CN105700533A - Agricultural machinery automatic driving control system based on Beidou navigation and method thereof - Google Patents
Agricultural machinery automatic driving control system based on Beidou navigation and method thereof Download PDFInfo
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention provides an agricultural machinery automatic driving control system based on Beidou navigation and a method thereof, and belongs to the technical field of agricultural machinery control. The agricultural machinery automatic driving control system comprises a differential reference station, an automatic driving instrument and a visual sensor. The differential reference station comprises a first measurement antenna which is connected with a first measurement receiver. A transmitting radio is connected on the first measurement receiver. The automatic driving instrument comprises a vehicle-mounted navigator, a vehicle-mounted display controller, an electric steering wheel controller and a guide wheel angle sensor. The vehicle-mounted navigator is connected with the vehicle-mounted display controller. The output ports of the electric steering wheel controller and the guide wheel angle sensor are connected with the vehicle-mounted display controller. The vehicle-mounted display controller comprises a graphic processing module. The visual sensor is connected with the graphic processing module. Obstacle avoidance of the agricultural machinery can be guaranteed through control of the guide wheel angle and omitted cultivation of the agricultural machinery can be reduced so that cultivation quality of the agricultural machinery can be enhanced, and the agricultural machinery automatic driving control system can be used for control work of agricultural machinery automatic driving cultivation.
Description
Technical field
The present invention relates to a kind of automatic Pilot and control system and method, control system and method particularly to a kind of automatic driving of agricultural machinery。
Background technology
Agricultural is national basis, is related to national politics, economic stability, along with the development of China's chemurgy, can be changed to concentrated agricultural gradually by decentralized mode of agriculture。The mechanization of agricultural is the important indicator weighing a National agricultural development, along with the continuous propelling of relevant strategies, mechanization of agriculture proposes urgent requirement。
Agricultural machinery has manually incomparable labor efficiency, not only reduces labor intensity, but also can liberate labour force greatly, and then is engaged in other industry, and therefore developing agricultural machinery is benefited the nation and the people。Agricultural machinery has been mainly used in the operations such as the ploughing and weeding in soil, sowing, harvesting, and the existing agricultural machinery overwhelming majority is pilot steering, and for large-area field, human pilot needs long driving operation, very easily tired。And, most importantly, the use of agricultural machinery is all interim, only ploughing and weeding, sowing, harvesting time period just need, so, work outside or be engaged in the driver of other industry, have to return to one's native place in busy farming season, or large-scale land contract person not etc. does not employ substantial amounts of human pilot in the time in busy farming season, carrying out farm work operation, this can bring the librarian use cost of increasing undoubtedly。
Along with satellite positioning tech (Beidou satellite system such as China), communication technology, computer technology are with the maturation of automatic control technology, the positional information of vehicle can be accurately determined according to the satellite-signal received, by to the detection of vehicle's current condition and analysis, make rational automatic Pilot scheme, and there is the function of autonomous avoiding barrier；In prior art, when vehicle runs into barrier, agricultural machinery can make a policy whether start autonomous lane-change pattern according to surrounding, after entering autonomous lane-change pattern, vehicle can autonomous lane-change, this technology can also be used in agricultural machinery, but the handling situations of agricultural machinery and common vehicle are different, requiring consideration for how to ensure cultivating quality during farm machinery tillage while autonomous avoiding obstacles, prior art cannot meet the condition of automatic driving of agricultural machinery。
Summary of the invention
For defect of the prior art, it is an object of the invention to overcome above-mentioned weak point of the prior art, a kind of automatic driving of agricultural machinery based on Beidou navigation is provided to control system and method, this system ensures that agricultural machinery reduces the situation of balking of agricultural machinery while avoiding barrier, improves the cultivating quality of agricultural machinery。
