CN106892009A - A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation and its control method - Google Patents
A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation and its control method Download PDFInfo
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- CN106892009A CN106892009A CN201710076791.XA CN201710076791A CN106892009A CN 106892009 A CN106892009 A CN 106892009A CN 201710076791 A CN201710076791 A CN 201710076791A CN 106892009 A CN106892009 A CN 106892009A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of unmanned all-hydraulic tractor of Beidou navigation and its control method, including tractor body, hydraulic system, sensor integration system, control system and Big Dipper GPS navigation system.A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation, various functions such as tool deep ploughing subsoiling, plantation, fertilising, prepartion of land, field management, overcome the defect of existing farm tractor unitary function, its control method, realizes that tractor being capable of autonomous, avoidance, steering, operation in the case of different terrain, landforms in 24 hours.
Description
Technical field
The present invention relates to technical field of agricultural machinery, more particularly to a kind of unmanned full-hydraulic multifunctional of Beidou navigation is dragged
Machine drawing and its control method.
Background technology
Tractor is current most widely used agricultural machinery, due to the influence of orographic factor, southern numerous hills places
The popularization of large-scale agricultural machinery is difficult to, traditional tractor is artificial operation, running on wheels structure, to road and farmland
It is required that it is higher, after having rained, operation is almost difficult to, and also human machine is difficult to accomplish that walking route is straight uniformly, have impact on and broadcast
Kind uniform and quantity, increase crop wind resistance, crop is easily lodged, so as to have impact on yield.
As the tide of peasant's Out-migrant for work rises, friend peasant proposes new requirement to traditional farming practices.He
Need a kind of cultivated whole machine for being capable of light operation.So whole machine is ploughed in remote control just market prospects.Remote control is ploughed whole machine and is being possessed
Outside the characteristics of above-mentioned walking cultivator, it is big to abandon walking cultivator labour intensity, sustainable production capacity difference and receives
The big shortcoming of such environmental effects.
The structure for also having some unmanned agricultural machinery at present is reported, but these mechanical structure generally existing structures are multiple
It is miscellaneous, be more expensive to manufacture and using scope it is small, use requirement is high the shortcomings of, to improve these problems, China《Agricultural is unmanned
Plough whole machine》Application number：201420053908.4, disclose a kind of unmanned cultivated whole machine of agricultural, each manipulation on whole cultivated machine
Function has corresponding motor and electric pushrod to realize corresponding operational motion, and all of electric pushrod can be transferred through remote control
Telescopic is realized, so that the remote control to ploughing whole machine is realized, but without corresponding function in terms of avoiding obstacles, and
And manually pass through remote control device, it is difficult to accomplish precisely navigation traction, and can only be used on daytime.
To improve operation precisely and improving machine utilization rate, Chinese patent《A kind of automatically controlled system of driverless tractor》Application
Number it is：201220718117.X, discloses and is combined using by DGPS navigation and electronic map, passes through, and cooks up automatically rationally
The automatically controlled system of driverless tractor of driving path is capable of achieving to work continuously round the clock, agricultural machineries' driver is broken away from the dull labor for repeating
Dynamic, agricultural machinery user of service can simultaneously operate many driverless tractors, improve production efficiency, but this control system dress
The control accuracy put is not high, it is difficult to practical, and how to transform tractor and also do not illustrate.
The content of the invention
It is an object of the invention to provide a kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation, simple structure,
Can Centimeter Level precisely navigate, generate walking path, in the case of unmanned different terrain, landforms drive safely.
