CN109101025A - It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone - Google Patents
It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone Download PDFInfo
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- CN109101025A CN109101025A CN201810934091.4A CN201810934091A CN109101025A CN 109101025 A CN109101025 A CN 109101025A CN 201810934091 A CN201810934091 A CN 201810934091A CN 109101025 A CN109101025 A CN 109101025A
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- agricultural robot
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000013459 approach Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Get over method for being remotely controlled safety of the agricultural robot across signal blind zone the invention discloses a kind of, this method first passes through handmarking signal blind zone and distance measuring sensor assists, in the case where no personnel participate in, robot can walk out alone safely signal blind zone, reconnect controlling terminal, and then it allows operator that can continue Manipulation of the machine people and carries out operation, effectively prevent robot during remote control pass through signal blind zone it is out of control caused by danger, simultaneously relative to the once traditional approach out of control to stop immediately, robot can pass through safely alone signal blind zone, possibility is provided to reconnect controlling terminal, it ensure that the continuity of operation, improve operating efficiency.
Description
Technical field
The invention belongs to Robot remote fields, more particularly, to one kind for being remotely controlled agricultural robot across signal blind zone
Safety get over method.
Background technique
For the operations such as application, broadcast application of agricultural, China mostly uses greatly self-propelled machinery to be administered, broadcast application or directly logical
Manpower is crossed to work.Artificial application, broadcast application large labor intensity, operating efficiency is low, and especially application process herb liquid is to operator
Health harm is very big, and self-propelled machinery also needs manual operation, although reducing labor intensity, severe work
The reduction of operator's comfort level can still be made under industry environment, the application of remote control technology efficiently solves the above problem.
Currently, wireless remote control technology mainly utilizes ZigBee, WiFi, bluetooth, RF433,2G/3G/4G public network network etc. to pass
Transmission of data, and ZigBee, WiFi, bluetooth, RF433 are suitable for point-to-point remote control in horizon range, once exceed sighting distance or has screening
Gear, then can lose remote signal, 2G/3G/4G public network network realizes all standing since base station number is numerous substantially, there is base
It stands under coverage condition, it is unlimited apart from remote control that controlling terminal can forward control command to carry out by cloud server, while
There are base station uncovered areas, just produce signal blind zone at this time, and remote-controlled robot need to stop immediately when driving to signal blind zone
Vehicle, avoid it is out of control bring danger, but the problem of bringing is that robot is parked in original place and can have been at signal blind zone, can only be waited remote
End operator is live to sail out of blind area range, and operating area will be greatly reduced if there is many places signal blind zone, operating efficiency.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of for being remotely controlled agricultural robot across signal blind zone
Safety gets over method, by handmarking signal blind zone and distance measuring sensor auxiliary positioning, the machine in the case where no personnel participate in
Device people can walk out alone safely signal blind zone, reconnect controlling terminal, so allow operator can continue Manipulation of the machine people into
Row application operation.
It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone, which is characterized in that this method packet
Include following steps:
A1, artificial detection remote signal quality, and do eye-catching label；
A2 arranges auxiliary locator；
A3, under auxiliary locator auxiliary, the agricultural robot equipped with distance measuring sensor passes through signal blind zone；
A4, judges whether signal blind zone is passed through；
Further, step A1 artificial detection signal quality and do it is eye-catching label include following procedure:
B1, operator follow remote control agricultural robot traversal operating area in horizon range, record different location agriculture
The remote control command successful reception rate and transmission of video smoothness degree of industry robot and controlling terminal, test out signal blind zone, and to letter
Number blind area number；
B2 arranges number mark board in signal blind zone initial position, and hand spray initial position is conspicuous color, for mentioning
Operator's agricultural robot wake up i.e. by entering signal blind area.
Further, step A2 arranges that the process of auxiliary locator is to arrange plastic strip, reflective in signal blind zone two sides
Item etc. can be used for the auxiliary locator of ranging.
Further, for step A3 under auxiliary locator auxiliary, the agricultural robot equipped with distance measuring sensor passes through letter
Number blind area includes following procedure:
The speed of C1, agricultural robot are reduced at a slow speed by normally travel speed, and timing starts at this time, starting ranging sensing
Device measures two sides auxiliary locator to the distance of vehicle, and the distance of left and right ends to the auxiliary locator of robot measurement is divided
Not Wei Dl, Dr, when the absolute value of the difference of Dl and Dr are less than or equal to allowable error, robot continues to keep straight on, otherwise, again
Judge whether the difference of Dl and Dr is greater than 0, if it is, robot fine tune to the left, if it is not, then robot slightly adjusts to the right
It is whole.
