CN109717175B - Intelligent self-walking type spraying system for orchard and control method thereof - Google Patents
Intelligent self-walking type spraying system for orchard and control method thereof Download PDFInfo
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Abstract
The intelligent self-walking type spraying system for the orchard comprises a spraying vehicle, a positioning base station, a handheld monitoring terminal and a driving controller, wherein the spraying vehicle is used for spraying medicines or foliar fertilizers on fruit trees, the positioning base station is arranged at the central position of the orchard, and the driving controller is arranged on the spraying vehicle; the driving controller is used for controlling the automatic driving and spraying operation of the spraying vehicle. The control method of the invention comprises the following steps: a) Mapping the operation points; b) Planning a path; c) Automatic driving and spraying; d) Automatically adding medicine. The spraying system and the control method realize that the spraying vehicle runs according to a planned path, and performs the operation of spraying the pesticide or the foliar fertilizer, so that the harm of sprayed agriculture to personnel health is avoided, personnel heatstroke is avoided, the spraying efficiency is improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to an intelligent self-walking type spraying system for an orchard and a control method thereof, in particular to an intelligent self-walking type spraying system for an orchard and a control method thereof, wherein the intelligent self-walking type spraying system can automatically spray medicines and foliar fertilizers.
Background
Fruit trees are commercial crops, and fruit planting and selling are supporting industries of agriculture in partial areas at present. In the orchard, the times of spraying medicine and foliar fertilizer every year are not lower than 20 times, and the spraying is carried out every 2 weeks on average from spring flowering to autumn fruit ripening, so that the cost investment and the labor investment are large. In recent years, although self-propelled spraying vehicles have been put into practical use in high-efficiency agriculture, most of the working modes are manual driving or remote control driving, and the working objects are mainly crops such as wheat and rice. In the orchard, most of the orchard uses an agricultural tricycle or tractor to drag the pesticide spraying machine, and part of the orchard automatically adopts a hand-held remote controller to remotely control the tractor to advance. The main problems are: 1) The sprayed pesticide has potential or direct harm to the health of operators; 2) The summer is hot, and heatstroke events are easy to cause in a high-temperature and high-humidity environment; 3) In a dense planting area, a plurality of spraying operations need to be carried out simultaneously, and labor force is short; 4) The operation processes of dispensing, transporting, spraying and the like are completed by a plurality of persons, so that the efficiency is low and the labor cost is high; 5) Remote control tractors require an operator to operate the remote control for a long time and can only operate in a visible range.
Disclosure of Invention
The invention provides an intelligent self-walking type spraying system for an orchard, which can automatically spray medicines and foliar fertilizers.
The intelligent self-walking type spraying system for the orchard comprises a spraying vehicle, a positioning base station, a handheld monitoring terminal and a driving controller, wherein the spraying vehicle is used for spraying medicines or foliar fertilizers on fruit trees, the positioning base station is arranged at the central position of the orchard, and the driving controller is arranged on the spraying vehicle; the method is characterized in that: the driving controller consists of a microcontroller, a power supply conversion circuit, an electromagnetic valve driver, an accelerator controller, a differential GPS receiver, an inertial measurement unit IMU, a display screen, a wireless communication circuit and a wheel angle detector, wherein the power supply conversion circuit, the electromagnetic valve driver, the accelerator controller, the differential GPS receiver, the inertial measurement unit IMU, the display screen, the wireless communication circuit and the wheel angle detector are connected with the microcontroller; the microcontroller is communicated with the cloud server and the handheld monitoring terminal through the wireless communication circuit.
According to the intelligent self-walking type spraying system for the orchard, the microcontroller is connected with the collision prevention sensor and the liquid level sensor, the microcontroller detects obstacles on a running path through the collision prevention sensor, and the liquid level sensor detects the liquid level of liquid medicine or fertilizer liquid in the spraying vehicle.