The object of the present invention is achieved like this: the automatic driving of agricultural machinery based on Beidou navigation controls system, including differential reference station, automatic pilot and vision sensor, described differential reference station includes measuring antenna one, measure and antenna one is connected to measuring receiver one, measuring receiver one is connected to transmitting station by RS232 interface, described automatic pilot includes automatic navigator, car-mounted display controller, electric steering wheel controller and directive wheel steering angle sensor, described automatic navigator is connected with car-mounted display controller, the delivery outlet of described electric steering wheel controller and directive wheel steering angle sensor is connected with car-mounted display controller respectively, described car-mounted display controller includes image processing module, described vision sensor is connected with pattern process module。
When the present invention works, measure antenna one and receive BDS, the navigation signal of GPS constellation, navigation signal is transferred to measuring receiver one, the navigation signal that measuring receiver receives for a pair carries out acquisition and tracking and positioning calculation, and obtain high-precision pseudorange and carrier phase observation data, positioning calculation result, pseudorange and carrier phase observation data send transmitting station to by RS232 interface, transmitting station by data to external broadcasting, the data of broadcast place are accepted radio station and are received, measuring receiver two receives the navigation signal of BDS constellation, the measuring receiver two navigation signal to receiving carries out acquisition and tracking, positioning calculation, carry out acquisition and tracking, positioning calculation, do fusion with the data transmitted from base station after positioning calculation to resolve, obtain agricultural machinery self exact position velocity information, the three-dimensional attitude information of agricultural machinery self is obtained by three axis attitude sensor, the position and speed information of agricultural machinery is sent to car-mounted display controller by automatic navigator, the position of agricultural machinery is compared by car-mounted display controller with the path originally set, car-mounted display controller controls turning to of electric steering wheel by electric steering wheel controller, the rotation rotating drive directive wheel of electric steering wheel, the steering angle of directive wheel is detected by directive wheel rotary angle transmitter, directive wheel rotary angle transmitter is directed to the steering angle signal of wheel and is transferred to car-mounted display controller, car-mounted display controller continues through according to steering angle signal and turns to the rotation driving controller to control electric steering wheel, circulate above action, until agricultural machinery position is consistent with original path set, electric steering wheel and directive wheel no longer adjust action, whether vision sensor scanning agricultural machinery front and non-crop ped location exist barrier, and transfer information to image processing module, image processing module processes the information that vision sensor sends over, car-mounted display controller makes a policy instruction；The present invention uses base station and automatic navigator to obtain the accurate position and speed information of agricultural machinery, improve the positioning precision of agricultural machinery, the boundary line of barrier is scanned by vision sensor, image processing module simulates the optimum circular arc path of agricultural machinery turning according to obstacles borders line, minimizing is balked, ensure farm machinery tillage quality, solve those skilled in that art and want to solve the technical problem that always, in control work when can be used for agricultural machinery farming。
In order to improve the accuracy of optimum turning path when matching runs into barrier further, described vision sensor is provided with two, and vision sensor is separately mounted to the left and right sides of agricultural machinery frame foremost。In order to obtain the more accurate position and speed information of agricultural machinery further, described automatic navigator includes measuring antenna two, three axis attitude sensor and reception radio station, measure and antenna two is connected to measuring receiver two, described three axis attitude sensor is connected with receiving the input port each through RS232 interface with measuring receiver two, the radio station, and the delivery outlet of measuring receiver two is connected with car-mounted display controller。
In order to improve the controllability of steering wheel further, described wheel steering controller includes electric steering wheel, course changing control driver and steering wheel angle sensor, described car-mounted display controller is connected with electric steering wheel, electric steering wheel is connected with the input port of steering wheel angle sensor, and the delivery outlet of steering wheel angle sensor is connected with course changing control driver。
