CN109582025A - A kind of vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicle - Google Patents
A kind of vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicle Download PDFInfo
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- CN109582025A CN109582025A CN201811612119.9A CN201811612119A CN109582025A CN 109582025 A CN109582025 A CN 109582025A CN 201811612119 A CN201811612119 A CN 201811612119A CN 109582025 A CN109582025 A CN 109582025A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 238000003909 pattern recognition Methods 0.000 claims abstract description 28
- 239000007788 liquid Substances 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 239000000575 pesticide Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The present invention relates to a kind of vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicles, this method comprises: when receiving pattern-recognition instruction, according to pattern-recognition instruction identification vehicle location mode；When the starting of vehicle location mode, vehicle location signal corresponding with vehicle location mode is obtained；Vehicle driving mode is determined according to vehicle location signal, controls vehicle automatic running according to vehicle driving mode.Vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicle provided by the invention, the vehicle location signal when vehicle location mode is inactive can effectively be excluded, reduce the handling capacity of vehicle location signal, improve the utilization rate of vehicle location signal, vehicle can improve the degree of automation of vehicle drive according to vehicle driving mode automatic Pilot.
Description
Technical field
The present invention relates to technical field of vehicle control, and in particular to a kind of vehicle automatic control method, device, readable storage
Medium and plant protection vehicle.
Background technique
With the continuous evolution of vehicle control technology, automatic driving vehicle becomes domestic and international vapour because of less user's intervention
Vehicle manufacturer falls over each other the technological highland of research and development, to provide better driving experience for user.
In some cases, in order to make automatic driving vehicle cope with complex road condition, the accuracy of automatic Pilot is improved,
It ensures passenger's personal safety, mainly relies on the data processings skills such as image recognition technology, digital map navigation technology and technology of Internet of things
Art still merges the automatic driving vehicle of a variety of data processing techniques, needs constantly to receive and process logical from different communication
The data in road cause data throughout larger.
Summary of the invention
It needs constantly to receive and process for the automatic driving vehicle for merging a variety of data processing techniques in the prior art
Data from different communication channel, lead to the biggish deficiency of data throughout, and the present invention provides a kind of vehicle automatic control side
Method, device, readable storage medium storing program for executing and plant protection vehicle.
In a first aspect, the present invention provides a kind of vehicle automatic control methods, comprising:
When receiving pattern-recognition instruction, according to the pattern-recognition instruction identification vehicle location mode；
When vehicle location mode starting, vehicle location signal corresponding with the vehicle location mode is obtained；
Vehicle driving mode is determined according to the vehicle location signal, and it is automatic to control vehicle according to the vehicle driving mode
Traveling.
Second aspect, the present invention provides a kind of vehicle automatic control devices, comprising:
Pattern recognition module, for when receive pattern-recognition instruction when, according to the pattern-recognition instruction identification vehicle
Station-keeping mode；
Signal acquisition module, for obtaining opposite with the vehicle location mode when vehicle location mode starting
The vehicle location signal answered；
Control module is travelled, for determining vehicle driving mode according to the vehicle location signal, according to the vehicle row
The mode of sailing controls vehicle automatic running.
The third aspect, the present invention provides a kind of computer readable storage mediums, comprising: is stored with computer program and can
With the memory of vehicle communication, vehicle automatic control side described in first aspect is realized when the computer program is performed
Method.