The control method of the intelligent self-walking type spraying system for the orchard is characterized by comprising the following steps of:
a) Mapping operation points, manually driving the spraying vehicle or marking coordinate information of key operation points on a driving path of the spraying vehicle by using a path planning tool, wherein the key operation points comprise: a working starting point, a working end point, a turning point, a middle point and an avoiding point; in a straight line path, only the operation starting point, the operation end point and the turning point of the driving path are needed to be mapped, and if the driving path is not a straight line, the middle point is added at the curve; if an obstacle such as a deep well or a telegraph pole exists in the working area, marking the corresponding position as an avoidance point; b) The method comprises the steps of planning a path, sending collected key operation point information to a handheld monitoring terminal, planning a running path of a spraying vehicle on the handheld monitoring terminal by an operator, displaying the planned running path, and setting a road section which is not sprayed on the path; if the liquid is required to be added in the middle, adding a liquid adding separation point, a liquid adding return point and liquid adding amount according to the position of the liquid adding point in the planning process of the path; c) The automatic driving and spraying are carried out, the hand-held monitoring terminal sends the planned driving path to the driving controller, and the driving controller controls the spraying vehicle to automatically drive according to the planned path, and meanwhile spraying the pesticide or the foliar fertilizer; if the spraying vehicle encounters an obstacle in the running process, a reminding signal is sent out according to the distance of the obstacle, and when the distance is smaller than the safe distance, the vehicle automatically stops and sends out reminding information to the handheld monitoring terminal; d) In the process of automatically spraying the pesticide or spraying the foliar fertilizer on the fruit trees by the spraying vehicle, if the spraying vehicle runs to a liquid adding separation point, the spraying vehicle leaves from the liquid adding separation point and runs to the liquid adding point to add the pesticide liquid, and if the added pesticide liquid reaches the requirement, the spraying vehicle runs to a liquid adding return point to continue spraying the pesticide or spraying the foliar fertilizer; e) And manual intervention, when the operation is completed, the spraying vehicle is stopped due to the long-term existence of an obstacle or other special conditions, sending alarm information to the handheld monitoring terminal so as to request the manual intervention of the operation of the spraying vehicle.
In the control method of the intelligent self-walking type spraying system for the orchard, in the mapping operation point process of the step a), if the manual driving spraying vehicle is adopted, the positioning information output by the differential GPS receiver is calibrated according to the vehicle posture and the GPS antenna height, and the positioning coordinate of the gravity center of the spraying vehicle is calculated; let the longitude and latitude coordinates of the i point in the path be (B) i ,L i ,H i ) It is converted into a projection coordinate (X) under a Gaussian coordinate system i ,Y i )；
In the path planning process of the step b), the operation starting point and the operation end are drawn according to the measurementThe method comprises the steps of planning a driving path of a spraying vehicle into a set of a plurality of straight line sections by points, turning points and intermediate points; let the starting point coordinate of a straight line segment under the Gaussian coordinate system be (X) 0 ,Y 0 ) The target point is (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The travel track equation of the spraying vehicle is as follows: ax+by+c=0, each parameter of the travel trajectory equation is obtained By the following formula:
the automatic driving and spraying described in step c) is achieved by the following steps:
c-1) acquiring coordinate information in real time, settling according to the positioning information of the differential GPS receiver and the vehicle posture information output by the inertial measurement unit IMU in the process that the spraying vehicle runs along the planned path, and converting the positioning information into positioning coordinates of the center of gravity of spraying;
c-2) Gaussian projection transformation, converting the positioning coordinate of the gravity center of the spraying vehicle into Gaussian plane coordinate according to Gaussian projection forward calculation formula, setting the starting point coordinate as (X) 0 ,Y 0 ) The target point is (X) 1 ,Y 1 ) The coordinates of the acquired i point are: (x) i ,y i )；
c-3) calculating track deviation, and calculating the track deviation of the real position and the theoretical position of the spraying vehicle according to a planned path equation, wherein the track error is as follows:
c-4) steering angle control, wherein the steering angle theta (N) of the spraying vehicle is obtained through a formula (3) according to the track error obtained in the step c-3):
wherein θ d P, I, D is proportional, differential and integral parameters of PID controller respectively, I err (N) is an integral term, N-1 represents the last calculation, and N represents the current calculation;
controlling the traveling direction of the spraying vehicle according to the obtained steering angle theta (N) as the steering angle of the current spraying vehicle;
c-5), calculating the given throttle of the spraying vehicle according to the running speed and the given speed output by the differential GPS receiver, and realizing the running speed control.
