CN105388894A - Method and device for defining autonomous walking trajectory - Google Patents
Method and device for defining autonomous walking trajectory Download PDFInfo
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- CN105388894A CN105388894A CN201510352735.5A CN201510352735A CN105388894A CN 105388894 A CN105388894 A CN 105388894A CN 201510352735 A CN201510352735 A CN 201510352735A CN 105388894 A CN105388894 A CN 105388894A
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Abstract
The invention provides a method and device for defining an autonomous walking trajectory, and the method comprises the following steps: S1, arranging a running mechanism and a laser at the starting and ending points of a straight work line; S2, adjusting the height of the laser so as to enable a beam to be projected to a collection apparatus and to form a light spot; S3, collecting the position information of the light spot through the collection apparatus; S4, transmitting the collected position information of the light spot to a control system through the collection apparatus, wherein the control system enables the position to be set as the position of a base point, and controls the running mechanism to walk towards the position of the base point; S5, transmitting the collected position information of the light spot to the control system in real time through the collection apparatus; S6, comparing the position of the base point of the light spot with the real-time position through the control system, and then adjusting the running direction till the position of the base point and the real-time position are located in the same vertical line. The method achieves the definition of the autonomous walking trajectory in a traceless manner, improves the work efficiency, and is wide in application range.
Description
Technical field
The present invention relates to a kind of demarcation method and device of trajectory, especially relate to a kind of demarcation method and device of autonomous trajectory.
Background technology
In existing farmland operation and in the operation of road surface, mechanical intelligent walking application is extensive especially, and the intellectuality walking of independent navigation equipment is based on the judgement to track primary trace, then walks along track primary trace line; In the prior art, the setting of track primary trace is realize by manually ruling mostly.The shortcoming of this scribble method is: one, in some farmland operation and severe operating environment, and this scribble method is difficult to realize; Two, when production line is very long, this scribble method is wasted time and energy, and affects work efficiency; Three, in the operating environment that some are special, artificial line can bring pollution to operating area, affects operation effectiveness.
In existing farm machinery, the traveling mechanism being provided with automatic changeover has been prior art, and the Chinese utility model patent being CN202264815U as Authorization Notice No. discloses a kind of steering wheel type steering actuating mechanism for automatic driving of agricultural machinery.
In existing communication and control system, identifying hot spot point and gathering its positional information is also prior art, as the application number Chinese invention patent that is 200810035544.6 discloses the position that the instruction of a kind of laser pen and luminescent spot track recognizing method just can identify luminous point.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of demarcation method and device of autonomous trajectory of efficient, convenient, applied range, and the demarcation method of autonomous trajectory comprises the following steps:
S1. traveling mechanism and laser instrument are placed in starting point and the terminal of straight line production line;
S2. the height adjusting laser instrument makes its light beam projecting form hot spot on the harvester being fixed on traveling mechanism front end;
S3. harvester gathers the positional information of hot spot in its identification range;
S4. harvester passes to control system in traveling mechanism in automatic changeover by collecting facula position information, and this position is set as base position by control system, and control system controls traveling mechanism and walks towards this base position direction;
S5. the facula position information collected is passed to control system by harvester in real time;
The base position of hot spot is adjusted travel direction with after real time position by S6 control system, until base position and real time position are positioned on same vertical curve.
In technique scheme, the concrete method of adjustment of described step S6 is: when the base position that control system recognizes hot spot is positioned on the right of real time position time, and control system controls automatic changeover toward left steering until base position and real time position are positioned on same vertical curve; When the base position that control system recognizes hot spot is positioned at the real time position left side time, control system controls automatic changeover toward right turn until base position and real time position are positioned on same vertical curve.
The delimitation device realizing above-mentioned autonomous trajectory demarcation method is fixed on the front end of traveling mechanism, automatic changeover is provided with in described traveling mechanism, be provided with control system in described automatic changeover, this device comprises the laser instrument and harvester that arrange separately; Described harvester be fixed on traveling mechanism front end and between described laser instrument and traveling mechanism; The emission port of described laser instrument faces described harvester; The Signal transmissions of described harvester is to described control system.
The present invention, relative to prior art, achieves the delimitation of seamless autonomous trajectory, can realize under the operating environment of any complexity, and simple easily realization delimited by run trace line, time saving and energy saving, can improve operating efficiency; The present invention is simultaneously seamless line, can not bring pollution, have wide range of applications to operating environment; The present invention can be arranged on any with on the traveling mechanism of automatic changeover, does not destroy original automatic changeover; Structure of the present invention and method are simply simultaneously, are easy to realize, grasp and promote.
According to an embodiment of the delimitation device of a kind of autonomous trajectory of the present invention, described harvester is a light sensation panel, and described light sensation panel signal is connected to described control system; Laser instrument launch light beam on light sensation panel, form hot spot, light sensation panel by induction facula position information transmission to control system.