To achieve the above object, the invention provides a kind of unmanned all-hydraulic tractor of Beidou navigation, including：It is dilatory
Machine body, hydraulic system, it is arranged in the tractor body, for transmitting power and motion for the tractor body；
Sensor integration system, gathers and transmits tractor body institute position, travel speed, travel direction and work for perceiving
The data message of industry situation；Control system and Big Dipper GPS navigation system；
Wherein, the Big Dipper GPS navigation system, its Centimeter Level elaborate position for being used to measure the tractor body will
Positional information is sent to the control system storage and processes, to guide the tractor to be walked or be turned to；
The control system, receives data message, the position of Big Dipper gps system transmission of the sensor integration system transmission
The control data that confidence ceases and earth station assigns, is parsed into the control information of the tractor, stores, to control the hydraulic pressure
The size and Orientation of system dynamic conveying controls the tractor body to perform walking, steering, avoidance and operation.
Preferably, in above-mentioned technical proposal, the hydraulic system is a system for closing, and it includes：Engine, at least
1 hydraulic variable displacement pump, multichannel current divider, at least 2 walk motor with hydraulic pressure, hydraulic cylinder, working hydraulic pressure motor, hydraulic oil container, dissipate
Hot device, oil passage control valve door group and a plurality of hydraulic tube；
The hydraulic variable displacement pump is connected with the engine, the hydraulic variable displacement pump, optional Closed Hydraulic variable pump, and it goes out
Hydraulic fluid port is directly connected to the oil inlet of walk motor with hydraulic pressure, its oil inlet and the fuel tank or described by the hydraulic tube respectively
The oil-out connection of walk motor with hydraulic pressure, another road oil-out of hydraulic variable displacement pump connects the input of the multichannel current divider
Mouthful, each road delivery outlet of the multichannel current divider connects the input of the oil passage control valve door group, the oil circuit control respectively
Oiler of the output end of valve group respectively with the working hydraulic pressure motor and the hydraulic cylinder is connected, the working hydraulic pressure horse
Up to and the oil-out of the hydraulic cylinder be connected with the radiator, the radiator is connected with the hydraulic oil container, the liquid
Oil inlet of the oil-out of case after filtering with the hydraulic variable displacement pump and the hydraulic pressure constant displacement pump is pressed oil to be connected.
Preferably, in above-mentioned technical proposal, the Big Dipper GPS navigation system includes：Earth station, communication unit, satellite base
Stand, data radio station, satellite move receiving station；
The earth station transmits control data to the control system by the communication unit in real time, and receives the control
Position, speed, deflection, operational parameter data that system processed sends, analysis, storage, to control the operation of the tractor；
The satellite data that the base station will receive is sent directly to be disposed on the tractor by the communication unit
Satellite movement receiving station remote data transmission unit receive, the satellite data parsing that the satellite movement receiving station will receive
Go out precision and reach Centimeter Level position data to be transferred to the control system, control system is accurately obtained tractor institute in real time
In position and direction.
Preferably, satellite movement receiving station is the vector satellite movement receiving station of double antenna
Preferably, in above-mentioned technical proposal, the tractor body includes：Frame, walking mechanism, rear suspension unit and
Speed measuring coder；
The walking mechanism including crawler belt or wheel is provided with below the frame, the speed measuring coder is placed in
In the rotary shaft of the walking mechanism, the umber of pulse of the rotary shaft for measuring the walking mechanism, and transmit to the control
System, the speed of travel, travel distance and the left and right rows for calculating the walking mechanism of the tractor walk deviation；
The rear of the frame is provided with controllable height rear suspension unit, for hanging farm implements.
Preferably, in above-mentioned technical proposal, the control system is by the Big Dipper GPS navigation system and the tractor sheet
Distance that the tractor that speed measuring coder in body is determined respectively or so crawler belt is walked in plot is simultaneously transferred to the control
System processed, the control system calculates the speed of left and right crawler belt and is compared according to left and right crawler belt in the distance that plot is walked
Phase difference is drawn to determine tractor travel direction；The distance that the left and right crawler belt for obtaining walk in plot by the control system with
Distance and direction reference each other that the direction of determination is measured with the Big Dipper GPS navigation system, when tractor walking distance or
When there is deviation in direction, the control system control adjustment engine, the power output size and Orientation of hydraulic system, with
The speed of the traveling of change tractor and direction are come tractor body position of rectifying a deviation.