The beneficial effects of the invention are as follows: according to the intelligent self-walking type spraying system and the control method for the orchard, the positioning base station is arranged in the orchard to be sprayed with the pesticide or the foliar fertilizer, and the differential GPS receiver on the driving controller can realize the accurate positioning (the positioning accuracy can reach 1 cm) of the spraying vehicle by receiving the position signal of the positioning base station, so that a precondition is provided for the accurate control of the driving path of the spraying vehicle; the hand-held monitoring terminal plans the driving path of the spraying vehicle and sends the driving path to the driving controller, the driving controller controls the steering angle of the spraying vehicle through the electromagnetic valve driver according to the planned driving path and the current position information, steering angle information and speed information of the spraying vehicle according to the planned driving path, and the accelerator controller controls the speed of the spraying vehicle so as to realize that the spraying vehicle drives according to the planned path and execute the spraying or foliage fertilizer spraying operation, thereby avoiding harm of sprayed agriculture to personnel health, avoiding personnel heatstroke, improving spraying efficiency and reducing labor cost.
Drawings
FIG. 1 is a schematic diagram of the operation of the spray vehicle of the present invention;
FIG. 2 is a schematic diagram of an intelligent self-walking spray system for an orchard according to the present invention;
FIG. 3 is a schematic circuit diagram of a travel controller according to the present invention;
FIG. 4 is a schematic diagram of a path planning for an intelligent self-walking spray system for an orchard according to the present invention;
fig. 5 is a flowchart of a control method of the intelligent self-walking type spraying system for the orchard.
In the figure: 1 spraying vehicle, 2 positioning base station, 3 handheld monitor terminal, 4 driving controller, 5 cloud server, 6 fruit tree.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in fig. 1, a working schematic diagram of a spraying vehicle in the invention is provided, fig. 2 shows a schematic diagram of an intelligent self-walking type spraying system for an orchard, which consists of a spraying vehicle 1, a positioning base station 2, a handheld monitoring terminal 3 and a traveling controller 4, wherein the spraying vehicle 1 realizes the spraying of medicines or foliar fertilizer to fruit trees, the positioning base station 2 is arranged at the central position of the orchard, the coverage area of the positioning base station 2 is 2km, when the area of the orchard is smaller, one positioning base station 2 can meet the requirements, and when the area of the orchard is larger, a plurality of positioning base stations can be arranged. The driving controller 4 is arranged on the spraying vehicle 1 and used for controlling the spraying vehicle 1 to automatically walk, and the driving controller 4 can also map key operation points on a driving path; the handheld monitoring terminal 3 is used for planning a driving path of the spraying vehicle 1 and displaying the driving path, key operation points and position information of the spraying vehicle 1 so as to enable an operator to monitor the working condition of the spraying vehicle 1 in real time. Meanwhile, when work is finished or faults occur, alarm information can be sent out through the handheld monitoring terminal 3 so as to perform manual intervention.
As shown in FIG. 3, a schematic circuit diagram of the driving controller is provided, which is composed of a microcontroller, a power supply conversion circuit, a solenoid valve driver, an accelerator controller, a differential GPS receiver, an inertial measurement unit IMU, an LCD display screen, a wireless communication circuit, a collision prevention sensor, a wheel angle detector, a liquid level sensor and a storage device, wherein the microcontroller has the functions of signal acquisition, data operation and control output, and can adopt an ARM controller. The externally input power is converted into voltage meeting the requirement after being processed by the power conversion circuit, so that each module can work. The microcontroller obtains the position signal sent by the positioning base station 2 through the differential GPS receiver to determine the position coordinate of the spraying vehicle 1, and the position signal is used for a man-machine interface through an LCD display screen to display the information of the current vehicle position, the set parameters, the working state and the like. The storage device stores information such as the work point, the planned route, and the travel parameter setting.
The microcontroller communicates with the cloud server 5 and the handheld monitoring terminal 3 through the wireless communication circuit so as to upload the planned path to the cloud server 5 and receive the control instruction sent by the cloud server. In the process of collecting key operation points by adopting the spraying vehicle 1, the microcontroller transmits the mapped key operation points to the handheld monitoring terminal 3 by the wireless communication circuit. After planning the route, the handheld monitoring terminal 3 sends the running route of the spraying vehicle 1 to the running controller 4. The microcontroller obtains the steering angle of spraying car 1 through wheel angle detector, controls the steering angle of spraying car 1 through the solenoid valve driver, controls the travel speed of spraying car 1 through the throttle controller, can realize the detection to the barrier through the sensor that keeps away, is used for measuring the liquid level in the on-vehicle container through liquid level sensor, also judges the liquid medicine volume in the spraying car 1.