Fourth aspect, the present invention provides a kind of plant protection vehicles, comprising: display screen, memory and processor；
The display screen is configured as display pattern information associated with vehicle location mode；
The memory is configured as storage computer program；
The processor is configured as communicating with the display screen and the memory, and is running the computer journey
Vehicle automatic control method described in first aspect is executed when sequence
Vehicle automatic control method provided by the invention, device, readable storage medium storing program for executing and plant protection vehicle beneficial effect be: will
Pattern-recognition instructs the identification condition as vehicle location mode, using vehicle location mode as the acquisition item of vehicle location signal
Part can effectively exclude the vehicle location signal when vehicle location mode is inactive, reduce the handling capacity of vehicle location signal,
The utilization rate of vehicle location signal is improved, and then using vehicle location signal as the Rule of judgment of vehicle driving mode, vehicle
According to vehicle driving mode automatic running, the degree of automation of vehicle drive is improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to make simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of vehicle automatic control method provided in an embodiment of the present invention；
Fig. 2 is the electrical connection schematic diagram of vehicle interior provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of another vehicle automatic control method provided in an embodiment of the present invention；
Fig. 4 is vehicle putting down along preset travel track automatic running under UWB station-keeping mode provided in an embodiment of the present invention
Face schematic diagram；
Fig. 5 is the schematic illustration of UWB indoor locating system provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of vehicle automatic control device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another vehicle automatic control device provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of another vehicle automatic control device provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram of plant protection vehicle provided in an embodiment of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Embodiment one
As shown in Figure 1, a kind of vehicle automatic control method of the embodiment of the present invention, this method comprises: when receiving mode
When identification instruction, according to pattern-recognition instruction identification vehicle location mode；When the starting of vehicle location mode, it is fixed with vehicle to obtain
The corresponding vehicle location signal of bit pattern；Vehicle driving mode is determined according to vehicle location signal, according to vehicle driving mode
Control vehicle automatic running.
It is provided with battery, DC/DC module, display screen and control box in some specific examples, in vehicle chamber, controls in box
Circuit board is set, and circuit board is integrated with the CPU communicated with display screen, and cabinet provides protection for circuit board；Display screen can use
Liquid crystal touch control display screen, liquid crystal touch control display screen can show vehicle location mode, select vehicle on a display screen based on user
The operation of station-keeping mode；CPU can use 32 single-chip microcontrollers of model STM32F103VCT6, which receives and respond
Pattern-recognition instruction, identifies vehicle location mode, is illustrated in figure 2 the connection schematic diagram of vehicle interior.
Pattern-recognition is instructed into the identification condition as vehicle location mode, is believed vehicle location mode as vehicle location
Number acquisition condition, can effectively exclude the vehicle location signal when vehicle location mode is inactive, reduce vehicle location letter
Number handling capacity, improve the utilization rate of vehicle location signal, and then sentencing using vehicle location signal as vehicle driving mode
Broken strip part, vehicle improve the degree of automation of vehicle drive, push vehicle well according to vehicle driving mode automatic running
Complete upgrading is automatic running.
Preferably, as shown in figure 3, after controlling vehicle automatic running according to vehicle driving mode, further includes: acquisition is set
Set the current level in the medical fluid storage tank on vehicle；The difference preset between total liquid level and current level is calculated, medical fluid is obtained
Surplus；The alarm or display screen being arranged on vehicle according to residual volume of solution control carry out dose alarm.
In some specific examples, vehicle further includes pesticide storage tank and liquid level sensor, and liquid level sensor is arranged in pesticide
The bottom or top of storage tank, liquid level sensor are connect with the I/O interface on single-chip microcontroller, and liquid level sensor is worked as detecting and sending
Preceding liquid level is to single-chip microcontroller；Single-chip microcontroller calculates the difference preset between total liquid level and current level, obtains residual volume of solution, and in medicine
When liquid surplus is lower than default surplus, control alarm issues audio alert, alternatively, control display screen display alarm information,
Such as: " pesticide is insufficient, please be replenished in time！".
Compared to the mode of traditional artificial judgment residual volume of solution, alarm or display are controlled by residual volume of solution
Shield automatically early warning and improves user experience so that dose early warning is more intelligent.
Preferably, as shown in figure 3, vehicle location mode includes line walking station-keeping mode, UWB station-keeping mode and GPS positioning mould
Formula is specifically included according to pattern-recognition instruction identification vehicle location mode: being instructed according to pattern-recognition and is known vehicle location mode
It Wei not line walking station-keeping mode or UWB station-keeping mode or GPS positioning mode.
Preferably, as shown in figure 3, obtaining vehicle corresponding with vehicle location mode when the starting of vehicle location mode
Positioning signal specifically includes: when the starting of line walking station-keeping mode, obtaining pulse signal corresponding with line walking station-keeping mode；Or
Person obtains UWB signal corresponding with UWB station-keeping mode when the starting of UWB station-keeping mode；Alternatively, when GPS positioning mode opens
When dynamic, GPS signal corresponding with GPS positioning mode is obtained.