It is another object of the present invention to provide a kind of control of the unmanned full-hydraulic multifunctional tractor of Beidou navigation
Method processed, realizes that tractor being capable of autonomous, avoidance, steering, operation in the case of different terrain, landforms in 24 hours.
To achieve the above object, the control method of the unmanned all-hydraulic tractor of Beidou navigation comprises the following steps：
Step 1, using Beidou satellite system, the big of operation plot is obtained by artificial Big Dipper measurement bar or manual measurement
Small, shape and Obstacle Position data, be entered into together with ground block number, job content, owner's information be provided with control it is soft
In the computer earth station of part or the control terminal of mobile phone A PP, generate job requirements and store；
Step 2, tractor is travelled to the starting point in operation plot, is risen where obtaining tractor by Big Dipper GPS navigation system
Longitude and latitude, the azimuth of point position, and size with reference to the operation plot in step 1, shape, Obstacle Position are input to control
Terminal, to generate the walking path and job requirements in plot, transmits to control system storage；
Step 3, starts tractor, and the control system automatic control of tractor is according to job requirements and the row in generation plot
Walk path perform directly walk, turn to, avoidance and operation, until completion.
Compared with prior art, the present invention has the advantages that：
1st, the unmanned full-hydraulic multifunctional tractor of Beidou navigation of the invention, simple structure, can precisely navigate, raw
Into walking path, driven safely in different terrain, landforms in the case of unmanned, it is adaptable to the plot of various areas, fitted
With wide, it is unmanned after, the cab space vacated can be changed to storage tank and place seed or agricultural chemicals or fertilizer, with rear overhang sheet
Unit combines, and can hang different agricultural tools and realize various work(such as deep ploughing subsoiling, plantation, fertilising, prepartion of land, field management
Can, different demands that are flexible, meeting user.
2nd, Big Dipper GPS navigation system and sensor integration system are applied to driverless tractor, with reference to control system
Achievable tractor work broadcasts that row end is straight, accurate, radius of turn is small to connect row, and 1000 meters are broadcast row deviation no more than 3 centimetres, 24 hours
All weather operations, effectively increase operation quality, shorten duty cycle.Can also be by setting field boundary and driving path
Avoid repeating and omitting operation, while recordable driving path and measurement different terrain, the farmland of different landforms, it is adaptable to various
The plot of area, and operation accuracy can be greatly improved.In the essence of the crops such as sugarcane, cotton, tomato, beet and peanut
Had a clear superiority in thin site preparation, precisely the agricultural machinery working link such as sowing, accurate plant protection and mechanized harvest.
Brief description of the drawings
Fig. 1 is the structure chart according to the unmanned full-hydraulic multifunctional tractor of Beidou navigation of the present invention.
Fig. 2 is the structure chart according to control system of the present invention.
Fig. 3 is the structure chart according to base station of the present invention.
Fig. 4 is the Organization Chart according to control system of the present invention.
Main Reference Numerals explanation：
1- crawler belts, 2- frames, 3- radiators, 4- engines, 5- oil passage control valves door group, 6- multichannel current dividers, 7- hydraulic pressure
Variable pump, 8- hydraulic oil containers, 9- control systems, 10- satellites movement receiving station, 11- satellite base stations, 12- storage tanks, 13- work
Hydraulic motor, 14- hydraulic cylinders, 15- rear suspension units, 16- walk motor with hydraulic pressure, 17- speed measuring coders, 18- communication units,
19- control terminals, 20- connecting shafts, 21- driving wheels, 23- driven pulleys；
100- base stations satellite earth antenna, 101- satellite base station receivers, 102- base stations data radio station；
901- power control units, 902- data processing units, 903- DCU data control units, 904- job control units,
905- security protection units, 906- remote data transmission units, 907- telecommunication units.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the invention is described in detail, it is to be understood that guarantor of the invention
Shield scope is not limited by specific embodiment.