The spraying vehicle 1 can be designed into an electric control hydraulic front wheel driving and steering mechanism driven by a diesel engine, and the front wheel is driven to rotate by a hydraulic motor so as to drive the self-propelled spraying vehicle to advance; the electromagnetic valve controls the hydraulic cylinder to linearly stretch and retract, so that the steering wheel is driven to rotate, and the steering of the self-propelled spraying vehicle is realized. The steering angle of the vehicle is fed back to the driving controller through an angle sensor arranged on the steering shaft of the front wheel. In the manual driving mode, the control of the electromagnetic valve is realized through the direction control lever, and in the automatic driving mode, the control of the electromagnetic valve is finished by the driving controller.
The control method of the intelligent self-walking type spraying system for the orchard is realized through the following steps:
a) Mapping operation points, manually driving the spraying vehicle or marking coordinate information of key operation points on a driving path of the spraying vehicle by using a path planning tool, wherein the key operation points comprise: a working starting point, a working end point, a turning point, a middle point and an avoiding point; in a straight line path, only the operation starting point, the operation end point and the turning point of the driving path are needed to be mapped, and if the driving path is not a straight line, the middle point is added at the curve; if an obstacle such as a deep well or a telegraph pole exists in the working area, marking the corresponding position as an avoidance point;
in the step, the path planning tool can adopt a trolley provided with a differential GPS receiver, and the trolley walks on an orchard path to realize coordinate acquisition of key operation points.
b) The method comprises the steps of planning a path, sending collected key operation point information to a handheld monitoring terminal, planning a running path of a spraying vehicle on the handheld monitoring terminal by an operator, displaying the planned running path, and setting a road section which is not sprayed on the path; if the liquid is required to be added in the middle, adding a liquid adding separation point, a liquid adding return point and liquid adding amount according to the position of the liquid adding point in the planning process of the path;
c) The automatic driving and spraying are carried out, the hand-held monitoring terminal sends the planned driving path to the driving controller, and the driving controller controls the spraying vehicle to automatically drive according to the planned path, and meanwhile spraying the pesticide or the foliar fertilizer; if the spraying vehicle encounters an obstacle in the running process, a reminding signal is sent out according to the distance of the obstacle, and when the distance is smaller than the safe distance, the vehicle automatically stops and sends out reminding information to the handheld monitoring terminal;
d) In the process of automatically spraying the pesticide or spraying the foliar fertilizer on the fruit trees by the spraying vehicle, if the spraying vehicle runs to a liquid adding separation point, the spraying vehicle leaves from the liquid adding separation point and runs to the liquid adding point to add the pesticide liquid, and if the added pesticide liquid reaches the requirement, the spraying vehicle runs to a liquid adding return point to continue spraying the pesticide or spraying the foliar fertilizer;
when the liquid level is low or reaches a designated position in the planned path, the intelligent self-propelled spraying vehicle can automatically travel to a liquid injection point to perform liquid supplementing operation. The driving controller calculates the liquid supplementing amount according to the length of the operation path of the next section, then controls the automatic liquid supplementing device to pump liquid through the wireless communication module, stops liquid injection when the specified liquid level height is reached, and then drives to a liquid adding return point to continue spraying operation.
e) And manual intervention, when the operation is completed, the spraying vehicle is stopped due to the long-term existence of an obstacle or other special conditions, sending alarm information to the handheld monitoring terminal so as to request the manual intervention of the operation of the spraying vehicle.