As a further improvement on the present invention, described electric steering wheel is relative with directive wheel to be connected, and directive wheel rotary angle transmitter is arranged on directive wheel。
Based on the automatic driving of agricultural machinery control method of Beidou navigation, specifically include following steps:
(1) in car-mounted display controller, storage has the knowledge source of disperse policy decision unit and the knowledge source of policy of Central Government unit in advance, the priori of the knowledge source storage disperse policy decision unit of policy of Central Government unit and experience, the local decision result of each disperse policy decision unit has a priority, and policy of Central Government unit makes final decision according to multiple disperse policy decision results；
(2) preset device and base station obtain the position coordinates of agricultural machinery and velocity information, position coordinates and velocity information are transferred to car-mounted display controller；
(3) vision sensor is used for scanning whether tractor front and tractor both sides have barrier；If during the equal clear of agricultural machinery front and side, agricultural machinery is advanced according to original path set；If there are barrier, obstacle height in agricultural machinery front higher than radius of wheel and side clear, agricultural machinery is first according to the walking of original path set, vision sensor scans the boundary line of barrier, image processing module in car-mounted display controller is used for simulating the shortest circular arc path turned along boundary line, converse agricultural machinery rotating angle increment, when agricultural machinery is to circular arc path starting point, agricultural machinery enters cornering mode；If there are barrier, obstacle height in agricultural machinery front lower than radius of wheel and side clear, agricultural machinery is first according to the walking of original path set；If there is barrier in agricultural machinery front, obstacle height higher than radius of wheel and preceding object thing in non-plowing direction while there is also barrier, when distance between barrier is more than vehicle body Breadth Maximum, policy of Central Government unit makes the instruction of cut-through thing, vision sensor scans the boundary line of agricultural machinery preceding object thing, image processing module in car-mounted display controller is used for simulating the circular arc path turned along boundary line, converse agricultural machinery corner variable quantity according to circular arc path and send to car-mounted display controller, distance when between barrier is less than vehicle body Breadth Maximum constantly, policy of Central Government unit makes final decision result for stopping, i.e. system cut-off, agricultural machinery stops operation。
In order to improve cultivating quality further, in step (3), car-mounted display controller differentiates agricultural machinery cultivation area and non-cultivation area according to the path stored, and when avoiding barrier, agricultural machinery is turned to non-cultivation area direction。
In order to improve the controllability of directive wheel corner when avoiding barrier further, set up avoiding barrier kinematics model:
1)
Assume that agricultural machinery 2 hourly velocity of turning varies less, regard as at the uniform velocity, then:
2)
3)
Comprehensive 1)～3) obtain, whenTime, directive wheel corner variable quantity is:
WhenTime, directive wheel corner variable quantity calculates according to above-mentioned corner variable quantity computing formula, contrary with above-mentioned corner variable quantity；
WhenTime, directive wheel corner variable quantity is:
Wherein,It is the radius of the first circular arc, radius when namely agricultural machinery is turned,It is the radius of the first circular arc,It is the maximum angle of the first circular arc and agricultural machinery original path vertical direction,The maximum angle of the second circular arc and agricultural machinery 2 original path vertical direction,ForThe speed of moment agricultural machinery,For the distance parallel with agricultural machinery 2 direct of travel between circular arc end points in the first circular arc path of matching,For the distance parallel with agricultural machinery direct of travel between circular arc end points in the second circular arc path of matching,For time dependent agricultural machinery rotating speed, system changes Automatic solution according to agricultural machinery 2 actual speed,For agricultural machinery turning time,For directive wheel corner variable quantity。
In order to improve the control accuracy of directive wheel corner in control system further, in step (3), further include steps of