Explicitly indicated that unless otherwise other, otherwise in entire disclosure and claims, term " including " or its change
Change such as "comprising" or " including " etc. and will be understood to comprise stated element or part, and do not exclude other units
Part or other parts.
Fig. 1 shows the unmanned full-hydraulic multifunctional tractor of Beidou navigation according to the preferred embodiment of the present invention
Structural representation.
The unmanned full-hydraulic multifunctional tractor of a kind of Beidou navigation of the invention, including：Tractor body, hydraulic pressure system
System, sensor integration system, control system 9 and Big Dipper GPS navigation system.
Reference picture 1, tractor body includes：Frame 2, walking mechanism, storage tank 12, rear suspension unit 15, test the speed coding
Device 17 and support frame 20, wherein walking mechanism are crawler belt 1 or wheel, and walking mechanism is preferably crawler belt 1 in the present embodiment, OK
The rotary shaft of mechanism is walked for common knowledge, is not identified in figure.
Storage tank 12 is installed, the lower section of frame 2 is provided with crawler belt 1, connecting shaft 20 and surveys in frame 2 as shown in Figure 1
Fast encoder 17, the rear of frame 2 is provided with rear suspension unit 15.The rear end of more particularly crawler belt 1 is provided with driving wheel 21,
Front end is provided with driven pulley 23, and driving wheel 21 is connected by support frame 20 with driven pulley 23.Driving wheel 21 is through rotary shaft and hydraulic pressure
Running motor 16 is connected, and driving wheel 21 is rotated under the drive of walk motor with hydraulic pressure 16, and then traction crawler belt 1 is transported forward or backward
It is dynamic.1 speed measuring coder 17 each is installed in the rotary shaft of the driving wheel 21 of tractor left and right sides crawler belt 1, for measuring
The umber of pulse of the rotary shaft of left and right sides crawler belt 1 is simultaneously transmitted to control system 9, and control system 9 calculates the left and right two of tractor
The speed of travel of side crawler belt 1 and distance, while the umber of pulse for comparing left and right sides crawler belt 1 draws difference to determine the walking of tractor
Direction.Rear suspension unit 15 is arranged on the rear of frame 2, and the height of its position can adjust, rear suspension unit 15 and hydraulic
Motor 13 is connected, the need for the replaceable different agricultural tools of rear suspension unit 15 are to meet tractor work, the work of tractor
Industry includes：Deep ploughing, subsoiling, plantation, fertilising, prepartion of land and field management, are replaced by deep ploughing subsoiling cutter during deep ploughing subsoiling,
Change rice transplanting during plantation into plant seedlings component, change drilling or bunch planting component during sowing into, change planisher, storage tank 12 during prepartion of land into
Can facilitate field management for depositing seed, fertilizer.Further, it is the applicable orientation of expansion tractor, can also be in frame 2
Front end set suspension unit, to meet agricultural harvesting, weeding the need for.
