SLAM algorithm.

7. An agricultural quadruped robot based on PC and WIFI network according to any one of claims 1 to 5, characterized in that: The autonomous navigation and path planning module is installed on the robot dog (1), and includes two parts: positioning and path planning. The AMCL algorithm is used, and a particle filter is used to track the position and posture of the robot dog (1) in a known map, thereby obtaining the positioning of the robot dog (1) in the known map.

8. The agricultural quadruped robot based on PC and WIFI network according to claim 7, characterized in that: Path planning includes global planning and local planning. The global planning adopts A* global path planner, and the local planning adopts TEB local path planner.

9. An agricultural quadruped robot based on PC and WIFI network according to any one of claims 1 to 4, characterized in that: The information collection module includes information collection sensors and the OneNet platform. The information collection sensors include temperature and humidity sensors, light sensors, and carbon dioxide concentration sensors. The information collection sensors collect environmental data of farmland and transmit the data to OneNet for analysis.

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