CN108614574A - A kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system and method - Google Patents
A kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system and method Download PDFInfo
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- CN108614574A CN108614574A CN201810592430.5A CN201810592430A CN108614574A CN 108614574 A CN108614574 A CN 108614574A CN 201810592430 A CN201810592430 A CN 201810592430A CN 108614574 A CN108614574 A CN 108614574A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention proposes a kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system and method.Present system includes：Millimeter radar obstacle avoidance module, camera obstacle avoidance module, baroceptor, temperature sensor, liquid sensor, three-axis sensor, the first satellite positioning module, PixHawk fly control device, propulsion electric machine drive module, propulsion electric machine, angle motor drive module, angle motor, the first wireless transport module, the second wireless transport module, remote control center, the second satellite positioning module.The method of the present invention measures position by remote control center physical location, remote control center and unmanned agricultural machinery measures position and calculates unmanned agricultural machinery physical location, propulsion electric machine pwm signal and angle motor PWM signal are calculated according to unmanned agricultural machinery physical location and target location, propulsion electric machine is controlled by propulsion electric machine pwm signal and angle motor PWM signal controls angle motor and unmanned agricultural machinery is made to move to target location.The invention has the advantages that improving kinematic accuracy.
Description
Technical field
The invention belongs to agriculture smart fields, specifically a kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system
System and method, applicable hills, the unmanned agricultural machinery system of high-precision intelligent in mountain area.
Background technology
Since ancient times, China is exactly agro-farming big country, there is deep historic evolution in terms of Planting Crops.With science
The development of technology, various agricultural machinery technologies emerge in succession.Nowadays, it is built on some big merger societies in China northeast, Xinjiang, farm
The remote job control centre of oneself is found, information system management personnel can utilize Beidou satellite system, according to operation needs pair
Agricultural machinery, machine hand carry out United Dispatching, in control centre it is known that the position of every agricultural machinery, state and workload.But these
Product is mostly complicated for operation, needs personnel's operating and controlling vehicle of driving experience, and whether hires operating personnel, still at one's own expense
Study agricultural machinery operation all can make peasant's cost input increased dramatically.In addition, Big Dipper civil systems in-plane error reaches several
Ten meters, height above sea level error is even more to have reached twice of in-plane error so that and these are in irregular shape in hills, mountainous region for agricultural machinery,
The possibility that the farmland of landforms out-of-flatness carries out autonomous intelligence operation becomes extremely low.
Invention content
Existing agricultural machinery system accuracy is not high, complicated for operation, input cost is high in order to overcome, and cannot be on hills, mountain
The soil utonomous working disadvantage of the Regional Dispersions such as ground, the present invention propose a kind of Centimeter Level high-precision satellite positioning intelligently agricultural control
System and method processed.
The technical solution of present system is a kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system, and feature exists
In including：Millimeter radar obstacle avoidance module, camera obstacle avoidance module, baroceptor, temperature sensor, liquid sensor, three axis
Sensor, the first satellite positioning module, PixHawk fly control device, propulsion electric machine drive module, propulsion electric machine, the driving of angle motor
Module, angle motor, the first wireless transport module, the second wireless transport module, remote control center, the second satellite positioning mould
Block；
The millimeter radar obstacle avoidance module flies control device with the PixHawk and is connect by conducting wire；The camera avoidance mould
Block flies control device with the PixHawk and is connect by conducting wire；The baroceptor flies control device with the PixHawk and is connected by conducting wire
It connects；The temperature sensor flies control device with the PixHawk and is connect by conducting wire；The liquid sensor and the PixHawk
Fly control device to connect by conducting wire；The three-axis sensor flies control device with the PixHawk and is connect by conducting wire；First satellite
Locating module flies control device with the PixHawk and is connect by conducting wire；The PixHawk fly control device, propulsion electric machine drive module,
Propulsion electric machine is sequentially connected in series by conducting wire；It is logical that the PixHawk flies control device, angle motor drive module, angle motor
Conducting wire is crossed to be sequentially connected in series；The PixHawk flies control device and is connect by conducting wire with first wireless transport module；Described
Mode is connect one wireless transport module by radio communication with second wireless transport module；Second wireless transport module
It is connect by conducting wire with the remote control center；Second satellite positioning module passes through conducting wire with the remote control center
Connection.