In some specific examples, as shown in Fig. 2, vehicle further includes two electromagnetic sensors, UWB module and GPS positioning
Module, the line walking being biased between two electromagnetic sensors is provided on ground, and line walking can leading using transmittable electromagnetic signal
Line；The two sides of the bottom of vehicle are arranged in two electromagnetic sensors, and UWB module and GPS module are arranged in vehicle chamber；Two electromagnetism
Sensor, UWB module and GPS module are connect with single-chip microcontroller respectively, wherein the included UART interface of UWB module and single-chip microcontroller connect
It connects.
Line walking station-keeping mode, which refers to, to be indicated with pulse signal and for being positioned between vehicle two sides and line walking with pulse signal
Distance, for CPU based on the distance between vehicle two sides and line walking determine vehicle driving mode mode.
UWB station-keeping mode refer to UWB signal indicate and for UWB signal positioning vehicle coordinate position, for
CPU determines the mode of vehicle driving mode based on the coordinate position of vehicle.
GPS positioning mode refers to the coordinate position indicated with GPS signal and for positioning vehicle with GPS signal, for CPU
The mode of vehicle driving mode is determined based on the coordinate position of vehicle.
Vehicle is integrated with line walking station-keeping mode, UWB station-keeping mode and GPS positioning mode, and pattern-recognition instruction can be mostly
The alternative condition of three kinds of station-keeping modes, not only increases the flexibility of vehicle location, and effectively prevents in three kinds of positioning moulds
The positioning signal handling capacity that CPU is increased when formula starts simultaneously, is greatly improved the utilization rate of positioning signal.
Preferably, vehicle driving mode is determined according to vehicle location signal, it is automatic to control vehicle according to vehicle driving mode
Traveling specifically includes: according to the vehicle left side positioning signal in pulse signal determine the left side between vehicle left side and line walking away from
From determining the right side distance between vehicle right side and line walking according to the vehicle right side positioning signal in pulse signal.
When left side distance be less than right side apart from when, indicate vehicle be biased to line walking right side, vehicle driving mode is determined as
Vehicle right avertence driving mode, according to vehicle right avertence driving mode control vehicle along preset travel track automatic running.
When left side distance be equal to right side apart from when, vehicle driving mode is determined as track of vehicle driving mode, according to vehicle
Track driving mode control vehicle is along preset travel track automatic running.
When left side distance be greater than right side apart from when, vehicle driving mode is determined as vehicle left avertence driving mode, according to vehicle
Left avertence driving mode control vehicle is along preset travel track automatic running.
When left side distance be less than right side apart from when, indicate vehicle be biased to line walking right side；When left side distance be equal to right side away from
From when, indicate vehicle without departing from line walking；When left side distance be greater than right side apart from when, indicate vehicle be biased to line walking left side, wherein
Line walking is preset travel track.
In some specific examples, vehicle can be caterpillar, caterpillar include battery, DC/DC module and
For controlling the motor in crawler belt direction, the 48V voltage that battery provides is converted to the 5V electricity being used for as main board power supply by DC/DC module
Pressure and the 24V voltage for powering for motor, motor are connect by amplifying circuit of analog signal with single-chip microcontroller, and battery passes through DC/
DC module is connect with CPU.
Vehicle driving mode is determined as in the case of vehicle right avertence driving mode, and single-chip microcontroller sends the first analog signal, should
First analog signal is input to motor after amplifying circuit of analog signal amplifies, and motor turns according to amplified first analog signal
Dynamic, so that crawler belt deviates to the left, offset is equal to the difference between right side distance and left side distance, until vehicle is without departing from patrolling
Line；Vehicle driving mode is determined as in the case of track of vehicle driving mode, and single-chip microcontroller does not send analog signal；Vehicle driving side
Formula is determined as in the case of vehicle left avertence driving mode, single-chip microcontroller the second analog signal of transmission to amplifying circuit of analog signal, the
Two analog signals are input to motor after amplifying circuit of analog signal amplifies, and motor turns according to amplified second analog signal
Dynamic, so that crawler belt deviates to the right, offset is equal to the difference between left side distance and right side distance, until vehicle is without departing from patrolling
Line, three of the above vehicle driving mode may be implemented vehicle and travel along line walking.