Harvester is also by realizing with under type, and described harvester comprises dash receiver and image acquisition picture head, and described image acquisition picture head is positioned at the rear of described dash receiver, and described image acquisition picture head signal is connected to described control system.Described dash receiver light-permeable, such as dash receiver is one piece of calico, the light beam that image acquisition picture head also can collect laser instrument in its rear projects the facula position formed before it.
In the embodiment of above-mentioned harvester, in order to make the fixing more firm of harvester, described image acquisition picture head is fixed on the front end of traveling mechanism by link, described dash receiver is fixed on described link by bracket.
As the further improvement of the delimitation device of a kind of autonomous of the present invention trajectory, in order to make the fixing more firm of laser instrument, also the travel mechanism in order to make the delimitation device of a kind of autonomous of the present invention trajectory be applicable to any height, described laser instrument is fixed on height-adjustable tripod; In one embodiment of the invention, the height of tripod is regulated and is realized by the elevating lever being fixed on its top, and laser instrument is fixed on the top of elevating lever.
The advantage that the present invention has and good effect are: because the present invention adopts as above technical scheme, namely by installing harvester in the front end of traveling mechanism, and traveling mechanism and laser instrument are placed on starting point and the terminal of straight line production line, achieve the delimitation of seamless autonomous trajectory, can realize under the operating environment of any complexity; Simple easily realization delimited by run trace line, time saving and energy saving, can improve operating efficiency; The present invention is simultaneously seamless line, can not bring pollution, have wide range of applications to operating environment; The present invention can be arranged on any with on the traveling mechanism of automatic changeover, does not destroy original automatic changeover; Structure of the present invention and method are simply simultaneously, are easy to realize, grasp and promote.
Except technical matters, the technical characteristic forming technical scheme and the advantage brought by the technical characteristic of these technical schemes that the present invention described above solves, the advantage that the other technologies feature comprised in the other technologies problem that the demarcation method of a kind of autonomous trajectory of the present invention and device can solve, technical scheme and these technical characteristics bring, will be described in further detail by reference to the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the demarcation method of a kind of autonomous trajectory of the present invention;
Fig. 2 is the theory diagram of the first embodiment of the demarcation method of a kind of autonomous trajectory of the present invention;
Fig. 3 is the theory diagram of the second embodiment of the demarcation method of a kind of autonomous trajectory of the present invention;
Fig. 4 is the structural representation of delimitation device when harvester is the first embodiment of a kind of autonomous trajectory of the present invention;
Fig. 5 is the structural representation that the delimitation device of a kind of autonomous of the present invention trajectory works as that harvester is another kind of embodiment;
Fig. 6 is the structural representation of delimitation application of installation on traveling mechanism of a kind of autonomous trajectory of the present invention;
In figure: 10, traveling mechanism; 20, laser instrument; 30, production line; 21, hot spot; 40, control system; 51, light sensation panel; 52, dash receiver; 53, image acquisition picture head; 61, link; 62, bracket; 70, tripod; 11, bearing circle; 12, angle sheave.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.It should be noted that at this, the explanation for these embodiments understands the present invention for helping, but does not form limitation of the invention.In addition, if below the technical characteristic that relates in described each embodiment of the present invention do not form conflict each other and just can mutually combine.
Be illustrated in figure 1 a kind of process flow diagram of demarcation method of autonomous trajectory, Fig. 2 is the theory diagram of the first embodiment of the demarcation method of a kind of autonomous trajectory of the present invention, in this embodiment, the demarcation method of autonomous trajectory comprises the following steps:
S1. traveling mechanism 10 and laser instrument 20 are placed in starting point and the terminal of straight line production line;
S2. adjust the height of laser instrument 20 its light beam projecting to be dropped on be fixed on the light sensation panel 51 of traveling mechanism 10 front end forms hot spot 21;
S3. the positional information of light sensation panel 51 sensitive light spots 21 in its identification range;
S4. the facula position information sensed is passed to the control system 40 in traveling mechanism 10 in automatic changeover by light sensation panel 51, this position is set as base position by control system 40, the bearing circle 11 that control system 40 controls traveling mechanism 10 rotates, and bearing circle 11 drives angle sheave 12 to turn to this base position direction;
S5., after traveling mechanism 10 starts, light sensation panel 51 will sense that facula position information passes to control system 40 in real time;
S6. the base position of hot spot 21 is compared turning to of rear adjustment direction dish 11 by control system 40 with real time position, thus control angle sheave 12 makes base position and real time position be positioned on same vertical curve.