Preferably, millimeter radar obstacle avoidance module is for acquiring barrier radar signal；Camera obstacle avoidance module is for adopting
Collect barrier picture signal；The baroceptor is for acquiring height above sea level；The temperature sensor is for acquiring environment temperature；Institute
Liquid sensor is stated for acquiring unmanned agricultural machinery oil mass；The three-axis sensor is for acquiring unmanned agricultural machinery posture；Described first
Satellite positioning module measures position for measuring unmanned agricultural machinery；The PixHawk flies control device and is used for according to barrier radar signal
Obtaining the unmanned agricultural machinery distance of obstacle distance combines obstructions chart as signal identification barrier, carries out avoidance；Second satellite
Locating module measures position for measuring remote control center；The remote control center by remote control center physical location,
Remote control center measures position and unmanned agricultural machinery target location is transmitted to first wireless communication module, and by described
First wireless communication module communication is transmitted to the PixHawk and flies control device；The PixHawk flies control device by barrier
Radar signal, barrier picture signal, unmanned agricultural machinery height above sea level, environment temperature, unmanned agricultural machinery oil mass, unmanned agricultural machinery posture and nothing
People's agricultural machinery measures position, and by first wireless transport module, mode is transmitted to second wireless communication by radio communication
Module, second wireless communication module is by barrier radar signal, barrier picture signal, unmanned agricultural machinery height above sea level, environment temperature
Degree, unmanned agricultural machinery oil mass, unmanned agricultural machinery posture, unmanned agricultural machinery measure location transmission to the remote control center；It is described
PixHawk flies control device and measures position and unmanned agricultural machinery measurement position by remote control center physical location, remote control center
It sets and calculates unmanned agricultural machinery physical location, propulsion electric machine PWM is calculated according to unmanned agricultural machinery physical location and unmanned agricultural machinery target location
Signal and angle motor PWM signal carry out electric current by the propulsion electric machine drive module according to propulsion electric machine pwm signal and put
Greatly to control propulsion electric machine, Current amplifier control is carried out by the angle motor drive module according to angle motor PWM signal
Angle motor so that unmanned agricultural machinery moves to unmanned agricultural machinery target location.
The technical solution of the method for the present invention is a kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control method, and feature exists
In including the following steps：
Step 1：PixHawk fly control device by remote control center physical location, remote control center measure position and
Unmanned agricultural machinery measures position and calculates unmanned agricultural machinery physical location；
Step 2：Propulsion electric machine pwm signal duty ratio is calculated according to unmanned agricultural machinery physical location and unmanned agricultural machinery target location
And angle motor PWM signal dutyfactor；
Step 3：By propulsion electric machine pwm signal Duty ratio control propulsion electric machine, pass through angle motor PWM signal dutyfactor
Control angle motor；
It is moved in unmanned agricultural machinery preferably, remote control center physical location described in step 1 is remote control center
Position is actually demarcated in plane：
(X0,Y0)
Wherein, X0For remote control center actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, Y0For unmanned agricultural machinery
Remote control center actual position coordinate in Y-axis on plane of movement；
Remote control center physical location described in step 1 is that remote control center is measured by the second satellite positioning module
Obtained position：
(X,Y)
Wherein, X is that remote control center measures position coordinates in X-axis on unmanned agricultural machinery plane of movement, and Y transports for unmanned agricultural machinery
Remote control center measures position coordinates in Y-axis in dynamic plane；
It is the position obtained by the first satellite positioning module measurement that unmanned agricultural machinery, which measures position, described in step 1：
(X'p,Y′p)
Wherein, X'pPosition coordinates, Y ' are measured for unmanned agricultural machinery in X-axis on unmanned agricultural machinery plane of movementpIt is transported for unmanned agricultural machinery
Unmanned agricultural machinery measures position coordinates in Y-axis in dynamic plane；
Unmanned agricultural machinery physical location described in step 1 is：
(Xp,Yp)
Wherein, XpFor unmanned agricultural machinery actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, YpIt is moved for unmanned agricultural machinery
Unmanned agricultural machinery actual position coordinate in Y-axis in plane；