Preferably, processing is filtered to multiple UWB signals respectively, correspondence obtains multiple effective position signals.
In some specific examples, as shown in Fig. 2, UWB signal is sent to control circuit by UWB module, UWB signal is through controlling
Circuit processed inputs effective position signal to single-chip microcontroller after amplifying and being filtered.
The corresponding flight time is determined according to launch time corresponding with each effective position signal stamp and receiving time stamp,
And the product between flight time and the light velocity is calculated, obtain the distance between vehicle and corresponding base station.
The first coordinate position for determining vehicle with the distance between multiple base stations respectively based on all vehicles judge that first sits
Positional relationship between cursor position and preset travel track.
When the first coordinate position is biased to the right side of preset travel track, vehicle driving mode is determined as vehicle right avertence row
Mode is sailed, according to vehicle right avertence driving mode control vehicle along preset travel track automatic running；When the first coordinate position exists
When on preset travel track, vehicle driving mode is determined as track of vehicle driving mode, according to track of vehicle driving mode control
Vehicle processed is along preset travel track automatic running；When the first coordinate position is biased to the left side of preset travel track, by vehicle
Driving mode is determined as the left offset manner of vehicle, according to the left offset manner control vehicle of vehicle along the automatic row in preset travel track
It sails.
In some specific examples, as shown in figure 4, four base stations are arranged in predetermined area, four base stations are respectively base
Stand A, base station B, base station C and base station D, and line walking is provided between base station A, base station B, base station C and base station D, and vehicle passes through line walking
And it is internally provided with UWB module, wherein preset travel corresponding with line walking track is shown in dotted line in Fig. 4.
It is illustrated in figure 5 UWB indoor locating system, wherein UWB module includes UWB label, and each base station respectively includes
UWB receiver, UWB label to UWB receiver send signal time correspond to launch time stamp, UWB label reception UWB receiver
The time of feedback signal corresponds to receiving time stamp.
Using default equation group to UWB module and base station A distance dUA, UWB module and base station B distance dUB, UWB mould
Block and base station C distance dUCWith UWB module and base station D distance dUCIt is solved, obtains the first coordinate position, wherein distance
dUA、dUB、dUCAnd dUCIndicate the distance between vehicle and base station.
Wherein, default equation group can indicate are as follows:
Wherein, xA、yAAnd zARespectively indicate a latitude coordinates of the base station A in three vertical each other dimensions, xB、yBWith
zBRespectively indicate a latitude coordinates of the base station B in three vertical each other dimensions, xC、yCAnd zCBase station C is respectively indicated mutual
For a latitude coordinates in three vertical dimensions, xD、yDAnd zDBase station D is respectively indicated in three vertical each other dimensions
A latitude coordinates, xU、yUAnd zURespectively indicate a latitude coordinates in the first coordinate position.
UWB (Ultra Wideband, referred to hereinafter as no-load communication techniques) is accurately positioned, compared to biography for indoor and outdoor
System narrow broadband location technology, no-load communication techniques have penetration power is strong, low in energy consumption, anti-interference effect is good, it is highly-safe,
The advantages that system complexity is low, setting accuracy is high.
Preferably, the second coordinate position that the vehicle is positioned according to GPS signal, judges the second coordinate position and default row
Sail the positional relationship between track.
When the second coordinate position is biased to the right side of preset travel track, vehicle driving mode is determined as vehicle right avertence row
Mode is sailed, according to vehicle right avertence driving mode control vehicle along preset travel track automatic running；When the second coordinate position exists
When on preset travel track, vehicle driving mode is determined as track of vehicle driving mode, according to track of vehicle driving mode control
Vehicle processed is along preset travel track automatic running；When the second coordinate position is biased to the left side of preset travel track, by vehicle
Driving mode is determined as vehicle left avertence driving mode, according to vehicle left avertence driving mode control vehicle along preset travel track from
Dynamic traveling.