Hydraulic system is arranged in tractor body, for transmitting power and motion for tractor body；Hydraulic system is
One system of closing, it includes：Engine 4, two hydraulic variable displacement pumps 7, hydraulic pressure constant displacement pumps, 6,2 hydraulic pressure of multichannel current divider
Running motor 16, hydraulic cylinder 14, working hydraulic pressure motor 13, hydraulic oil container 8, radiator 3, oil passage control valve door organize 5 and by institute
The a plurality of hydraulic tube that need to be configured, two hydraulic variable displacement pumps 7 and hydraulic pressure constant displacement pump are connected with engine 4, and hydraulic variable displacement pump 7 is optional to be closed
Formula hydraulic variable displacement pump, its oil-out is directly connected to the oil inlet of walk motor with hydraulic pressure 16, its oil inlet by hydraulic tube respectively
Oil-out with hydraulic oil container 8 or walk motor with hydraulic pressure 16 is connected, and the oil-out of hydraulic pressure constant displacement pump connects the defeated of multichannel current divider 6
Entrance, each road delivery outlet of multichannel current divider 6 connects the input of oil passage control valve door group 5 respectively, oil passage control valve door group 5
Oiler of the output end respectively with working hydraulic pressure motor 13 and the hydraulic cylinder 14 is connected, working hydraulic pressure motor 13 and liquid
The oil-out of cylinder pressure 14 is connected with radiator 3, and radiator 3 is connected with hydraulic oil container 8, and the oil-out of hydraulic oil container 8 is after filtering
Oil inlet with hydraulic variable displacement pump 7 and hydraulic pressure constant displacement pump is connected.More preferably to cause tractor traveling, 2 walk motor with hydraulic pressure 16
The both sides of tractor are separately mounted to, more particularly 2 walk motor with hydraulic pressure 16 are separately mounted to connect the master of both sides crawler belt 1
On driving wheel 21, walk motor with hydraulic pressure 16 affects driving wheel 21 and then drives crawler belt 1 to move after working.
Sensor integration system surveys barrier sensor, depth transducer and survey by temperature sensor, pressure sensor, ultrasound
Away from sensor group into road surface and machinery operation condition information for perceiving tractor body position, and transmission information number
According to；Such as common knowledge, more particularly temperature sensor is used to measure the temperature and environment temperature of hydraulic system, pressure sensor
Pressure size for measuring hydraulic system, ultrasound surveys barrier sensor to be used to detect ground obstacle situation, and depth transducer is used
In the depth of the measurement deep ploughing subsoiling when subsoiling is deep ploughed.
Reference picture 2, control system 9 is by telecommunication unit 907, remote data transmission unit 906, power control unit 901, work
Industry control unit 904, security protection unit 905, data processing unit 902 and DCU data control unit 903 composition are right to complete
The control of the walking of tractor, avoidance, steering or operation.Wherein, telecommunication unit 907 is used for and earth station's transmission data letter
Breath, remote data transmission unit 906 is used to be connected with oil passage control valve door group 5 with base station transmitting data information, power control unit 901
Power output for controlling engine 4 and hydraulic system, to adjust the speed of travel of control tractor, job control unit
904 operating types for being used to be set according to different job requirements corresponding job parameter and control tractor, data processing list
Unit 902 and DCU data control unit 903 are parsed the real time data information of sensor integration system acquisition, analyze tractor
Instantaneous velocity, position and direction of travel so that adjust automatically control parameter, output to hydraulic system and tractor body is held
OK complete walking to tractor, avoidance, steering or the control of operation.
Control system 9 receives ultrasound and surveys barrier sensor detection ground obstacle situation, and tractor surpasses during traveling
The data processing unit 902 that sounding barrier sensor transmits range data into control system 9 automatically in real time is stored, dynamic Control
Unit 901 obtains the range data of barrier from data processing unit 902, is converted into dynamic Control signal and sends to hydraulic variable flow
Pump 7, hydraulic variable displacement pump 7 receives flow automatic regulation after control signal so that the power output of hydraulic system changes, and then changes
The power output of walk motor with hydraulic pressure 16, the travel speed and jerk of tractor are adjusted with this.Realize that the safety of tractor is kept away
Barrier.
First before field travels, mark of first manually being noted down to Obstacle Position, input control terminal is stored tractor
Record, makes a living into walking path and provides reference.
Big Dipper GPS navigation system will send information to control system 9 for determining tractor body position and directional information
Storage, to guide tractor to be walked, avoidance, steering or operation.