C2, meanwhile, in the process of walking, robot reconnects a secondary control by cloud server at regular intervals
Terminal or point-to-point connection controlling terminal, sent immediately once in connection it is online notify controlling terminal, recovery is normally distant
Control traveling；
Further, step A4 judges whether signal blind zone is passed through including following procedure:
D1 estimates crossing time according to the signal blind zone range of step A1 measurement, after timing time is more than evaluation time,
Timing terminates, it is believed that signal blind zone has already passed through, and is such as also not attached to controlling terminal, then agricultural robot stops and rings immediately
Flute.
The invention has the benefit that installing necessary ranging sensing by simple manual measurement marking signal blind area
Device, cost is small, and method is simple, effectively prevent robot during remote control pass through signal blind zone it is out of control caused by danger
Danger, while relative to the once traditional approach out of control to stop immediately, robot can pass through safely alone signal blind zone, to connect again
It connects controlling terminal and provides possibility, ensure that the continuity of operation, improve operating efficiency.
Detailed description of the invention
Fig. 1 is that present invention remote control agricultural robot passes through signal blind zone embodiment schematic diagram.
Fig. 2 is that a kind of safety that remote control agricultural robot passes through signal blind zone of the present invention gets over method program flow chart.
Appended drawing reference is as follows:
1. 5. signal blind zone of agricultural robot 2. distance measuring sensor, 3. fruit tree, 4. auxiliary locator, 6. spraying area
7. 10. remote signal of blind area 8. operator of number mark board, 9. base station, 11. controlling terminal
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing.
It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone shown in Fig. 2 in conjunction with attached drawing 1, it should
Method the following steps are included:
A1: artificial detection remote signal quality, and eye-catching label is done at signal blind zone；
A2: arrangement auxiliary locator 4；
A3: under the auxiliary of auxiliary locator 4, the agricultural robot equipped with distance measuring sensor 2 passes through signal blind zone；
A4: judge whether signal blind zone is passed through；
Step A1 artificial detection signal quality and done at signal blind zone it is eye-catching label include:
B1: operator 8 follows remote control agricultural robot 1 to traverse operating area in horizon range, is remotely controlled farming machine
People is loaded with an other operator, and to stop in emergency after lossing signal, operating area shown in Fig. 1 is orchard, and record is not
With the remote control command successful reception rate and transmission of video smoothness degree of place agricultural robot 1 and controlling terminal 11, when receiving successfully
Rate is assert that this region is signal blind zone, is then numbered to signal blind zone 5 lower than 90% and when video pictures cannot be played continuously；
B2: arrange that number mark board 7, hand spray initial position trunk 6 are eye-catching face in 5 initial position of signal blind zone
Color, for reminding 8 agricultural robot 1 of operator i.e. by entering signal blind area 5.
Step A2 arrangement auxiliary locator includes:
C1 arranges plastic strip in 5 two sides of signal blind zone, and reflective strip etc. can be used for the auxiliary locator 4 of ranging.