When system make a policy cut-through thing instruction after, enter cornering mode, system according to matching circular arc path walk time, being set with corner variable quantity in system with reference to absolute value is, whenTime,The turning in moment terminates,Threshold value is deviateed for agricultural machinery corner；If being unsatisfactory for the condition terminated of turning, steering wheel continues to adjust until meeting above-mentioned condition；When during cut-through thing, the fore-and-aft distance of walking is set to H, H >=H1+H2, cornering mode terminates, and agricultural machinery is walked according to original set path。
Accompanying drawing explanation
Fig. 1 is the connection block diagram that the present invention controls system。
Fig. 2 is the flow chart of control method of the present invention。
Fig. 3 is the optimum circular arc path figure of agricultural machinery in the present invention。
Wherein, 1 non-cultivation area, 2 agricultural machinery, 3 cultivation areas, 4 paths originally set, 5 obstacles borders lines, 6 first circular arc path, 7 second circular arc path。
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated。
Embodiment 1
The automatic driving of agricultural machinery based on Beidou navigation as shown in Figure 1 controls system, including differential reference station, automatic pilot and vision sensor, differential reference station includes measuring antenna one, measure and antenna one is connected to measuring receiver one, measuring receiver one is connected to transmitting station by RS232 interface, automatic pilot includes automatic navigator, car-mounted display controller, electric steering wheel controller and directive wheel controller, automatic navigator includes measuring antenna two, three axis attitude sensor and reception radio station, measure and antenna two is connected to measuring receiver two, described three axis attitude sensor is connected with receiving the input port each through RS232 interface with measuring receiver two, the radio station, measuring receiver two is connected with car-mounted display controller, wheel steering controller includes electric steering wheel, course changing control driver and steering wheel angle sensor, car-mounted display controller is connected with electric steering wheel, electric steering wheel is connected with the input port of steering wheel angle sensor, the delivery outlet of steering wheel angle sensor is connected with the input port of course changing control driver, car-mounted display controller includes image processing module, vision sensor is connected with pattern process module, vision sensor is provided with two, vision sensor is arranged on agricultural machinery 2 left and right sides foremost。
As shown in Figures 2 and 3 based on the Big Dipper can the automatic driving of agricultural machinery control method of autonomous avoiding barrier, specifically include following steps:
(1) in car-mounted display controller, storage has the knowledge source of disperse policy decision unit and the knowledge source of policy of Central Government unit in advance, the priori of the knowledge source storage disperse policy decision unit of policy of Central Government unit and experience, the local decision result of each disperse policy decision unit has a priority, and policy of Central Government unit makes final decision according to multiple disperse policy decision results；
(2) preset device and base station obtain the position coordinates of agricultural machinery 2 and velocity information, position coordinates and velocity information are transferred to car-mounted display controller；
(3) vision sensor is used for scanning whether tractor front and tractor both sides have barrier；If during the equal clear of agricultural machinery 2 front and side, agricultural machinery 2 is advanced according to original path 4 set；If there are barrier, obstacle height in agricultural machinery 2 front higher than radius of wheel and side clear, agricultural machinery 2 is first walked according to original path 4 set, vision sensor scans the boundary line of barrier, image processing module in car-mounted display controller is used for simulating the shortest circular arc path turned along boundary line, converse agricultural machinery 2 rotating angle increment, during agricultural machinery the 2 to the first circular arc path 6 starting point, agricultural machinery 2 enters cornering mode；If there are barrier, obstacle height in agricultural machinery 2 front lower than radius of wheel and side clear, agricultural machinery 2 is first walked according to original path 4 set；If there is barrier in agricultural machinery 2 front, obstacle height higher than radius of wheel and preceding object thing in non-plowing direction while there is also barrier, when distance between barrier is more than vehicle body Breadth Maximum, policy of Central Government unit makes the instruction of cut-through thing, vision sensor scans the boundary line of agricultural machinery 2 preceding object thing, image processing module in car-mounted display controller is used for simulating the circular arc path turned along boundary line, converse agricultural machinery 2 corner variable quantity according to circular arc path and send to car-mounted display controller, distance when between barrier is less than vehicle body Breadth Maximum constantly, policy of Central Government unit makes final decision result for stopping, i.e. system cut-off, agricultural machinery 2 stops operation；It addition, car-mounted display controller differentiates agricultural machinery 2 cultivation area 3 and non-cultivation area 1 according to the path stored, when avoiding barrier, optimum circular arc path is along agricultural machinery 2 non-cultivation area 1 direction。