Big Dipper GPS navigation system is Centimeter Level Big Dipper GPS navigation system, and it includes：Earth station, satellite movement receiving station
10th, satellite base station 11 and communication unit 18；Wherein, ground station as shown in Figure 4 includes communication unit 18 and control terminal 19,
For convenience of artificial remote control tractor, also drive simulating platform can be set in earth station, by analogsimulation bridge remote control tractor
Traveling and operation；Control terminal 19 is the mobile terminal such as computer or mobile phone, PDA for being provided with unmanned control software；Satellite
Mobile receiving station 10 is the vector satellite movement receiving station of double antenna, including：Satellite mobile receiver aerial, mobile Big Dipper GPS connect
Receipts machine, remote data transmission unit 906；Satellite mobile receiver aerial is connected with mobile Big Dipper GPS, mobile Big Dipper GPS receiver
Machine is connected with remote data transmission unit 906, and mobile Big Dipper GPS is connected with control system 9；Base station 11 as shown in Figure 3 includes：
Base station satellite earth antenna 100, base station receiver 101 and base station data radio station 102；Base station satellite earth antenna 100 and base station
Receiver 101 is connected, and base station data radio station 102 is connected with base station receiver 101.Base station 11 can be self-built or uses public base station,
It is common knowledge.
Wherein, earth station transmits control data to control system 9 by communication unit 18 in real time, and receives control system 9
The position of transmission, speed, deflection, operational parameter data, analysis and treatment, store and carry out the fortune of automatic control of tractor
OK；
The satellite data that base station 11 will receive directly issues the remote data transmission disposed on tractor by data radio station 102
Unit 906 is received, and the satellite data that remote data transmission unit 906 will be received sends satellite movement receiving station 10 to and parses precision
Reach Centimeter Level position data and be transferred to control system 9, control system 9 is accurately obtained tractor position in real time；
The present invention also provides a kind of control method of the unmanned full-hydraulic multifunctional tractor of Beidou navigation, and it is dilatory to realize
Machine being capable of automatic obstacle avoiding, steering, operation in the case of different terrain, landforms in 24 hours.
The control method of the unmanned all-hydraulic tractor of Beidou navigation of the invention, comprises the following steps：
Step 1, using Beidou satellite system, the big of operation plot is obtained by artificial Big Dipper measurement bar or manual measurement
Small, shape and Obstacle Position data, be entered into together with ground block number, job content, owner's information be provided with control it is soft
In the control terminal of the earth station of part or in the control terminal of mobile phone A PP, job requirements are generated, transmit to the control system and deposit
Storage；
Step 2, tractor is travelled to the starting point in operation plot, and tractor place is obtained by Big Dipper GPS navigation system
Size, shape, the Obstacle Position in the operation plot in the longitude and latitude of start position, azimuth, and combination step 1, are input to
Control terminal, to generate the walking path and job requirements in plot, transmits to control system storage；
Step 3, starts tractor, and the control system control tractor is according to job requirements and the walking road in generation plot
Footpath performs directly to walk, obstacle, commutation or operation, until completion.
More particularly, during straight trip, longitude and latitude degrees of data or left and right crawler belt coding that tractor is measured by the GPS of Centimeter Level
Whether device data perception position is compared with the path data of storage and keeps straight on, and if any error, then adjusts left and right crawler belt and drives
The size of power, allows it to be kept straight on after correcting, and is also the direction angular data or left and right shoe measured by the GPS of Centimeter Level during steering
Data with encoder, and the point target corner taken out from storage, are compared and obtain final bearing or rotation data, by
Control system is instructed to the output variable speed of power control unit 901 or deflecting, make left and right crawler belt one just walking one it is counter walk, tractor is corresponding
Pivot stud, reach target deflection.
Directly walk in tractor, during obstacle, commutation traveling, earth station is in real time by tractor control system 9
The communication unit put obtains the service data of tractor, when tractor position and plot walking path occur deviation or operation
During change, earth station can issue control system 9 with artificial correction data, to adjust speed, travel direction or the operation of tractor
It is required that.
Operation principle of the invention includes：
First, tractor straight-line travelling or reversing principle
Straight-line travelling or commutation are realized by adjusting the travel speed of tractor left and right sides crawler belt or wheel.Come when dragging
When machine left and right sides crawler track speeds are consistent, tractor carries out straight-line travelling；When drag come machine left and right sides crawler track speeds it is inconsistent when,
Drag and carry out machine and be partial to towards slow-footed that side, so as to realize commutation.