GPS (Global Positioning System, referred to hereinafter as global positioning system), global positioning system not only may be used
Realize that round-the-clock, continuous, three-dimensional navigation positions and tests the speed in real time in the world to realize, but also can be accurately
Transmission time and precision positioning.
In some specific examples, caterpillar can also include two connect respectively with the I/O interface on single-chip microcontroller
The two sides of caterpillar are arranged in a velocity sensor, two velocity sensors, for detecting the two sides of caterpillar
Travel；Caterpillar can also include two position switch connecting respectively with the I/O interface on single-chip microcontroller, two positions
It sets switch to be arranged on two different liquid nozzles, each position switch is rising up and down for detecting each liquid nozzle correspondence
The position of drop and opening and closing left and right.
Embodiment two
As shown in fig. 6, a kind of vehicle automatic control device of the embodiment of the present invention, comprising: pattern recognition module, for working as
When receiving pattern-recognition instruction, according to the pattern-recognition instruction identification vehicle location mode；Signal acquisition module, for working as
When the vehicle location mode starts, vehicle location signal corresponding with the vehicle location mode is obtained；Traveling control mould
It is automatic to control vehicle according to the vehicle driving mode for determining vehicle driving mode according to the vehicle location signal for block
Traveling.
Preferably, as shown in fig. 7, vehicle automatic control device further include: alarm control module is arranged for obtaining in vehicle
The current level in medical fluid storage tank on；The difference preset between total liquid level and current level is calculated, residual volume of solution is obtained；
The alarm or display screen being arranged on vehicle according to residual volume of solution control carry out dose alarm.
Preferably, vehicle location mode includes line walking station-keeping mode, UWB station-keeping mode and GPS positioning mode, pattern-recognition
Module is specifically used for: being instructed according to pattern-recognition by vehicle location pattern-recognition is line walking station-keeping mode or UWB station-keeping mode
Or GPS positioning mode.
Preferably, as shown in figure 8, signal acquisition module specifically includes: pulse signal acquisition submodule, UWB signal obtain
Submodule and GPS signal acquisition submodule.
Pulse signal acquisition submodule, for obtaining and the line walking positioning mould when line walking station-keeping mode starting
The corresponding pulse signal of formula.
UWB signal acquisition submodule, for obtaining and the UWB station-keeping mode phase when UWB station-keeping mode starting
Corresponding UWB signal.
GPS signal acquisition submodule, for obtaining and the GPS positioning mode phase when GPS positioning mode starting
Corresponding GPS signal.
Preferably, as shown in figure 8, traveling control module specifically includes: the first traveling control submodule, the second traveling control
Submodule, third travel control submodule.
First traveling control submodule, is used for: determining vehicle left side according to the vehicle left side positioning signal in pulse signal
Left side distance between line walking determines between vehicle right side and line walking according to the vehicle right side positioning signal in pulse signal
Right side distance；When left side distance be less than right side apart from when, indicate vehicle be biased to line walking right side, vehicle driving mode is determined as
Vehicle right avertence driving mode, according to vehicle right avertence driving mode control vehicle along preset travel track automatic running.Work as left side
Distance be equal to right side apart from when, vehicle driving mode is determined as track of vehicle driving mode, according to track of vehicle driving mode
Vehicle is controlled along preset travel track automatic running；When left side distance be greater than right side apart from when, by vehicle driving mode determine
For vehicle left avertence driving mode, vehicle is controlled along preset travel track automatic running according to vehicle left avertence driving mode.
Preferably, the second traveling control submodule, for being filtered processing to multiple UWB signals respectively, correspondence is obtained
Multiple effective position signals；It is corresponding according to launch time corresponding with each effective position signal stamp and receiving time stamp determination
Flight time, and the product between flight time and the light velocity is calculated, obtain the distance between vehicle and corresponding base station；Based on vehicle
The first coordinate position of vehicle is determined with the distance between multiple base stations respectively；When the first coordinate position is biased to preset travel rail
When the right side of mark, vehicle driving mode is determined as vehicle right avertence driving mode, controls vehicle according to vehicle right avertence driving mode
Along preset travel track automatic running；When the first coordinate position is on preset travel track, vehicle driving mode is determined
For track of vehicle driving mode, vehicle is controlled along preset travel track automatic running according to track of vehicle driving mode；When
When one coordinate position is biased to the left side of preset travel track, vehicle driving mode is determined as the left offset manner of vehicle, according to vehicle
Left avertence driving mode control vehicle is along preset travel track automatic running.