Preferably, unmanned agricultural machinery physical location described in step 2 is according to calculating gained (X in step 1p,Yp)；
Unmanned agricultural machinery target location described in step 2 is：
(XT,YT)
Wherein, XTFor unmanned agricultural machinery target location coordinate in X-axis on unmanned agricultural machinery plane of movement, YTIt is moved for unmanned agricultural machinery
Unmanned agricultural machinery target location coordinate in Y-axis in plane；
The duty ratio of propulsion electric machine pwm signal described in step 1 is：
Wherein, k1For propulsion electric machine pwm signal control coefrficient；
The signal dutyfactor of angle motor PWM described in step 1 is：
Wherein, k2For angle motor PWM signal control coefrficient, θ is the unmanned agricultural machinery collected according to three-axis sensor
Posture, that is, unmanned agricultural machinery movement angle；
Preferably, it is that PixHawk flies control device according to propulsion electricity described in step 2 to control propulsion electric machine described in step 3
Machine pwm signal duty ratio D1Propulsion electric machine pwm control signal is generated, propulsion electric machine pwm control signal is driven by propulsion electric machine
Module carries out Current amplifier to control propulsion electric machine；
It is that PixHawk flies control device according to the signal of angle motor PWM described in step 2 that angle motor is controlled described in step 3
Duty ratio D2It generates angle motor PWM and controls signal, angle motor PWM signal carries out electricity by the angle motor drive module
Banish big control angle motor so that unmanned agricultural machinery moves to unmanned agricultural machinery target location.
Beneficial effects of the present invention are：On the basis of existing agricultural machinery by carrying this device after, agricultural machinery can be long-range
The small area farmland situation intelligently to differ to hills, these landforms of mountainous region injustice, shape under the scheduling of control centre is made accordingly
Action.The present invention compensates for existing agricultural machinery and requires operation high, the big deficiency of position error, the in particular drop to peasant's cost
It is low to play certain effect.Intelligent operation can be realized on the basis of unmanned, moreover it is possible in the base of high-precision satellite positioning
On plinth, safety guarantee is provided when hills, mountainous region carry out operation to agricultural machinery, realizes smooth-ride, accurate operation.
Description of the drawings
Fig. 1：Present system structure diagram；
Fig. 2：The method of the present invention flow chart；
Fig. 3：Conventional satellite positions the drift route of unmanned agricultural machinery；
Fig. 4：The drift route of unmanned agricultural machinery after present invention positioning；
Fig. 5：The line map of 400 meters of annular playground tests.
Specific implementation mode
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
The system structure diagram of the real-time example of the present invention is shown in Fig. 1.The technical solution of real-time mode system of the present invention is a kind of li
Meter level satellite positioning Intelligent unattended agricultural machinery control system, it is characterised in that including：Millimeter radar obstacle avoidance module, camera avoidance mould
Block, baroceptor, temperature sensor, liquid sensor, three-axis sensor, the first satellite positioning module, PixHawk fly control
Device, propulsion electric machine drive module, propulsion electric machine, angle motor drive module, angle motor, the first wireless transport module, second
Wireless transport module, remote control center, the second satellite positioning module；
The millimeter radar obstacle avoidance module flies control device with the PixHawk and is connect by conducting wire；The camera avoidance mould
Block flies control device with the PixHawk and is connect by conducting wire；The baroceptor flies control device with the PixHawk and is connected by conducting wire
It connects；The temperature sensor flies control device with the PixHawk and is connect by conducting wire；The liquid sensor and the PixHawk
Fly control device to connect by conducting wire；The three-axis sensor flies control device with the PixHawk and is connect by conducting wire；First satellite
Locating module flies control device with the PixHawk and is connect by conducting wire；The PixHawk fly control device, propulsion electric machine drive module,
Propulsion electric machine is sequentially connected in series by conducting wire；It is logical that the PixHawk flies control device, angle motor drive module, angle motor
Conducting wire is crossed to be sequentially connected in series；The PixHawk flies control device and is connect by conducting wire with first wireless transport module；Described
Mode is connect one wireless transport module by radio communication with second wireless transport module；Second wireless transport module
It is connect by conducting wire with the remote control center；Second satellite positioning module passes through conducting wire with the remote control center
Connection.