2nd, drag and carry out machine speed control principle
Control system data processing unit according to by the speed difference of left and right sides crawler belt parse change power output refer to
Order reaches power control unit, and power control unit is converted into decreasing or increasing the command information of hydraulic variable flow pump discharge output,
Hydraulic variable displacement pump receives flow automatic regulation after the command information for decreasing or increasing flow output, from change left and right sides crawler belt
The power output of walk motor with hydraulic pressure, to cause that the travel speed of crawler belt changes.
3rd, positional deviation correction principle and process
The distance meter that control system 9 is walked according to the longitude and latitude and deflection obtained from GPS or from left and right crawler belt 1 in plot
The difference of left and right crawler belt 1 is calculated to determine whether the path required with original deviation to tractor travel direction occurs；When tractor row
When there is deviation in the distance walked or direction, the power output size and Orientation of the control adjustment hydraulic system of control system 9, with
The speed of the traveling of change tractor and direction are come tractor body position of rectifying a deviation.
In sum, the unmanned full-hydraulic multifunctional tractor of a kind of Beidou navigation of tractor of the invention, by storing
Case and rear suspension unit are combined, and can be hung different agricultural tools and be realized deep ploughing subsoiling, plantation, fertilising, prepartion of land, field pipe
Various functions such as reason, different demands that are flexible, meeting user.And by Big Dipper GPS navigation system and sensor integration system
System is applied to tractor, and tractor can be realized in unpiloted operation with reference to control system, broadcasts that row end is straight, connect row standard
Really, row deviation is broadcast no more than 3 centimetres for 1000 meters, all weather operations in 24 hours effectively increase operation quality, shorten operation week
Phase.Can also avoid repeating and omitting operation by setting field boundary and driving path, while recordable driving path and survey
Amount farmland area, can greatly improve operation accuracy.In the fine whole of the crops such as sugarcane, cotton, tomato, beet and peanut
Had a clear superiority in the agricultural machinery working links such as ground, precision drilling, accurate plant protection and mechanized harvest.
The foregoing description to specific illustrative embodiment of the invention be in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can be much changed
And change.The purpose of selecting and describing the exemplary embodiment is that explaining that certain principles of the invention and its reality should
With so that those skilled in the art can realize and using a variety of exemplaries of the invention and
A variety of selections and change.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (6)
1. the unmanned all-hydraulic tractor of a kind of Beidou navigation, it is characterised in that including：
Tractor body,
Hydraulic system, it is arranged in the tractor body, for transmitting power and motion for the tractor body；
Sensor integration system, for perceiving, gathering and transmits the tractor body position, travel speed, traveling side
To and job status data message；
Control system and Big Dipper GPS navigation system；
Wherein, the Big Dipper GPS navigation system, its Centimeter Level elaborate position for being used to measure the tractor body, by position
Information is sent to the control system storage and processes, to guide the tractor to be walked or be turned to；
The control system, receives data message, the position of Big Dipper gps system transmission of the sensor integration system transmission
The control data that confidence ceases and earth station assigns, is parsed into the control information of the tractor, stores, to control the hydraulic pressure
The size and Orientation of system dynamic conveying controls the tractor body to perform walking, steering, avoidance and operation.