Set up avoiding barrier kinematics model:
1)
Assume that agricultural machinery 2 hourly velocity of turning varies less, regard as at the uniform velocity, then:
2)
3)
Comprehensive 1)～3) obtain, whenTime, directive wheel corner variable quantity is:
WhenTime, directive wheel corner variable quantity calculates according to above-mentioned corner variable quantity computing formula, contrary with above-mentioned corner variable quantity；
WhenTime, directive wheel corner variable quantity is:
Wherein,It is the radius of the first circular arc, radius when namely agricultural machinery is turned,It is the radius of the first circular arc,It is the maximum angle of the first circular arc and agricultural machinery original path vertical direction,The maximum angle of the second circular arc and agricultural machinery 2 original path vertical direction,ForThe speed of moment agricultural machinery,For the distance parallel with agricultural machinery 2 direct of travel between circular arc end points in the first circular arc path of matching,For the distance parallel with agricultural machinery direct of travel between circular arc end points in the second circular arc path of matching,For time dependent agricultural machinery rotating speed, system changes Automatic solution according to agricultural machinery 2 actual speed,For agricultural machinery turning time,For directive wheel corner variable quantity。
In step (3), further include steps of
When system make a policy cut-through thing instruction after, enter cornering mode, system according to matching circular arc path walk time, being set with corner variable quantity in system with reference to absolute value is, whenTime,The turning in moment terminates,Threshold value is deviateed for agricultural machinery 2 corner；If being unsatisfactory for the condition terminated of turning, steering wheel continues to adjust until meeting above-mentioned condition；When during cut-through thing, the fore-and-aft distance of walking is set to H, H >=H1+H2, cornering mode terminates, and agricultural machinery 2 is walked according to original set path。
Wherein, the event of each appearance is made the corresponding result of decision by disperse policy decision unit, and the result of decision that policy of Central Government unit comprehensive each disperse policy decision unit is made makes last decision-making, and system is according to last Decision Control action actuating mechanism operation。
When the present invention works, measure antenna one and receive BDS, the navigation signal of GPS constellation, navigation signal is transferred to measuring receiver one, the navigation signal that measuring receiver receives for a pair carries out acquisition and tracking and positioning calculation, and obtain high-precision pseudorange and carrier phase observation data, positioning calculation result, pseudorange and carrier phase observation data send transmitting station to by RS232 interface, transmitting station by data to external broadcasting, the data of broadcast place are accepted radio station and are received, measuring receiver two receives the navigation signal of BDS constellation, the measuring receiver two navigation signal to receiving carries out acquisition and tracking, positioning calculation, carry out acquisition and tracking, positioning calculation, do fusion with the data transmitted from base station after positioning calculation to resolve, obtain agricultural machinery 2 self exact position velocity information, the three-dimensional attitude information of agricultural machinery 2 self is obtained by three axis attitude sensor, the position and speed information of agricultural machinery 2 is sent to car-mounted display controller by automatic navigator, the position of agricultural machinery 2 is compared by car-mounted display controller with the path originally set, car-mounted display controller controls turning to of electric steering wheel by electric steering wheel controller, the rotation rotating drive directive wheel of electric steering wheel, the steering angle of directive wheel is detected by directive wheel rotary angle transmitter, directive wheel rotary angle transmitter is directed to the steering angle signal of wheel and is transferred to car-mounted display controller, car-mounted display controller continues through according to steering angle signal and turns to the rotation driving controller to control electric steering wheel, circulate above action, until agricultural machinery 2 position is consistent with original path 4 set, electric steering wheel and directive wheel no longer adjust action, whether vision sensor scanning agricultural machinery 2 front and non-crop ped location exist barrier, and transfer information to image processing module, image processing module