Night vision navigation system of agricultural robot

Abstract

The invention relates to the technical field of agricultural robots, and discloses a night vision navigation system of an agricultural robot, which comprises a processor and a night vision navigation system unit, the processor is in signal connection with the night vision navigation system unit, and the processor is also in signal connection with a lithium battery power supply module, a robot driving module and an anti-collision early warning system. According to the invention, through a night vision navigation system unit, under bimodal communication, namely a mobile station wireless data transmission radio station and a base station wireless data transmission radio station, a Beidou navigation base station is used for acquiring Beidou navigation positioning data; and the Beidou navigation mobile station is used for acquiring real-time positioning data of the robot, performing real-time differential operation on the acquired positioning data and the positioning data acquired by the Beidou navigation base station, acquiring three-dimensional coordinates of the robot, and constructing a global map, so that stable signal transmission in a complex environment is ensured, and the accuracy and reliability of navigation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and in particular to a night vision navigation system for an agricultural robot. Background Art

[0002] Agricultural robots are specialized robots used in agricultural production and represent a new type of multifunctional agricultural machine. Their emergence is a result of the development of modern agricultural machinery and a product of the advancement of robotics and automation technologies. The emergence and application of agricultural robots has transformed traditional agricultural labor and promoted the development of modern agriculture.

[0003] Most existing agricultural robots use lidar for navigation and positioning in simulated environments. However, real agricultural production mainly takes place outdoors in complex and changing environments. However, the positioning accuracy of lidar is greatly reduced due to interference from light and terrain outdoors. When robots work in agricultural environments, a single navigation method often cannot meet the navigation accuracy requirements of the task due to its own limitations, which easily leads to low positioning accuracy and poor robot flexibility.

[0004] To this end, we need to provide a night vision navigation system for agricultural robots. Summary of the Invention

[0005] The purpose of the present invention is to provide a night vision navigation system for an agricultural robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a night vision navigation system for an agricultural robot, comprising a processor and a night vision navigation system unit, wherein the processor is signal-connected to the night vision navigation system unit, and the processor is also signal-connected to a lithium battery power supply module, a robot drive module, and an anti-collision warning system, and an electrically connected disconnection module is provided between the robot drive module and the processor; the night vision navigation system unit is electrically connected to an operation interface end, i.e., a terminal display screen, through a communication network; the night vision navigation system unit includes an image acquisition and storage unit, an image display unit, and a Beidou navigation unit, and the image display unit is signal-connected to the Beidou navigation unit.

[0007] Preferably, the communication network includes an Ethernet module, a 4G / 5G module, a Wi-Fi module and a wireless Bluetooth module.

[0008] Preferably, the image acquisition and storage unit includes an image memory learning module, and the image memory learning module is electrically connected to the image display unit via an RS485 interface.

[0009] Preferably, the image acquisition and storage unit includes an environment recognition module, the environment recognition module signal is connected to a distributed image acquisition module, and the distributed image acquisition module signal is connected to a photoelectric analysis / conversion module. The specific operation is to convert the collected image signal into image information by the photoelectric analysis / conversion module and send it to the image display unit.

[0010] Preferably, the environment recognition module includes an infrared camera, an adaptive headlight module and a lidar module.

[0011] Preferably, the distributed image acquisition module includes a light sensor, a near-infrared sensor and a far-infrared sensor.

[0012] Preferably, the Beidou navigation unit includes a Beidou navigation reference station and a Beidou navigation mobile station, and the Beidou navigation reference station and the Beidou navigation mobile station are connected by signals via a communication module.

[0013] Preferably, the robot driving module includes a stroke positioning module, a rotation positioning module and a pitch positioning module, the stroke positioning module includes a stroke positioning calibration control module and a stroke encoder, the rotation positioning module includes a rotation positioning calibration control module and an angle encoder, and the pitch positioning module includes a pitch positioning calibration control module and a pitch encoder.

[0014] The present invention provides a night vision navigation system for an agricultural robot. It has the following beneficial effects: (1) The present invention uses a night vision navigation system unit in dual-mode communication, namely a mobile station wireless data transmission radio and a base station wireless data transmission radio, wherein the Beidou navigation base station is used to obtain Beidou navigation positioning data; the Beidou navigation mobile station is used to obtain the robot's real-time positioning data, and the obtained positioning data is subjected to real-time differential operation with the positioning data obtained by the Beidou navigation base station to obtain the robot's three-dimensional coordinates and construct a global map, thereby ensuring stable signal transmission in complex environments and improving the accuracy and reliability of navigation.