Millimeter radar obstacle avoidance module is for acquiring barrier radar signal；Camera obstacle avoidance module is for acquiring obstructions chart
As signal；The baroceptor is for acquiring height above sea level；The temperature sensor is for acquiring environment temperature；The liquid sensing
Device is for acquiring unmanned agricultural machinery oil mass；The three-axis sensor is for acquiring unmanned agricultural machinery posture；The first satellite positioning mould
Block measures position for measuring unmanned agricultural machinery；The PixHawk flies control device and is used to obtain barrier according to barrier radar signal
It combines obstructions chart as signal identification barrier apart from unmanned agricultural machinery distance, carries out avoidance；Second satellite positioning module is used
Position is measured in measuring remote control center；The remote control center will be in remote control center physical location, remote control
The heart measures position and unmanned agricultural machinery target location is transmitted to first wireless communication module, and passes through first channel radio
Letter module communication is transmitted to the PixHawk and flies control device；The PixHawk fly control device by barrier radar signal,
Barrier picture signal, unmanned agricultural machinery height above sea level, environment temperature, unmanned agricultural machinery oil mass, unmanned agricultural machinery posture and unmanned agricultural machinery are surveyed
Measuring position, mode is transmitted to second wireless communication module by radio communication by first wireless transport module, described
Second wireless communication module is by barrier radar signal, barrier picture signal, unmanned agricultural machinery height above sea level, environment temperature, unmanned agriculture
Oil level, unmanned agricultural machinery posture, unmanned agricultural machinery measure location transmission to the remote control center；The PixHawk flies control device
Position is measured by remote control center physical location, remote control center and unmanned agricultural machinery measures position and calculates unmanned agricultural machinery
Physical location calculates propulsion electric machine pwm signal and angle electricity according to unmanned agricultural machinery physical location and unmanned agricultural machinery target location
Machine pwm signal carries out Current amplifier by the propulsion electric machine drive module according to propulsion electric machine pwm signal and promotes electricity to control
Machine carries out Current amplifier by the angle motor drive module according to angle motor PWM signal and controls angle motor so that nothing
People's agricultural machinery moves to unmanned agricultural machinery target location.
The millimeter radar obstacle avoidance module type selecting is STRADA431；The camera obstacle avoidance module type selecting is sieve skill C270；
The baroceptor type selecting is MS5611；The temperature sensor type selecting is DS18B20；The liquid sensor type selecting is
XKC-Y25-V；The three-axis sensor type selecting is PU6000；The first satellite positioning module type selecting is NEO-M8P (Rover
End)；It is PixHawk2.4.8 that the PixHawk, which flies control device type selecting,；The propulsion electric machine drive module type selecting, which is that 320A is air-cooled, to be had
Brush electricity is adjusted；The propulsion electric machine type selecting is JGB37550 direct current generators；The angle motor drive module type selecting is PCA9685；
The angle choice of electrical machine is SG90；The first wireless transport module type selecting passes for CUAV-3DR numbers；Described second wireless biography
Defeated module type selecting passes for CUAV-3DR numbers；The second satellite positioning module NEO-M8P.
