CN105799776A - Automatic drive cultivation control system and method for agricultural machine based on Beidou navigation - Google Patents
Automatic drive cultivation control system and method for agricultural machine based on Beidou navigation Download PDFInfo
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- CN105799776A CN105799776A CN201610252869.4A CN201610252869A CN105799776A CN 105799776 A CN105799776 A CN 105799776A CN 201610252869 A CN201610252869 A CN 201610252869A CN 105799776 A CN105799776 A CN 105799776A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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Abstract
The invention provides an automatic drive cultivation control system and method for an agricultural machine based on Beidou navigation in the technical field of agricultural machine control. The automatic drive cultivation control system comprises a difference base station, an automatic pilot and a visual sensor; the difference base station comprises a first measurement antenna, and a first measurement receiver is connected to the first measurement antenna and is connected with an emitting broadcasting station through an RS232 interface; the automatic pilot 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, an output port of the electric steering wheel controller and an output port of the guide wheel angle sensor are connected with the vehicle-mounted display controller, the vehicle-mounted display controller comprises a graphic processing module, and the visual sensor is connected with the graphic processing module. By controlling the rotation angle of guide wheels, it is ensured that cultivation missing of the agricultural machine is reduced while the agricultural machine avoids obstacles, the cultivation quality of the agricultural machine is improved, and the automatic drive cultivation control system can be applied in the control work of automatic drive cultivation of the agricultural machine.
Description
Technical field
The present invention relates to a kind of automatic Pilot farming and control system and method, control system and method particularly to a kind of automatic driving of agricultural machinery farming.
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, making rational automatic Pilot scheme；This airmanship also apply be applicable in agricultural machinery, in prior art, agricultural machinery is according to the path walking set, having multiple kinds of crops for planting on same field, agricultural machinery will not identify whether crops are same kind automatically, and whole for the crops in field farming can be terminated by agricultural machinery according to the path set, cause should not the crops of farming also by farming, causing unnecessary economic loss, cultivating quality can not be guaranteed, and 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 farming based on Beidou navigation is provided to control system and method, this system can avoid the crops not needing farming by the problem of farming, improve the cultivating quality of agricultural machinery, it is to avoid unnecessary economic loss.
nullThe object of the present invention is achieved like this: the automatic driving of agricultural machinery based on Beidou navigation ploughs action control system，Including differential reference station、Automatic pilot and for identifying the vision sensor of crops，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 rotary angle transmitter，Described automatic navigator is connected with car-mounted display controller，The delivery outlet of described electric steering wheel controller and directive wheel rotary angle transmitter 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.
As a further improvement on the present invention, described vision sensor is provided with three, vision sensor is separately mounted in the frame of agricultural machinery frame foremost, the agricultural machinery left and right sides, being arranged on the opposing setting of vision sensor in the frame of the agricultural machinery left and right sides, this design can scan crop ped location crops and non-crop ped location crop map picture.
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, the described delivery outlet of course changing control driver is connected with the input port of electric steering wheel, the delivery outlet of 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 the input port of 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 farming control method of Beidou navigation, specifically include following steps:
(1) 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, and vehicle is according to the path walking set real-time storage farming crop map picture；
(2) vision sensor is used for scanning tractor front and side crops, whether the crops of image processing module identification crop ped location and the crops of non-crop ped location are identical type, and recognition result is sent to car-mounted display controller, agricultural machinery route is made corresponding adjustment according to recognition result by car-mounted display controller.
In order to improve cultivating quality further, in step (2), the concrete grammar that agricultural machinery route is made corresponding adjustment according to recognition result by car-mounted display controller is as follows: if non-farming is with crop ped location crops are identical, and agricultural machinery is walked according to original path set；If agricultural machinery front end crops are different from the crops of farming, then system cut-off, namely agricultural machinery stops operation；If the non-crop ped location in agricultural machinery front end and side crops are with crop ped location crops are identical, then system cut-off；If during the minimum widith >=agricultural machinery vehicle body Breadth Maximum of non-crop ped location, the side crops that agricultural machinery front end crops are identical with the crops of farming and identical with crop ped location crops, agricultural machinery is according to the walking of original path set, otherwise enter new cornering mode, when agricultural machinery is turned, change turning path, increasing directive wheel corner until farming thing in agricultural machinery front end is with when crop ped location crops are identical, new cornering mode terminates, and agricultural machinery is according to the original straight line path set walking；If agricultural machinery front end crops are identical from farming crops and side non-farming crops and farming crops whole different time, then agricultural machinery enter cornering mode time, system cut-off, namely agricultural machinery stops operation.