In above-mentioned steps S2, its hot spot 21 when the height of adjustment laser instrument 20, should be made to fall the spot identification scope of the center of light sensation panel 51, the left and right skew that light sensation panel one can be given so balanced as far as possible.
Be illustrated in figure 3 a kind of theory diagram of the second embodiment of demarcation method of autonomous trajectory, in this embodiment, harvester in embodiment one and light sensation panel 51 are replaced with dash receiver 52 and image acquisition picture head 53, in this embodiment, the demarcation method of autonomous trajectory comprises the following steps:
S1. traveling mechanism 10 and laser instrument 20 are placed in starting point and the terminal of straight line production line;
S2. adjust the height of laser instrument 20 its light beam projecting to be dropped on be fixed on the dash receiver 52 of traveling mechanism 10 front end forms hot spot;
S3. the image acquisition picture head 53 being positioned at dash receiver 52 rear gathers the image information of dash receiver 52;
S4. the facula position information collected is passed to the control system 40 in traveling mechanism 10 in automatic changeover by image acquisition picture head 53, control system 40 will identify this position and set it to base position, the bearing circle 11 that control system 40 controls traveling mechanism 10 rotates, and bearing circle 11 drives angle sheave 12 to turn to this base position direction;
S5., after traveling mechanism 10 starts, the image information of the dash receiver 52 collected is passed to control system 40 by image acquisition picture head 53 in real time, and control system 40 will identify the real time position of this hot spot 21;
S6. the base position of hot spot 21 is compared turning to of rear adjustment direction dish 11 by control system 40 with real time position, thus control angle sheave 12 turns to until base position and real time position are positioned on same vertical curve.
In above-mentioned steps S2, when adjusting the height of laser instrument 20, its hot spot 21 should be made to drop on the center of dash receiver 52 as far as possible, the identification range of the left and right skew hot spot of image acquisition picture head 53 equilibrium can be given like this.
In the above two embodiments, the concrete method of adjustment of above-mentioned steps S6 is: when the base position that control system 40 recognizes hot spot 21 is positioned on the right of real time position time, and control system 40 controls automatic changeover toward left steering until base position and real time position are positioned on same vertical curve; When the base position that control system 40 recognizes hot spot 21 is positioned at the real time position left side time, control system 40 controls automatic changeover toward right turn until base position and real time position are positioned on same vertical curve.
Be illustrated in figure 4 the structural representation of the delimitation device of the first embodiment realizing above-mentioned autonomous trajectory demarcation method, the delimitation device of autonomous trajectory is fixed on the front end of traveling mechanism 10, automatic changeover is provided with in described traveling mechanism 10, be provided with control system 40 in described automatic changeover, the delimitation device of this autonomous trajectory also comprises the laser instrument 20 of harvester and setting separately; Described harvester be fixed on traveling mechanism 10 front end and between described laser instrument 20 and traveling mechanism 10; The emission port of described laser instrument 20 faces described harvester; The Signal transmissions of described harvester is to described control system 40.
In the present embodiment, above-mentioned harvester is a light sensation panel 51, and described light sensation panel 51 signal is connected to described control system 40; The light beam that laser instrument 20 is launched forms hot spot 21 on light sensation panel 51, and the positional information of the hot spot 21 of induction can be transferred to control system 40 by light sensation panel 51.
In the above-described embodiments, harvester is also by realizing with under type, as shown in Figure 5, described harvester comprises dash receiver 52 and image acquisition picture head 53, described image acquisition picture head 53 is positioned at the rear of described dash receiver 52, described image acquisition picture head 53 gathers the image information of dash receiver 52, and its signal is connected to described control system 40; The position of hot spot 21 on the automatic recognition image of control system 40; Described dash receiver is one piece of calico in the present embodiment, and the light beam that image acquisition picture head also can collect laser instrument in its rear projects the facula position formed before it.Dash receiver also can be the planar object of other any light-permeable.
In technique scheme, in order to make the fixing more firm of harvester, described image acquisition picture head 53 is fixed on the front end of traveling mechanism 10 by link 61, described dash receiver 52 is fixed on described link 61 by bracket 62.
In order to make the fixing more firm of laser instrument 20, the travel mechanism also in order to make the delimitation device of autonomous trajectory of the present invention be applicable to any height, described laser instrument 20 is fixed on height-adjustable tripod 70; The top of tripod 70 is fixed with elevating lever, and the top of elevating lever is fixed wtih laser instrument 20.
Be illustrated in figure 6 the structural representation of delimitation application of installation on traveling mechanism 10 of autonomous trajectory, in the figure, traveling mechanism 10 and laser instrument 20 are positioned at starting point and the terminal of production line 30, the light beam that laser instrument 20 is launched is parallel with production line 30, the laser beam that laser instrument is launched forms hot spot 21 at dash receiver 52, and the position utilizing the demarcation method of autonomous trajectory of the present invention and device thereof to follow the trail of hot spot 21 can complete the delimitation of autonomous trajectory.