The specific method step of embodiment of the present invention is introduced with reference to Fig. 1 and Fig. 2.Embodiment of the present invention includes
Following steps：
Step 1：PixHawk fly control device by remote control center physical location, remote control center measure position and
Unmanned agricultural machinery measures position and calculates unmanned agricultural machinery physical location；
Remote control center physical location described in step 1 is that remote control center is practical on unmanned agricultural machinery plane of movement
Demarcate position：
(X0,Y0)
Wherein, X0For remote control center actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, Y0For unmanned agricultural machinery
Remote control center actual position coordinate in Y-axis on plane of movement；
Remote control center physical location described in step 1 is that remote control center is measured by the second satellite positioning module
Obtained position：
(X,Y)
Wherein, X is that remote control center measures position coordinates in X-axis on unmanned agricultural machinery plane of movement, and Y transports for unmanned agricultural machinery
Remote control center measures position coordinates in Y-axis in dynamic plane；
It is the position obtained by the first satellite positioning module measurement that unmanned agricultural machinery, which measures position, described in step 1：
(X'p,Y′p)
Wherein, X'pPosition coordinates, Y ' are measured for unmanned agricultural machinery in X-axis on unmanned agricultural machinery plane of movementpIt is transported for unmanned agricultural machinery
Unmanned agricultural machinery measures position coordinates in Y-axis in dynamic plane；
Unmanned agricultural machinery physical location described in step 1 is：
(Xp,Yp)
Wherein, XpFor unmanned agricultural machinery actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, YpIt is moved for unmanned agricultural machinery
Unmanned agricultural machinery actual position coordinate in Y-axis in plane；
Step 2：Propulsion electric machine pwm signal duty ratio is calculated according to unmanned agricultural machinery physical location and unmanned agricultural machinery target location
And angle motor PWM signal dutyfactor；
Unmanned agricultural machinery physical location described in step 2 is according to calculating gained (X in step 1p,Yp)；
Unmanned agricultural machinery target location described in step 2 is：
(XT,YT)
Wherein, XTFor unmanned agricultural machinery target location coordinate in X-axis on unmanned agricultural machinery plane of movement, YTIt is moved for unmanned agricultural machinery
Unmanned agricultural machinery target location coordinate in Y-axis in plane；
The duty ratio of propulsion electric machine pwm signal described in step 1 is：
Wherein, k1For propulsion electric machine pwm signal control coefrficient；
The signal dutyfactor of angle motor PWM described in step 1 is：
Wherein, k2For angle motor PWM signal control coefrficient, θ is the unmanned agricultural machinery collected according to three-axis sensor
Posture, that is, unmanned agricultural machinery movement angle；
Step 3：By propulsion electric machine pwm signal Duty ratio control propulsion electric machine, pass through angle motor PWM signal dutyfactor
Control angle motor；
It is that PixHawk flies control device according to propulsion electric machine pwm signal described in step 2 that propulsion electric machine is controlled described in step 3
Duty ratio D1Propulsion electric machine pwm control signal is generated, propulsion electric machine pwm control signal carries out electricity by propulsion electric machine drive module
It banishes greatly to control propulsion electric machine；
It is that PixHawk flies control device according to the signal of angle motor PWM described in step 2 that angle motor is controlled described in step 3
Duty ratio D2It generates angle motor PWM and controls signal, angle motor PWM signal carries out electricity by the angle motor drive module
Banish big control angle motor so that unmanned agricultural machinery moves to unmanned agricultural machinery target location.
The effect of the present invention is illustrated by following unmanned agricultural machinery fix drift Experimental comparison.Fig. 3 is fixed for conventional satellite
Drift route when the lower trolley in position is static, drift length is about at 2.5 meters or so；When Fig. 4 is that trolley is static after the present invention positions
Drift route, position is fixed always.It can intuitively be found out by the comparison of Fig. 3 and Fig. 4, use the control of the present invention
System and method drift can be neglected for the drift for using satellite positioning.Fig. 4, which can also be seen, to be found using high-precision
Remote control center when degree positioning；Fig. 5 is the line map of the annular playground test at 400 meters, and 12 operating points, white are arranged altogether
It is the best service line that remote control center is intelligently configured according to operating point that arrow, which is directed toward line segment, and black route is unmanned agricultural machinery
According to the circuit that the best effort route of setting independently travels, the route that unmanned agricultural machinery independently travels as can be seen from Figure with set
Fixed operating path essentially coincides.