processes the information that vision sensor sends over, car-mounted display controller is made whether to perform according to up-to-date turning path instruction；The present invention uses base station and automatic navigator to obtain the accurate position and speed information of agricultural machinery 2, improve the positioning precision of agricultural machinery 2, the boundary line of barrier is scanned by vision sensor, image processing module simulates agricultural machinery 2 according to obstacles borders line 5 and turns optimum circular arc path, optimum circular arc path is the tangent line of outer most edge of defining boundaries according to the obstacles borders line 5 at non-cultivation area 1 scanned, according to the tangent line of outer most edge, circular arc is set, the method can reduce balks, ensure agricultural machinery 2 cultivating quality, solve those skilled in that art to want to solve the technical problem that always, can be used in the control work of agricultural machinery farming。
The invention is not limited in above-described embodiment; on the basis of technical scheme disclosed by the invention; those skilled in the art is according to disclosed technology contents; performing creative labour just need not can being made some replacements and deformation by some of which technical characteristic, these are replaced and deformation is all in scope。
Claims (9)
1. control system based on the automatic driving of agricultural machinery of Beidou navigation, it is characterized in that: include differential reference station, automatic pilot and the vision sensor for cognitive disorders thing, described differential reference station includes measuring antenna one, measure and antenna one is connected to measuring receiver one, measuring receiver one is connected to transmitting station by RS232 interface, described automatic pilot includes automatic navigator, car-mounted display controller, electric steering wheel controller and directive wheel steering angle sensor, described automatic navigator is connected with car-mounted display controller, the delivery outlet of described electric steering wheel controller and directive wheel steering angle sensor is connected with car-mounted display controller respectively, described car-mounted display controller includes pattern process module, described vision sensor is connected with pattern process module, for processing the information that vision sensor sends over。
2. the automatic driving of agricultural machinery based on Beidou navigation according to claim 1 controls system, it is characterised in that: described vision sensor is provided with two, and vision sensor is separately mounted to the left and right sides of agricultural machinery frame foremost。
3. the automatic driving of agricultural machinery based on Beidou navigation according to claim 1 controls system, it is characterized in that: described automatic navigator includes measuring antenna two, three axis attitude sensor and reception radio station, measure and antenna two is connected to measuring receiver two, described three axis attitude sensor is connected with receiving the input port each through RS232 interface with measuring receiver two, the radio station, and the delivery outlet of measuring receiver two is connected with car-mounted display controller。
4. the automatic driving of agricultural machinery based on Beidou navigation according to claim 3 controls system and method, it is characterized in that: described wheel steering controller includes electric steering wheel, course changing control driver and steering wheel angle sensor, described car-mounted display controller is connected with the input port of electric steering wheel, electric steering wheel is connected with the input port of steering wheel angle sensor, the delivery outlet of steering wheel angle sensor and course changing control driver。
5. the automatic driving of agricultural machinery based on Beidou navigation according to claim 4 controls system, it is characterised in that: described electric steering wheel is relative with directive wheel to be connected, and directive wheel rotary angle transmitter is arranged on directive wheel。
6. utilize the automatic driving of agricultural machinery control method based on Beidou navigation described in any one of claim 1～5, specifically include following steps:
(1) in car-mounted display controller, storage has the knowledge source of disperse policy decision unit and the knowledge source of policy of Central Government unit in advance, the priori of the knowledge source storage disperse policy decision unit of policy of Central Government unit and experience, the local decision result of each disperse policy decision unit has a priority, and policy of Central Government unit makes final decision according to multiple disperse policy decision results；
(2) preset device and base station obtain the position coordinates of agricultural machinery and velocity information, position coordinates and velocity information are transferred to car-mounted display controller；