Below by reference to the accompanying drawings detailed description is made to embodiments of the present invention, but the present invention is not limited to described embodiment.For the ordinary skill in the art, carry out multiple change, amendment, replacement and distortion to these embodiments without departing from the principles and spirit of the present invention still to fall within protection scope of the present invention.
Claims (7)
1. a demarcation method for autonomous trajectory, is characterized in that, comprises the following steps:
S1. traveling mechanism (10) and laser instrument (20) are placed in starting point and the terminal of straight line production line (30);
S2. the height adjusting laser instrument (20) makes its light beam projecting form hot spot (21) on the harvester being fixed on traveling mechanism (10) front end;
S3. harvester gathers hot spot (21) positional information in its identification range;
S4. harvester will collect facula position information and pass to control system (40) in traveling mechanism (10) in automatic changeover, this position is set as base position by control system (40), and control system (40) controls traveling mechanism and walks towards this base position direction;
S5. the facula position information collected is passed to control system (40) by harvester in real time;
S6. the base position of hot spot (21) is adjusted travel direction with after real time position by control system (40), until base position and real time position are positioned on same vertical curve.
2. the demarcation method of autonomous trajectory according to claim 1, it is characterized in that, the concrete method of adjustment of described step S6 is: when the base position that control system (40) recognizes hot spot (21) is positioned on the right of real time position time, and control system (40) controls automatic changeover toward left steering until base position and real time position are positioned on same vertical curve; When the base position that control system (40) recognizes hot spot (21) is positioned at the real time position left side time, control system (40) controls automatic changeover toward right turn until base position and real time position are positioned on same vertical curve.
3. realize a delimitation device for the demarcation method of the autonomous trajectory described in claim 1 or 2, it is characterized in that: this device comprises the laser instrument (20) and harvester that arrange separately; Described harvester is fixed on the front end of traveling mechanism (10) and is positioned between described laser instrument (20) and traveling mechanism (10); The emission port of described laser instrument (20) faces described harvester; The Signal transmissions of described harvester is to described control system (40).
4. delimitation device according to claim 3, is characterized in that: described harvester is a light sensation panel (51), and described light sensation panel (51) signal is connected to described control system (40).
5. delimitation device according to claim 3, it is characterized in that: described harvester comprises dash receiver (52) and image acquisition picture head (53), described image acquisition picture head (53) is positioned at the rear of described dash receiver (52), and described image acquisition picture head (53) signal is connected to described control system (40).
6. delimitation device according to claim 5, is characterized in that: described image acquisition picture head (53) is fixed on the front end of traveling mechanism by link (61), described dash receiver (52) is fixed on described link (61) by bracket (62).
7. the delimitation device according to any one of claim 4 to 6, is characterized in that: described laser instrument (20) is fixed on height-adjustable tripod (70).
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| CN201510352735.5A CN105388894A (en) | 2015-06-23 | 2015-06-23 | Method and device for defining autonomous walking trajectory |
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| CN201510352735.5A CN105388894A (en) | 2015-06-23 | 2015-06-23 | Method and device for defining autonomous walking trajectory |
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| CN105938366A (en) * | 2016-06-28 | 2016-09-14 | 长安大学 | Computer vision-based unmanned loader calibration device and method |
| CN106843204A (en) * | 2016-12-22 | 2017-06-13 | 以恒激光科技（北京）有限公司 | A kind of laser guide patrol robot |
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| CN109151298A (en) * | 2017-08-15 | 2019-01-04 | 南京仁光电子科技有限公司 | Video camera control method, equipment and system based on screen |
| CN109343543A (en) * | 2018-12-13 | 2019-02-15 | 合肥泰禾光电科技股份有限公司 | A kind of vehicle straight trip air navigation aid and vehicle are kept straight on navigation device |
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| C06 | Publication | ||
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Bingqi Inventor after: Kou Chunrong Inventor after: Zhang Haiyang Inventor after: Shao Min Inventor after: Ma Tieshuai Inventor before: Kou Chunrong Inventor before: Chen Bingqi Inventor before: Ma Tieshuai Inventor before: Zhang Haiyang |
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Effective date of registration: 20170302 Address after: 454550 Qinyang Industrial Zone, Henan Shennong Avenue, No. 1 Applicant after: Henan Province modern intelligent equipment Technology Co. Ltd. Tomihiro Address before: 301700 Tianjin City, Wuqing District, Wuqing Development Zone, new road, No. 3-3, No. 1 Applicant before: Modern Tomihiro (Tianjin) Intelligent Equipment Technology Co. Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160309 |
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| RJ01 | Rejection of invention patent application after publication |