Although a millimeter radar obstacle avoidance module, camera obstacle avoidance module, baroceptor, temperature is used more herein to pass
Sensor, liquid sensor, three-axis sensor, the first satellite positioning module, PixHawk fly control device, propulsion electric machine drive module, push away
In stepper motor, angle motor drive module, angle motor, the first wireless transport module, the second wireless transport module, remote control
The terms such as the heart, the second satellite positioning module, but the possibility using other terms is not precluded.The use of these terms is only to be
The essence of the present invention is more easily described, to be construed as any one of the additional limitations all disagreed with spirit of that invention
The back of the body.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Profit requires under protected ambit, can also make replacement or deformation, each fall within protection scope of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (6)
1. a kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system, it is characterised in that including：Millimeter radar obstacle avoidance module,
Camera obstacle avoidance module, baroceptor, temperature sensor, liquid sensor, three-axis sensor, the first satellite positioning module,
PixHawk flies control device, propulsion electric machine drive module, propulsion electric machine, angle motor drive module, angle motor, the first wireless biography
Defeated module, the second wireless transport module, remote control center, the second satellite positioning module；The millimeter radar obstacle avoidance module with
The PixHawk flies control device and is connected by conducting wire；The camera obstacle avoidance module flies control device with the PixHawk and is connected by conducting wire
It connects；The baroceptor flies control device with the PixHawk and is connect by conducting wire；The temperature sensor and the PixHawk
Fly control device to connect by conducting wire；The liquid sensor flies control device with the PixHawk and is connect by conducting wire；The three axis sensing
Device flies control device with the PixHawk and is connect by conducting wire；First satellite positioning module flies control device with the PixHawk and passes through
Conducting wire connects；The PixHawk flies control device, propulsion electric machine drive module, propulsion electric machine and is sequentially connected in series by conducting wire；Institute
The PixHawk stated flies control device, angle motor drive module, angle motor and is sequentially connected in series by conducting wire；The PixHawk flies
Control device is connect with first wireless transport module by conducting wire；First wireless transport module is wirelessly transferred with described second
Mode connects module by radio communication；Second wireless transport module is connect with the remote control center by conducting wire；
Second satellite positioning module is connect with the remote control center by conducting wire.
2. Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system according to claim 1, it is characterised in that：Millimeter thunder
Up to obstacle avoidance module for acquiring barrier radar signal；Camera obstacle avoidance module is for acquiring barrier picture signal；The gas
Pressure sensor is for acquiring height above sea level；The temperature sensor is for acquiring environment temperature；The liquid sensor is for acquiring nothing
People's agricultural machinery oil mass；The three-axis sensor is for acquiring unmanned agricultural machinery posture；First satellite positioning module is for measuring nothing
People's agricultural machinery measures position；The PixHawk flies control device and is used to obtain the unmanned agricultural machinery of obstacle distance according to barrier radar signal
Distance combines obstructions chart as signal identification barrier, carries out avoidance；Second satellite positioning module is for measuring long-range control
Center processed measures position；The remote control center by remote control center physical location, remote control center measure position with
And unmanned agricultural machinery target location is transmitted to first wireless communication module, and pass through the first wireless communication module channel radio
Letter mode is transmitted to the PixHawk and flies control device；The PixHawk, which flies control device, believes barrier radar signal, obstructions chart picture
Number, unmanned agricultural machinery height above sea level, environment temperature, unmanned agricultural machinery oil mass, unmanned agricultural machinery posture and unmanned agricultural machinery measures position and passes through institute
Stating the first wireless transport module, mode is transmitted to second wireless communication module, second wireless communication by radio communication
Module is by barrier radar signal, barrier picture signal, unmanned agricultural machinery height above sea level, environment temperature, unmanned agricultural machinery oil mass, unmanned agriculture
Machine posture, unmanned agricultural machinery measure location transmission to the remote control center；The PixHawk flies control device and passes through in remote control
Heart physical location, remote control center measure position and unmanned agricultural machinery measures position and calculates unmanned agricultural machinery physical location, according to
Unmanned agricultural machinery physical location calculates propulsion electric machine pwm signal and angle motor PWM signal with unmanned agricultural machinery target location, according to
Propulsion electric machine pwm signal carries out Current amplifier to control propulsion electric machine, according to angle electricity by the propulsion electric machine drive module
Machine pwm signal carries out Current amplifier by the angle motor drive module and controls angle motor so that unmanned agricultural machinery moves to
Unmanned agricultural machinery target location.