nullWhen 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，The vision sensor of agricultural machinery frame side scans crop ped location crop map picture storing in real time，Non-crop ped location is agricultural machinery front end and agricultural machinery frame opposite side region，Image processing module automatically identify agricultural machinery front end crops with agricultural machinery frame opposite side crop specie whether with farming crops are consistent，And recognition result is sent to car-mounted display controller，Agricultural machinery route is adjusted in real time by car-mounted display controller according to practical situation；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, by identifying whether crop ped location crops and non-crop ped location crops are one species, and make route adjustment according to recognition result, avoiding should not the problem fallen by farming of the crops of farming, 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.
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.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
nullThe automatic driving of agricultural machinery based on Beidou navigation as shown in Figure 1 ploughs action control system，Including differential reference station、Automatic pilot and for scanning the vision sensor of crops，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，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 three，Vision sensor is separately mounted to agricultural machinery frame foremost、In the frame of the agricultural machinery left and right sides，It is arranged on the opposing setting of vision sensor in the frame of the agricultural machinery left and right sides.
As shown in Figure 2 based on the Big Dipper can the automatic driving of agricultural machinery control method of autonomous avoiding barrier, specifically include following steps:
(1) 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, and vehicle is according to the path walking set real-time storage farming crop map picture；
(2) vision sensor is used for scanning tractor front and side crops, whether the crops of image processing module identification crop ped location and the crops of non-crop ped location are identical type, and recognition result is sent to car-mounted display controller, agricultural machinery route is made corresponding adjustment according to recognition result by car-mounted display controller.
In step (2), the concrete grammar that agricultural machinery route is made corresponding adjustment according to recognition result by middle car-mounted display controller is as follows: if non-farming is with crop ped location crops are identical, and agricultural machinery is walked according to original path set；If agricultural machinery front end crops are different from the crops of farming, then system cut-off, namely agricultural machinery stops operation；If the non-crop ped location in agricultural machinery front end and side crops are with crop ped location crops are identical, then system cut-off；If during the minimum widith >=agricultural machinery vehicle body Breadth Maximum of non-crop ped location, the side crops that agricultural machinery front end crops are identical with the crops of farming and identical with crop ped location crops, agricultural machinery is according to the walking of original path set, otherwise enter new cornering mode, when agricultural machinery is turned, change turning path, increasing directive wheel corner until farming thing in agricultural machinery front end is with when crop ped location crops are identical, new cornering mode terminates, and agricultural machinery is according to the original straight line path set walking；If agricultural machinery front end crops are identical from farming crops and side non-farming crops and farming crops whole different time, then agricultural machinery enter cornering mode time, system cut-off, namely agricultural machinery stops operation.
nullWhen 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，The vision sensor of agricultural machinery frame side scans crop ped location crop map picture storing in real time，Non-crop ped location is agricultural machinery front end and agricultural machinery frame opposite side region，Image processing module automatically identify agricultural machinery front end crops with agricultural machinery frame opposite side crop specie whether with farming crops are consistent，And recognition result is sent to car-mounted display controller，Agricultural machinery route is adjusted in real time by car-mounted display controller according to practical situation；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, by identifying whether crop ped location crops and non-crop ped location crops are one species, and make route adjustment according to recognition result, avoiding should not the problem fallen by farming of the crops of farming, 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.
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 (7)
- null1. plough action 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 for scanning the vision sensor of crops，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 rotary angle transmitter，Described transmitting station and automatic navigator wireless connections，Described automatic navigator is connected with car-mounted display controller，The delivery outlet of described electric steering wheel controller and directive wheel rotary angle transmitter 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 ploughs action control system, it is characterized in that: described vision sensor is provided with three, vision sensor is separately mounted in the frame of agricultural machinery frame foremost, the agricultural machinery left and right sides, is arranged on the opposing setting of vision sensor in the frame of the agricultural machinery left and right sides.
- 3. the automatic driving of agricultural machinery based on Beidou navigation according to claim 1 ploughs action control 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 farming 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, the described delivery outlet of course changing control driver is connected with the input port of electric steering wheel, the delivery outlet of 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 the input port of course changing control driver.