Preferably, third travels control submodule, for positioning the second coordinate position of vehicle according to GPS signal；When
When two coordinate positions are biased to the right side of preset travel track, vehicle driving mode is determined as vehicle right avertence driving mode, according to
Vehicle right avertence driving mode controls vehicle along preset travel track automatic running；When the second coordinate position is in preset travel track
When upper, vehicle driving mode was determined as track of vehicle driving mode, according to track of vehicle driving mode control vehicle along pre-
If driving trace automatic running；When the second coordinate position is biased to the left side of preset travel track, vehicle driving mode is determined
For vehicle left avertence driving mode, vehicle is controlled along preset travel track automatic running according to vehicle left avertence driving mode.
Embodiment three
A kind of computer readable storage medium of the embodiment of the present invention, comprising: be stored with computer program and can be with vehicle
The memory of communication realizes any vehicle automatic control method of embodiment one when computer program is performed.
In some specific examples, computer-readable storage can be the readable storages such as mobile hard disk, flash disk or optical disc
Medium.
Example IV
As shown in figure 9, a kind of plant protection vehicle of the embodiment of the present invention, comprising: display screen, memory and processor；Display screen,
It is configured as display pattern information associated with vehicle location mode；Memory is configured as storage computer program；Processing
Device is configured as communicating with display screen and memory, and executes any vehicle of embodiment one when running a computer program
Autocontrol method.
Reader should be understood that in the description of this specification, reference term " aspect ", " preferably " or " some specific examples "
Deng description mean that specific features, step or feature described in conjunction with this embodiment or example are contained in of the invention at least one
In a embodiment or example.In the present specification, schematic expression of the above terms need not be directed to identical embodiment
Or example.Moreover, specific features, step or the feature of description can be in any one or more specific examples or example to close
Suitable mode combines.In addition, without conflicting with each other, those skilled in the art can will be described in this specification
The feature of different specific examples or example and different embodiments or examples is combined or/and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of vehicle automatic control method characterized by comprising
When receiving pattern-recognition instruction, according to the pattern-recognition instruction identification vehicle location mode；
When vehicle location mode starting, vehicle location signal corresponding with the vehicle location mode is obtained；
Vehicle driving mode is determined according to the vehicle location signal, controls the automatic row of vehicle according to the vehicle driving mode
It sails.
2. vehicle automatic control method according to claim 1, which is characterized in that according to the vehicle driving mode control
After vehicle automatic running processed, further includes:
Obtain the current level in the medical fluid storage tank being arranged on the vehicle；
The difference preset between total liquid level and the current level is calculated, residual volume of solution is obtained；
The alarm or display screen being arranged on the vehicle according to residual volume of solution control carry out dose alarm.
3. vehicle automatic control method according to claim 1 or 2, which is characterized in that the vehicle location mode includes
Line walking station-keeping mode, UWB station-keeping mode and GPS positioning mode are specifically wrapped according to pattern-recognition instruction identification vehicle location mode
It includes:
The vehicle location pattern-recognition is determined for the line walking station-keeping mode or the UWB according to pattern-recognition instruction
Bit pattern or the GPS positioning mode.
4. vehicle automatic control method according to claim 3, which is characterized in that when the vehicle location mode starts
When, it obtains vehicle location signal corresponding with the vehicle location mode and specifically includes:
When line walking station-keeping mode starting, pulse signal corresponding with the line walking station-keeping mode is obtained；
Alternatively, obtaining UWB signal corresponding with the UWB station-keeping mode when UWB station-keeping mode starting；
Alternatively, obtaining GPS signal corresponding with the GPS positioning mode when GPS positioning mode starting.