3. a kind of carrying out Centimeter Level satellite using Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system described in claim 1
The unmanned agricultural machinery control method of positioning intelligent, it is characterised in that include the following steps：
Step 1：PixHawk fly control device by remote control center physical location, remote control center measure position and nobody
Agricultural machinery measures position and calculates unmanned agricultural machinery physical location；
Step 2：According to unmanned agricultural machinery physical location and unmanned agricultural machinery target location calculate propulsion electric machine pwm signal duty ratio and
Angle motor PWM signal dutyfactor；
Step 3：By propulsion electric machine pwm signal Duty ratio control propulsion electric machine, controlled by angle motor PWM signal dutyfactor
Angle motor.
4. Centimeter Level satellite positioning Intelligent unattended agricultural machinery control method according to claim 3, it is characterised in that：Step 1
Described in remote control center physical location be remote control center actually demarcate position on unmanned agricultural machinery plane of movement：
(X0,Y0)
Wherein, X0For remote control center actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, Y0It is moved for unmanned agricultural machinery
Remote control center actual position coordinate in Y-axis in plane；
Remote control center physical location described in step 1 is that remote control center is obtained by the second satellite positioning module measurement
Position：
(X,Y)
Wherein, X is that remote control center measures position coordinates in X-axis on unmanned agricultural machinery plane of movement, and Y is that the movement of unmanned agricultural machinery is flat
Remote control center measures position coordinates in Y-axis on face；
It is the position obtained by the first satellite positioning module measurement that unmanned agricultural machinery, which measures position, described in step 1：
(X′p,Y′p)
Wherein, X 'pPosition coordinates, Y ' are measured for unmanned agricultural machinery in X-axis on unmanned agricultural machinery plane of movementpIt is flat for the movement of unmanned agricultural machinery
Unmanned agricultural machinery measures position coordinates in Y-axis on face；
Unmanned agricultural machinery physical location described in step 1 is：
(Xp,Yp)
Wherein, XpFor unmanned agricultural machinery actual position coordinate in X-axis on unmanned agricultural machinery plane of movement, YpFor unmanned agricultural machinery plane of movement
Unmanned agricultural machinery actual position coordinate in upper Y-axis.
5. Centimeter Level satellite positioning Intelligent unattended agricultural machinery control method according to claim 3, it is characterised in that：Step 2
Described in unmanned agricultural machinery physical location be according in step 1 calculate gained (Xp,Yp)；
Unmanned agricultural machinery target location described in step 2 is：
(XT,YT)
Wherein, XTFor unmanned agricultural machinery target location coordinate in X-axis on unmanned agricultural machinery plane of movement, YTFor unmanned agricultural machinery plane of movement
Unmanned agricultural machinery target location coordinate in upper Y-axis；
The duty ratio of propulsion electric machine pwm signal described in step 1 is：
Wherein, k1For propulsion electric machine pwm signal control coefrficient；
The signal dutyfactor of angle motor PWM described in step 1 is：
Wherein, k2For angle motor PWM signal control coefrficient, θ be the unmanned agricultural machinery posture that is collected according to three-axis sensor i.e.
Unmanned agricultural machinery movement angle.
6. Centimeter Level satellite positioning Intelligent unattended agricultural machinery control method according to claim 3, it is characterised in that：Step 3
Described in control propulsion electric machine be PixHawk fly control device according to the duty ratio of propulsion electric machine pwm signal described in step 2 D1Generation pushes away
Stepper motor pwm control signal, propulsion electric machine pwm control signal carry out Current amplifier by propulsion electric machine drive module and are pushed away with controlling
Stepper motor；
It is that PixHawk flies control device according to the signal duty of angle motor PWM described in step 2 that angle motor is controlled described in step 3
Compare D2It generates angle motor PWM and controls signal, angle motor PWM signal carries out electric current by the angle motor drive module and puts
Big control angle motor so that unmanned agricultural machinery moves to unmanned agricultural machinery target location.
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