[0015] (2) The present invention uses an image memory learning module to learn and memorize the operating environment to achieve intelligent path optimization, thereby improving the overall working efficiency of the agricultural robot. Under the action of the image memory learning module, the agricultural robot can adapt to and optimize path planning in real time, significantly improving working efficiency. In addition, by combining with the high-precision positioning of the Beidou navigation unit, stable and reliable navigation performance can be maintained even at night or in adverse weather conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall framework structure of the night vision navigation system of the present invention; Figure 2 It is a view of the image acquisition storage unit of the present invention; Figure 3 This is a view of the robot drive module of the present invention. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0018] Examples of the embodiments 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, but are not to be construed as limiting the present invention.

[0019] A preferred embodiment of the night vision navigation system for an agricultural robot provided by the present invention is as follows: Figure 1-3 As shown: A night vision navigation system for an agricultural robot includes a processor and a night vision navigation system unit, wherein the processor is signal-connected to the night vision navigation system unit, and the processor is also signal-connected to a lithium battery power supply module, a robot drive module, and an anti-collision warning system, and an electrically connected disconnection module is provided between the robot drive module and the processor; the night vision navigation system unit is electrically connected to an operation interface end, i.e., a terminal display screen, through a communication network, wherein the communication network includes an Ethernet module, a 4G / 5G module, a Wi-Fi module, and a wireless Bluetooth module; the night vision navigation system unit includes an image acquisition and storage unit, an image display unit, and a Beidou navigation unit, wherein the image acquisition and storage unit includes an image memory learning module, and the image memory learning module is electrically connected to the image display unit through an RS485 interface, and the image display unit is signal-connected to the Beidou navigation unit; The lithium battery power supply module is used to provide power for the processor. The anti-collision warning system is set up to issue a corresponding warning to the operator through an algorithm when it detects pedestrians or environmental obstacles in front of the robot. If the operator does not respond, the system will feedback the signal through the processor to drive the robot drive module to automatically decelerate. In severe cases, it will drive the cut-off module to stop the robot drive module and trigger emergency braking, aiming to improve the safety of agricultural robots during night operations.

[0020] The robot drive module can adjust the operating speed and direction according to the processor's instructions to ensure operating efficiency and accuracy; the setting of the cut-off module allows the signal connection between the robot drive module and the processor to be quickly interrupted in an emergency, ensuring the safety of operators and equipment.

[0021] The night vision navigation system unit uses dual-mode communication, namely the mobile station wireless data transmission radio and the base station wireless data transmission radio. The Beidou navigation base station is used to obtain Beidou navigation positioning data; the Beidou navigation mobile station is used to obtain the robot's real-time positioning data, and the obtained positioning data is subjected to real-time differential calculation with the positioning data obtained by the Beidou navigation base station to obtain the robot's three-dimensional coordinates and build a global map, ensuring stable signal transmission in complex environments and improving the accuracy and reliability of navigation.

[0022] The Image Memory Learning Module learns and memorizes the operating environment to achieve intelligent path optimization, thereby improving the overall work efficiency of the agricultural robot. With the Image Memory Learning Module, the agricultural robot can adapt and optimize path planning in real time, significantly improving work efficiency. Furthermore, combined with the high-precision positioning of the Beidou navigation unit, it can maintain stable and reliable navigation performance even at night or in adverse weather conditions.

[0023] It is further obtained that the image acquisition and storage unit includes an environment recognition module, the environment recognition module signal is connected to the distributed image acquisition module, and the distributed image acquisition module signal is connected to the photoelectric analysis / conversion module. The specific operation is to convert the collected image signal into image information by the photoelectric analysis / conversion module and send it to the image display unit; Further research revealed that the environmental recognition module includes an infrared camera, an adaptive headlight module, and a lidar module. The infrared camera captures thermal images at night or in low-light environments, the adaptive headlight module automatically adjusts brightness based on ambient light to ensure clear images, and the lidar module precisely measures the distance and shape of obstacles by emitting laser pulses. These three components work together to significantly enhance the robot's perception of the operating environment, providing rich and accurate data support for the image memory learning module, making path optimization more intelligent and efficient.

[0024] Further findings indicate that the distributed image acquisition module includes light sensors, near-infrared sensors, and far-infrared sensors. These sensors work together to ensure high-quality image information is captured in a variety of lighting conditions, enhancing the robot's adaptability to diverse operating environments. The integration of these advanced technologies enables agricultural robots to maintain efficient operation at night and in inclement weather, significantly improving the automation and efficiency of agricultural production.