- 5. the automatic driving of agricultural machinery based on Beidou navigation according to claim 4 ploughs action control 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 farming control method based on Beidou navigation described in any one of claim 1～5, specifically include following steps:(1) 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, and vehicle is according to the path walking set real-time storage farming crop map picture；(2) vision sensor is used for scanning tractor front and side crops, whether the crops of image processing module identification crop ped location and the crops of non-crop ped location are identical type, and recognition result is sent to car-mounted display controller, agricultural machinery route is made corresponding adjustment according to recognition result by car-mounted display controller.
- 7. the automatic driving of agricultural machinery farming control method based on Beidou navigation according to claim 6, it is characterized in that: the concrete grammar that in step (2), agricultural machinery route is made corresponding adjustment according to recognition result by car-mounted display controller is as follows: if non-farming is with crop ped location crops are identical, agricultural machinery is walked according to original path set；If agricultural machinery front end crops are different from the crops of farming, then system cut-off, namely agricultural machinery stops operation；If the non-crop ped location in agricultural machinery front end and side crops are with crop ped location crops are identical, then system cut-off；If during the minimum widith >=agricultural machinery vehicle body Breadth Maximum of non-crop ped location, the side crops that agricultural machinery front end crops are identical with the crops of farming and identical with crop ped location crops, agricultural machinery is according to the walking of original path set, otherwise enter new cornering mode, when agricultural machinery is turned, change turning path, increasing directive wheel corner until farming thing in agricultural machinery front end is with when crop ped location crops are identical, new cornering mode terminates, and agricultural machinery is according to the original straight line path set walking；If agricultural machinery front end crops are identical from farming crops and side non-farming crops and farming crops whole different time, then agricultural machinery enter cornering mode time, system cut-off, namely agricultural machinery stops operation.
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| CN106502252A (en) * | 2016-12-05 | 2017-03-15 | 聊城大学 | The tractor navigation control system of Multi-sensor Fusion and its positioning, control method |
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| CN106647756A (en) * | 2016-12-21 | 2017-05-10 | 上海华测导航技术股份有限公司 | Beidou farm machinery automatic navigation driving control system |
| 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 |
| CN106772451A (en) * | 2017-02-23 | 2017-05-31 | 陕西科丰农业机械有限公司 | Beidou navigation flat ground system and Beidou navigation agricultural production method |
| CN106950961A (en) * | 2017-04-11 | 2017-07-14 | 中联重机股份有限公司 | A kind of cropper control system, operation meter mu method and crawler type cropper |
| CN107697303A (en) * | 2017-09-27 | 2018-02-16 | 北京航空航天大学 | A kind of unmanned plane space base retracting device and method based on the stable target system of aviation pull-type |
| CN107738750A (en) * | 2017-09-27 | 2018-02-27 | 北京航空航天大学 | A kind of accurate retracting device of unmanned plane space base and method of system of being towed target based on aviation trailing cable |
| CN108082181A (en) * | 2017-03-10 | 2018-05-29 | 南京沃杨机械科技有限公司 | The farm machinery navigation control method perceived based on farm environment |
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| 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 |
| CN106772451A (en) * | 2017-02-23 | 2017-05-31 | 陕西科丰农业机械有限公司 | Beidou navigation flat ground system and Beidou navigation agricultural production method |
| CN108082181A (en) * | 2017-03-10 | 2018-05-29 | 南京沃杨机械科技有限公司 | The farm machinery navigation control method perceived based on farm environment |
| CN108082181B (en) * | 2017-03-10 | 2020-06-09 | 南京沃杨机械科技有限公司 | Agricultural machinery navigation control method based on farmland environment perception |
| CN106950961A (en) * | 2017-04-11 | 2017-07-14 | 中联重机股份有限公司 | A kind of cropper control system, operation meter mu method and crawler type cropper |
| CN109283561A (en) * | 2017-07-22 | 2019-01-29 | 西北农林科技大学 | A kind of unmanned combine harvester vision navigation system |
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| CN107697303A (en) * | 2017-09-27 | 2018-02-16 | 北京航空航天大学 | A kind of unmanned plane space base retracting device and method based on the stable target system of aviation pull-type |
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Application publication date: 20160727 Assignee: Jiangsu Changfa Agricultural Equipment Co., Ltd. Assignor: Yangzhou University Contract record no.: 2019320000059 Denomination of invention: Automatic drive cultivation control system and method for agricultural machine based on Beidou navigation Granted publication date: 20181207 License type: Exclusive License Record date: 20190322 |