2. the unmanned all-hydraulic tractor of Beidou navigation according to claim 1, it is characterised in that the hydraulic system
It is a system for closing, it includes：Engine, at least one hydraulic variable displacement pump, multichannel current divider, at least 2 hydraulic moving horses
Up to, hydraulic cylinder, working hydraulic pressure motor, hydraulic oil container, radiator, oil passage control valve door group and a plurality of hydraulic tube；
The hydraulic variable displacement pump is connected with the engine, the hydraulic variable displacement pump, and its oil-out passes through the hydraulic tube respectively
The oil inlet of walk motor with hydraulic pressure is directly connected to, its oil inlet connects with the oil-out of the fuel tank or the walk motor with hydraulic pressure
Connect, another road oil-out of hydraulic variable displacement pump connects the input port of the multichannel current divider, each road of the multichannel current divider
Delivery outlet connects the input of oil passage control valve door group respectively, the output end of the oil passage control valve door group respectively with it is described
The oiler connection of working hydraulic pressure motor and the hydraulic cylinder, the working hydraulic pressure motor and the hydraulic cylinder it is fuel-displaced
Mouth is connected with the radiator, and the radiator is connected with the hydraulic oil container, and the oil-out of the hydraulic oil container is after filtering
Oil inlet with the hydraulic variable displacement pump and the hydraulic pressure constant displacement pump is connected.
3. the unmanned all-hydraulic tractor of Beidou navigation according to claim 1, it is characterised in that the Big Dipper GPS
Navigation system includes：Earth station, communication unit, satellite base station, data radio station, satellite movement receiving station；
The earth station transmits control data to the control system by the communication unit in real time, and receives the control system
Position, speed, deflection, operational parameter data that system sends, analysis, storage, to monitor the operation of the tractor；
The institute that the satellite data that the base station will receive is sent directly to be disposed on the tractor by the data radio station
The remote data transmission unit for stating satellite movement receiving station is received, and the satellite data that the satellite movement receiving station will receive is parsed
Precision reaches Centimeter Level position data and is transferred to the control system, control system is accurately obtained in real time where tractor
Position and direction.
4. the unmanned all-hydraulic tractor of Beidou navigation according to claim 1, it is characterised in that the tractor sheet
Body includes：Frame, walking mechanism, rear suspension unit and speed measuring coder；
The walking mechanism including crawler belt or wheel is provided with below the frame, the speed measuring coder is placed in described
In the rotary shaft of walking mechanism, the umber of pulse of the rotary shaft for measuring the walking mechanism, and transmit to the control system,
The speed of travel, travel distance and the left and right rows for calculating the walking mechanism of the tractor walk deviation；
The rear of the frame is provided with controllable height rear suspension unit, for hanging farm implements.
5. the unmanned all-hydraulic tractor of Beidou navigation according to claim 4, it is characterised in that the control system
Described tractor that speed measuring coder in the Big Dipper GPS navigation system and the tractor body is determined respectively or so
Distance that crawler belt is walked in plot is simultaneously transferred to the control system, and the control system is walked according to left and right crawler belt in plot
Distance calculates the speed of left and right crawler belt and is compared and draws phase difference and determine tractor travel direction；The control system
The distance and direction that the distance and direction that the left and right crawler belt of acquisition is walked in plot are measured with the Big Dipper GPS navigation system are mutual
It is reference, when there is deviation in the distance of tractor walking or direction, the control system control adjustment engine, hydraulic pressure
The power output size and Orientation of system, with change the traveling of tractor speed and direction come tractor body position of rectifying a deviation.
6. the control method of the unmanned all-hydraulic tractor of Beidou navigation according to claim 1, it is characterised in that bag
Include following steps：
Step 1, using Beidou satellite system, size, the shape in operation plot is obtained by artificial Big Dipper measurement bar or manual measurement
Shape and Obstacle Position data, the electricity for being provided with control software is entered into together with ground block number, job content, owner's information
In the control terminal of brain earth station or mobile phone A PP, generate job requirements and store；
Step 2, tractor is travelled to the starting point in operation plot, and starting point position where tractor is obtained by Big Dipper GPS navigation system
The size in the operation plot in longitude and latitude, the azimuth put, and combination step 1, shape, Obstacle Position generate the walking in plot
Path and job requirements, transmit to control system storage；
Step 3, starts tractor, and the control system automatic control of tractor is according to job requirements and the walking road in generation plot
Footpath performs directly walk, turn to, avoidance and operation, until completion.
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