[0025] It is further obtained that the Beidou navigation unit includes a Beidou navigation base station and a Beidou navigation mobile station, and the Beidou navigation base station and the Beidou navigation mobile station are connected by signals through a communication module; The robot's drive module includes a travel positioning module, a rotation positioning module, and a pitch positioning module. The travel positioning module includes a travel positioning calibration control module and a travel encoder, the rotation positioning module includes a rotation positioning calibration control module and an angle encoder, and the pitch positioning module includes a pitch positioning calibration control module and a pitch encoder. The precise coordination of these modules enables the agricultural robot to achieve centimeter-level positioning accuracy in complex and changing farmland environments, ensuring operational precision. Furthermore, data fusion processing across each positioning module effectively reduces potential errors from a single signal source, enhancing the robot's stability and efficiency when performing tasks such as sowing, fertilizing, and harvesting.

[0026] When in use, the lithium battery power supply module is used to start the power supply, the processor runs, and the robot drive module runs. The robot drive module can adjust the operating speed and direction according to the instructions of the processor to ensure operating efficiency and accuracy. The robot starts to perform the task. At night, the infrared camera is responsible for capturing thermal images at night or in low-light environments. The specific operation is to convert the collected image signal into image information through the photoelectric analysis / conversion module and send it to the image display unit, which is finally displayed on the terminal display screen. The adaptive headlight module automatically adjusts the brightness according to the ambient light to ensure a clear image, and the lidar module accurately measures the distance and direction of obstacles by emitting laser pulses. shape. At the same time, the image memory learning module can learn and memorize the working environment to achieve intelligent optimization of the path, thereby improving the overall working efficiency of the agricultural robot. By combining with the high-precision positioning of the Beidou navigation unit, it can maintain stable and reliable navigation performance even at night or in severe weather conditions. When pedestrians or environmental obstacles are detected in front of the robot, the algorithm will issue a corresponding early warning to the operator. If the operator does not respond, the system will feedback the signal through the processor to drive the robot drive module to automatically slow down. In severe cases, it will drive the cut-off module to stop the robot drive module and trigger emergency braking to achieve the purpose of early warning and collision avoidance.

[0027] In summary, this system utilizes advanced infrared imaging technology and multi-sensor data fusion to effectively overcome the interference of low light levels and complex terrain on navigation at night. By collecting real-time environmental information, the system can accurately identify crop rows and obstacles, improving the robot's operating efficiency and path tracking accuracy at night. This enables all-weather agricultural production, reduces agricultural labor intensity, and enhances the level of agricultural automation. Furthermore, the system possesses self-learning and optimization capabilities, adapting its navigation strategy to varying operating environments, ensuring the stability and reliability of the agricultural robot's operations.

[0028] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A night vision navigation system for an agricultural robot, comprising a processor and a night vision navigation system unit, characterized in that: The processor is signal-connected to the night vision navigation system unit, and the processor is also signal-connected to a lithium battery power supply module, a robot drive module, and an anti-collision warning system. An electrically connected disconnection module is provided between the robot drive module and the processor; the night vision navigation system unit is electrically connected to an operation interface end, i.e., a terminal display screen, through a communication network; the night vision navigation system unit includes an image acquisition and storage unit, an image display unit, and a Beidou navigation unit, and the image display unit is signal-connected to the Beidou navigation unit.

2. The night vision navigation system for an agricultural robot according to claim 1, characterized in that: The communication network includes an Ethernet module, a 4G / 5G module, a Wi-Fi module and a wireless Bluetooth module.

3. The night vision navigation system for an agricultural robot according to claim 1, characterized in that: The image acquisition and storage unit includes an image memory learning module, and the image memory learning module is electrically connected to the image display unit via an RS485 interface.

4. The night vision navigation system for an agricultural robot according to claim 1, characterized in that: The image acquisition and storage unit includes an environment recognition module, the environment recognition module signal is connected to the distributed image acquisition module, and the distributed image acquisition module signal is connected to the photoelectric analysis / conversion module. The specific operation is to convert the collected image signal into image information by the photoelectric analysis / conversion module and send it to the image display unit.

5. The night vision navigation system for an agricultural robot according to claim 4, characterized in that: The environment recognition module includes an infrared camera, an adaptive headlight module and a laser radar module.

6. The night vision navigation system for an agricultural robot according to claim 4, characterized in that: The distributed image acquisition module includes a light sensor, a near infrared sensor and a far infrared sensor.

7. The night vision navigation system for an agricultural robot according to claim 1, characterized in that: The Beidou navigation unit includes a Beidou navigation reference station and a Beidou navigation mobile station, and the Beidou navigation reference station and the Beidou navigation mobile station are connected by signals via a communication module.

8. The night vision navigation system for an agricultural robot according to claim 1, characterized in that: The robot driving module includes a stroke positioning module, a rotation positioning module and a pitch positioning module. The stroke positioning module includes a stroke positioning calibration control module and a stroke encoder. The rotation positioning module includes a rotation positioning calibration control module and an angle encoder. The pitch positioning module includes a pitch positioning calibration control module and a pitch encoder.

Images