For step A3 under auxiliary locator auxiliary 4, the agricultural robot equipped with distance measuring sensor 2 passes through signal blind zone 5
Process include:
D1: firstly, the speed of agricultural robot 1 is reduced at a slow speed by normally travel speed, travel speed 0.2-0.4m/
S, timing starts at this time, and starting distance measuring sensor 2 measures the distance that two sides auxiliary locator 4 arrives vehicle, and robot measurement is left
Distance Dl, Dr of right both ends to auxiliary locator can use and permit when the absolute value of the difference of Dl and Dr is less than or equal to allowable error
Perhaps error range is 3-5cm, and robot continues to keep straight on, otherwise, judge whether the difference of Dl and Dr is greater than 0 again, if so,
Then robot fine tune to the left, if it is not, then fine tune, left and right adjust the angle range and are no more than 5 ° to the right for robot,
D2: meanwhile, in the process of walking, robot reconnects secondary control end by cloud server every 200ms
End 11 or point-to-point connection controlling terminal 11, sent immediately once in connection it is online notify controlling terminal 11, recovery is normally
Remote controlled travelling；
What step A4 judged whether signal blind zone pass through includes:
E1: estimating crossing time according to the signal blind zone range of step A1 measurement, if blanking length is 10m, at this time machine
People's travel speed is 0.2m/s, then crossing time is 50s, and after timing time is more than 50s, timing terminates, it is believed that signal is blind
Area has already passed through, and is such as also not attached to controlling terminal, then agricultural robot 1 stops and blows a whistle immediately.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (6)
1. a kind of get over method across the safety of signal blind zone for being remotely controlled agricultural robot, which is characterized in that this method includes
Following steps:
A1: artificial detection remote signal quality, and do eye-catching label；
A2: arrangement auxiliary locator；
A3: under auxiliary locator auxiliary, the agricultural robot equipped with distance measuring sensor passes through signal blind zone；
A4: judge whether signal blind zone is passed through.
2. according to claim 1 get over method, feature for being remotely controlled safety of the agricultural robot across signal blind zone
Be: step A1) artificial detection signal quality, and do it is eye-catching label the following steps are included:
B1: operator follows remote control agricultural robot traversal operating area in horizon range, records different location agricultural machine
The remote control command successful reception rate and transmission of video smoothness degree of device people and controlling terminal, test out signal blind zone, and blind to signal
Area's number；
B2: number mark board is arranged in signal blind zone initial position, hand spray initial position is conspicuous color, for reminding behaviour
Make personnel's agricultural robot i.e. for entering signal blind area.
3. according to claim 1 get over method, feature for being remotely controlled safety of the agricultural robot across signal blind zone
Be: step A2 arrangement auxiliary locator includes that can be used for the auxiliary locator of ranging in signal blind zone two sides arrangement.
4. according to claim 3 get over method, feature for being remotely controlled safety of the agricultural robot across signal blind zone
Be: the auxiliary locator that can be used for ranging is plastic strip or reflective strip.
5. according to claim 1 get over method, feature for being remotely controlled safety of the agricultural robot across signal blind zone
Be: step A3 auxiliary locator auxiliary under, the agricultural robot equipped with distance measuring sensor pass through signal blind zone include with
Lower step:
C1: the speed of agricultural robot is reduced at a slow speed by normally travel speed, and timing starts at this time, and starting distance measuring sensor is surveyed
Two sides auxiliary locator is measured to the distance of vehicle, the distance of left and right ends to the auxiliary locator of robot measurement is respectively
Dl, Dr, when the absolute value of the difference of Dl and Dr is less than or equal to allowable error, robot continues to keep straight on, otherwise, judge again
Whether the difference of Dl and Dr is greater than 0, if it is, robot fine tune to the left, if it is not, then robot fine tune to the right；
C2: meanwhile, in the process of walking, robot reconnects a controlling terminal by cloud server at regular intervals
Or point-to-point connection controlling terminal, sent immediately once in connection it is online notify controlling terminal, recovery normal remote control row
It sails.
6. according to claim 1 get over method, feature for being remotely controlled safety of the agricultural robot across signal blind zone
Be: step A4 judge signal blind zone whether pass through the following steps are included:
D1: estimating crossing time according to the signal blind zone range of step A1 measurement, after timing time is more than evaluation time, timing
Terminate, it is believed that signal blind zone has already passed through, and is such as also not attached to controlling terminal, then agricultural robot stops and blows a whistle immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810934091.4A CN109101025A (en) | 2018-08-16 | 2018-08-16 | It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810934091.4A CN109101025A (en) | 2018-08-16 | 2018-08-16 | It is a kind of to get over method for being remotely controlled safety of the agricultural robot across signal blind zone |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857368A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN113515113A (en) * | 2020-03-27 | 2021-10-19 | 南京苏美达智能技术有限公司 | Operation control method of automatic walking equipment and automatic walking equipment |
| CN117250964A (en) * | 2023-11-17 | 2023-12-19 | 同济大学 | Control method of intelligent following trolley control system and electronic equipment |
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| CN117250964B (en) * | 2023-11-17 | 2024-02-02 | 同济大学 | Control method of intelligent following trolley control system and electronic equipment |
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