As a specific control method, it is realized by the following steps:
in the process of mapping the working point in the step a), if the manual driving of the spraying vehicle is adopted, the positioning information output by the differential GPS receiver is calibrated according to the vehicle posture and the GPS antenna height, and the positioning coordinate of the gravity center of the spraying vehicle is calculated; let the longitude and latitude coordinates of the i point in the path be (B) i ,L i ,H i ) It is converted into a projection coordinate (X) under a Gaussian coordinate system i ,Y i )；
In the path planning process of the step b), the driving path of the spraying vehicle is planned into a set of a plurality of straight line sections according to the measured operation starting point, operation end point, turning point and middle point; let the starting point coordinate of a straight line segment under the Gaussian coordinate system be (X) 0 ,Y 0 ) The target point is (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The travel track equation of the spraying vehicle is as follows: ax+by+c=0, each parameter of the travel trajectory equation is obtained By the following formula:
the automatic driving and spraying described in step c) is achieved by the following steps:
c-1) acquiring coordinate information in real time, settling according to the positioning information of the differential GPS receiver and the vehicle posture information output by the inertial measurement unit IMU in the process that the spraying vehicle runs along the planned path, and converting the positioning information into positioning coordinates of the center of gravity of spraying;
c-2) Gaussian projection transformation, converting the positioning coordinate of the gravity center of the spraying vehicle into Gaussian plane coordinate according to Gaussian projection forward calculation formula, setting the starting point coordinate as (X) 0 ,Y 0 ) The target point is (X) 1 ,Y 1 ) The coordinates of the acquired i point are: (x) i ,y i )；
c-3) calculating track deviation, and calculating the track deviation of the real position and the theoretical position of the spraying vehicle according to a planned path equation, wherein the track error is as follows:
c-4) steering angle control, wherein the steering angle theta (N) of the spraying vehicle is obtained through a formula (3) according to the track error obtained in the step c-3):
wherein θ d P, I, D is proportional, differential and integral parameters of PID controller respectively, I err (N) is an integral term, N-1 represents the last calculation, and N represents the current calculation;
controlling the traveling direction of the spraying vehicle according to the obtained steering angle theta (N) as the steering angle of the current spraying vehicle;
c-5), calculating the given throttle of the spraying vehicle according to the running speed and the given speed output by the differential GPS receiver, and realizing the running speed control.
The invention provides a control method of an intelligent self-walking type spraying system for an orchard, which provides an intelligent self-walking type spraying vehicle with automatic operation capability, and realizes the following steps: 1) In the operation process, the self-propelled spraying vehicle can automatically run along a planned path, and the self-propelled spraying vehicle can automatically operate without manual intervention; 2) The liquid level in the self-carrying container can be measured, when the liquid level is too low, the self-carrying container can be automatically filled with liquid, and after the liquid is added, the self-carrying container can automatically work from a planned route; 3) The optimal driving route, the optimal liquid carrying amount and the non-spraying road section can be arranged through path planning and setting, so that the optimal efficiency and the liquid medicine saving are realized; 4) The hand-held monitoring terminal can be used for planning a path, monitoring the current position of the vehicle, the operated path, the operation range area and the working state of the spraying vehicle, and can also be used for realizing remote control; 5) The automatic liquid injection device is designed, and the driving controller can control the automatic liquid injection device through the wireless communication interface, so that the quantitative addition of spray liquid is realized.
Claims (2)
1. The control method of the intelligent self-walking type spraying system for the orchard comprises a spraying vehicle (1), a positioning base station (2), a handheld monitoring terminal (3) and a driving controller (4), wherein the spraying vehicle is used for spraying medicines or foliar fertilizers on fruit trees, the positioning base station is arranged at the central position of the orchard, and the driving controller is arranged on the spraying vehicle; the driving controller consists of a microcontroller, a power supply conversion circuit, an electromagnetic valve driver, an accelerator controller, a differential GPS receiver, an inertial measurement unit IMU, a display screen, a wireless communication circuit and a wheel angle detector, wherein the power supply conversion circuit, the electromagnetic valve driver, the accelerator controller, the differential GPS receiver, the inertial measurement unit IMU, the display screen, the wireless communication circuit and the wheel angle detector are connected with the microcontroller; the microcontroller is communicated with the cloud server (5) and the handheld monitoring terminal through the wireless communication circuit;
the microcontroller is connected with a collision prevention sensor and a liquid level sensor, and is used for detecting obstacles on a running path through the collision prevention sensor and detecting the liquid level of liquid medicine or fertilizer liquid in the spraying vehicle through the liquid level sensor;
the intelligent self-walking type spraying system for the orchard is characterized in that the control method of the intelligent self-walking type spraying system for the orchard is realized through the following steps:
a) Mapping operation points, manually driving the spraying vehicle or marking coordinate information of key operation points on a driving path of the spraying vehicle by using a path planning tool, wherein the key operation points comprise: a working starting point, a working end point, a turning point, a middle point and an avoiding point; in a straight line path, only the operation starting point, the operation end point and the turning point of the driving path are needed to be mapped, and if the driving path is not a straight line, the middle point is added at the curve; if the operation area is provided with a deep well or a barrier of a telegraph pole, marking the corresponding position as an avoidance point;
b) The method comprises the steps of planning a path, sending collected key operation point information to a handheld monitoring terminal, planning a running path of a spraying vehicle on the handheld monitoring terminal by an operator, displaying the planned running path, and setting a road section which is not sprayed on the path; if the liquid is required to be added in the middle, adding a liquid adding separation point, a liquid adding return point and liquid adding amount according to the position of the liquid adding point in the planning process of the path;
c) The automatic driving and spraying are carried out, the hand-held monitoring terminal sends the planned driving path to the driving controller, and the driving controller controls the spraying vehicle to automatically drive according to the planned path, and meanwhile spraying the pesticide or the foliar fertilizer; if the spraying vehicle encounters an obstacle in the running process, a reminding signal is sent out according to the distance of the obstacle, and when the distance is smaller than the safe distance, the vehicle automatically stops and sends out reminding information to the handheld monitoring terminal;
d) In the process of automatically spraying the pesticide or spraying the foliar fertilizer on the fruit trees by the spraying vehicle, if the spraying vehicle runs to a liquid adding separation point, the spraying vehicle leaves from the liquid adding separation point and runs to the liquid adding point to add the pesticide liquid, and if the added pesticide liquid reaches the requirement, the spraying vehicle runs to a liquid adding return point to continue spraying the pesticide or spraying the foliar fertilizer;
e) And manual intervention, when the operation is completed, the spraying vehicle is stopped due to the long-term existence of an obstacle or other special conditions, sending alarm information to the handheld monitoring terminal so as to request the manual intervention of the operation of the spraying vehicle.
2. The control method of the intelligent self-walking type spraying system for the orchard according to claim 1, wherein the control method comprises the following steps:
in the process of mapping the working point in the step a), if the manual driving of the spraying vehicle is adopted, the positioning information output by the differential GPS receiver is calibrated according to the vehicle posture and the GPS antenna height, and the positioning coordinate of the gravity center of the spraying vehicle is calculated; let the longitude and latitude coordinates of the i point in the path be (B) i ,L i ,H i ) Converting it into a projection coordinate system under Gaussian coordinate systemMarked as (X) i ,Y i )；
In the path planning process of the step b), the driving path of the spraying vehicle is planned into a set of a plurality of straight line sections according to the measured operation starting point, operation end point, turning point and middle point; let the starting point coordinate of a straight line segment under the Gaussian coordinate system be (X) 0 ,Y 0 ) The target point is (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the The travel track equation of the spraying vehicle is as follows: ax+by+c=0, each parameter of the travel trajectory equation is obtained By the following formula:
the automatic driving and spraying described in step c) is achieved by the following steps:
c-1) acquiring coordinate information in real time, calculating according to the positioning information of the differential GPS receiver and the vehicle posture information output by the inertial measurement unit IMU in the process that the spraying vehicle runs along the planned path, and converting the positioning information into the positioning coordinate of the gravity center of the spraying vehicle;
c-2) Gaussian projection transformation, converting the positioning coordinate of the gravity center of the spraying vehicle into Gaussian plane coordinate according to Gaussian projection forward calculation formula, setting the starting point coordinate as (X) 0 ,Y 0 ) The target point is (X) 1 ,Y 1 ) The coordinates of the acquired i point are: (x) i ,y i )；
c-3) calculating track deviation, and calculating the track deviation of the real position and the theoretical position of the spraying vehicle according to a planned path equation, wherein the track error is as follows:
c-4) steering angle control, wherein the steering angle theta (N) of the spraying vehicle is obtained through a formula (3) according to the track error obtained in the step c-3):
wherein θ d P, I, D is proportional, differential and integral parameters of PID controller respectively, I err (N) is an integral term, N-1 represents the last calculation, and N represents the current calculation;
controlling the traveling direction of the spraying vehicle according to the obtained steering angle theta (N) as the steering angle of the current spraying vehicle;
c-5), calculating the given throttle of the spraying vehicle according to the running speed and the given speed output by the differential GPS receiver, and realizing the running speed control.
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| CN109090087A (en) * | 2018-10-26 | 2018-12-28 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN209749570U (en) * | 2019-03-06 | 2019-12-10 | 山东交通学院 | Orchard intelligence is from walking water-spraying system |
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2019
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