5. vehicle automatic control method according to claim 4, which is characterized in that determined according to the vehicle location signal
Vehicle driving mode controls vehicle automatic running according to the vehicle driving mode and specifically includes:
The left side distance between vehicle left side and line walking is determined according to the vehicle left side positioning signal in the pulse signal, according to
Vehicle right side positioning signal in the pulse signal determines the right side distance between vehicle right side and the line walking；
When the left side distance be less than the right side apart from when, the vehicle driving mode is determined as vehicle right avertence traveling side
Formula controls the vehicle along preset travel track automatic running according to the vehicle right avertence driving mode；
When the left side distance be equal to the right side apart from when, the vehicle driving mode is determined as track of vehicle traveling side
Formula controls the vehicle along preset travel track automatic running according to the track of vehicle driving mode；
When the left side distance be greater than the right side apart from when, the vehicle driving mode is determined as vehicle left avertence traveling side
Formula controls the vehicle along preset travel track automatic running according to the right offset manner of the vehicle.
6. vehicle automatic control method according to claim 4, which is characterized in that described according to the vehicle location signal
It determines vehicle driving mode, controls vehicle automatic running according to the vehicle driving mode and specifically include:
Processing is filtered to multiple UWB signals respectively, correspondence obtains multiple effective position signals；
According to launch time stamp corresponding with each effective position signal and receiving time stamp determination corresponding flight time,
And the product between the flight time and the light velocity is calculated, obtain the distance between the vehicle and corresponding base station；
The first coordinate position of the vehicle is determined based on the distance of the vehicle respectively between multiple base stations；
When first coordinate position is biased to the right side of preset travel track, the vehicle driving mode is determined as the vehicle right side
Inclined driving mode controls the vehicle along preset travel track automatic running according to the vehicle right avertence driving mode；
When first coordinate position is on the preset travel track, the vehicle driving mode is determined as track of vehicle
Driving mode controls the vehicle along preset travel track automatic running according to the track of vehicle driving mode；
When first coordinate position is biased to the left side of the preset travel track, the vehicle driving mode is determined as vehicle
Left offset manner controls the vehicle along the automatic row in preset travel track according to the vehicle left avertence driving mode
It sails.
7. vehicle automatic control method according to claim 4, which is characterized in that determined according to the vehicle location signal
Vehicle driving mode controls vehicle automatic running according to the vehicle driving mode and specifically includes:
The second coordinate position of the vehicle is positioned according to the GPS signal；
When second coordinate position is biased to the right side of preset travel track, the vehicle driving mode is determined as the vehicle right side
Inclined driving mode controls the vehicle along preset travel track automatic running according to the vehicle right avertence driving mode；
When second coordinate position is on the preset travel track, the vehicle driving mode is determined as track of vehicle
Driving mode controls the vehicle along preset travel track automatic running according to the track of vehicle driving mode；
When second coordinate position is biased to the left side of the preset travel track, the vehicle driving mode is determined as vehicle
Left avertence driving mode controls the vehicle along the automatic row in preset travel track according to the vehicle left avertence driving mode
It sails.
8. a kind of vehicle automatic control device characterized by comprising
Pattern recognition module, for when receive pattern-recognition instruction when, according to the pattern-recognition instruction identification vehicle location
Mode；
Signal acquisition submodule, for obtaining corresponding with the vehicle location mode when vehicle location mode starting
Vehicle location signal；
Control module is travelled, for determining vehicle driving mode according to the vehicle location signal, according to the vehicle driving side
Formula controls vehicle automatic running.
9. a kind of computer readable storage medium characterized by comprising be stored with computer program and can be with vehicle communication
Memory realizes the described in any item vehicle automatic control methods of claim 1-7 when the computer program is performed.
10. a kind of plant protection vehicle characterized by comprising display screen, memory and processor；
The display screen is configured as display pattern information associated with vehicle location mode；
The memory is configured as storage computer program；
The processor is configured as communicating with the display screen and the memory, and when running the computer program
Perform claim requires the described in any item vehicle automatic control methods of 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811612119.9A CN109582025A (en) | 2018-12-27 | 2018-12-27 | A kind of vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicle |
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| CN201811612119.9A CN109582025A (en) | 2018-12-27 | 2018-12-27 | A kind of vehicle automatic control method, device, readable storage medium storing program for executing and plant protection vehicle |
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