(3) vision sensor is used for scanning whether tractor front and tractor both sides have barrier；If during the equal clear of agricultural machinery front and side, agricultural machinery is advanced according to original path set；If there are barrier, obstacle height in agricultural machinery front higher than radius of wheel and side clear, agricultural machinery is first according to the walking of original path set, vision sensor scans the boundary line of barrier, image processing module in car-mounted display controller is used for simulating the shortest circular arc path turned along boundary line, converse agricultural machinery rotating angle increment, when agricultural machinery is to circular arc path starting point, agricultural machinery enters cornering mode；If there are barrier, obstacle height in agricultural machinery front lower than radius of wheel and side clear, agricultural machinery is first according to the walking of original path set；If there is barrier in agricultural machinery front, obstacle height higher than radius of wheel and preceding object thing in non-plowing direction while there is also barrier, when distance between barrier is more than vehicle body Breadth Maximum, policy of Central Government unit makes the instruction of cut-through thing, vision sensor scans the boundary line of agricultural machinery preceding object thing, image processing module in car-mounted display controller is used for simulating the circular arc path turned along boundary line, converse agricultural machinery corner variable quantity according to circular arc path and send to car-mounted display controller, distance when between barrier is less than vehicle body Breadth Maximum constantly, policy of Central Government unit makes final decision result for stopping, i.e. system cut-off, agricultural machinery stops operation。
7. the automatic driving of agricultural machinery control method based on Beidou navigation according to claim 6, it is characterized in that: in step (3), car-mounted display controller differentiates agricultural machinery cultivation area and non-cultivation area according to the path stored, when avoiding barrier, perform turning action according to the obstacle avoidance object model set up。
8. the automatic driving of agricultural machinery control method based on Beidou navigation according to claim 7, it is characterised in that: the method setting up avoiding barrier kinematics model is as follows:
1)
Assume that agricultural machinery 2 hourly velocity of turning varies less, regard as at the uniform velocity, then:
2)
3)
Comprehensive 1)～3) obtain, whenTime, directive wheel corner variable quantity is:
WhenTime, directive wheel corner variable quantity calculates according to above-mentioned corner variable quantity computing formula, contrary with above-mentioned corner variable quantity；
WhenTime, directive wheel corner variable quantity is:
Wherein,It is the radius of the first circular arc, radius when namely agricultural machinery is turned,It is the radius of the first circular arc,It is the maximum angle of the first circular arc and agricultural machinery original path vertical direction,The maximum angle of the second circular arc and agricultural machinery 2 original path vertical direction,ForThe speed of moment agricultural machinery,For the distance parallel with agricultural machinery 2 direct of travel between circular arc end points in the first circular arc path of matching,For the distance parallel with agricultural machinery direct of travel between circular arc end points in the second circular arc path of matching,For time dependent agricultural machinery rotating speed, system changes Automatic solution according to agricultural machinery 2 actual speed,For agricultural machinery turning time,For directive wheel corner variable quantity。
9. the automatic driving of agricultural machinery control method based on Beidou navigation according to claim 8, it is characterised in that: in step (3), further include steps of
When system make a policy cut-through thing instruction after, enter cornering mode, system according to matching circular arc path walk time, being set with corner variable quantity in system with reference to absolute value is, whenTime,The turning in moment terminates,Threshold value is deviateed for agricultural machinery 2 corner；If being unsatisfactory for the condition terminated of turning, steering wheel continues to adjust until meeting above-mentioned condition；When during cut-through thing, the fore-and-aft distance of walking is set to H, H >=H1+H2, cornering mode terminates, and agricultural machinery 2 is walked according to original set path。
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| CN106595637A (en) * | 2016-12-21 | 2017-04-26 | 上海华测导航技术股份有限公司 | Visual navigation method for agricultural machine |
| CN106647770A (en) * | 2017-01-22 | 2017-05-10 | 无锡卡尔曼导航技术有限公司 | Field turning path planning and control method used for farm machinery driverless driving |
| CN106627753A (en) * | 2016-12-21 | 2017-05-10 | 上海华测导航技术股份有限公司 | Agricultural machinery automatic driving tillage control system guided by Beidou navigation system and control method |
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