CN109991960A - A kind of automatic driving of agricultural machinery control device with positioning function - Google Patents
A kind of automatic driving of agricultural machinery control device with positioning function Download PDFInfo
- Publication number
- CN109991960A CN109991960A CN201711468632.0A CN201711468632A CN109991960A CN 109991960 A CN109991960 A CN 109991960A CN 201711468632 A CN201711468632 A CN 201711468632A CN 109991960 A CN109991960 A CN 109991960A
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- agricultural machinery
- intelligent controller
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- gps
- control device
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- 239000000203 mixture Substances 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 34
- 239000000446 fuel Substances 0.000 claims description 8
- 239000004973 liquid crystal related substance Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 238000009472 formulation Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009331 sowing Methods 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of automatic driving of agricultural machinery control device with positioning function of the invention, including GPS/BD locating module, intelligent controller and farm machinery management Platform Server, it is characterized in that: location information of the GPS/BD locating module due to obtaining vehicle, intelligent controller is used to acquire the operating parameter that agricultural is and can control it, the location information and operating parameter of agricultural machinery are uploaded to farm machinery management Platform Server through GPRS network, the operation data of server decision agricultural machinery, intelligent controller is realized according to operation data and is controlled the automatic Pilot of agricultural machinery.Automatic driving of agricultural machinery control device of the invention has effectively achieved the control of agricultural machinery automatic running by the vehicle location and operating parameter of acquisition, agricultural machinery be can be automatically controled according to the path operation of formulation, reduce the investment of manpower, beneficial effect is significant, is convenient for application and promotion.
Description
Technical field
The present invention relates to a kind of automatic driving of agricultural machinery control devices, more specifically, more particularly to a kind of tool
There is the automatic driving of agricultural machinery control device of positioning function.
Background technique
Agricultural is national basis, is related to national politics, economic stability, can be by with the development of China's chemurgy
Distributed mode of agriculture gradually changes to concentrated agricultural.The mechanization of agricultural is the weight for measuring the development of a National agricultural
Index is wanted, along with the continuous propulsion of relevant strategies, urgent requirement is proposed to mechanization of agriculture.
Agricultural machinery has artificial incomparable labor efficiency, not only reduces labor intensity, but also can liberate very
Big a part of labour, and then it is engaged in other industry, therefore developing agricultural machinery is benefited the nation and the people.Agricultural machinery is mainly used for completing
The operations such as ploughing and weeding, sowing, the harvesting in soil, the existing agricultural machinery overwhelming majority is pilot steering, for the field of large area
For ground, driver needs prolonged driving operation, very easy fatigue.Moreover, most importantly, agricultural machinery
Using be it is interim, only just needed in the period of ploughing and weeding, sowing, harvesting, in this way, working or being engaged in outside other rows
The driver of industry, it has to return to one's native place in busy farming season, or large-scale land contract person does not employ largely not etc. in the time in busy farming season
Driver, carry out farm work operation, this can undoubtedly bring personnel's use cost of increasing.
As satellite positioning tech (Beidou satellite system in such as China), the communication technology, computer technology are to automatically control
The maturation of technology, satellite-signal can accurately determine the location information of vehicle based on the received, by vehicle's current condition
Detection and analysis makes reasonable automatic Pilot scheme, with control vehicle according to regulation route run, can by it is this nobody drive
It sails technology to be applied on agricultural machinery, to reduce production cost and improve working efficiency.
Summary of the invention
The present invention in order to overcome the shortcomings of the above technical problems, provides a kind of agricultural machinery with positioning function
Automatic Pilot control device.
A kind of automatic driving of agricultural machinery control device with positioning function of the invention, including GPS/BD positioning mould
Block, intelligent controller and farm machinery management Platform Server, GPS/BD locating module and intelligent controller are all set in agriculture
In the driver's cabin of industry machinery, GPS/BD locating module is used to receive satellite-signal and realize the positioning of agricultural machinery, intelligence control
Device processed is used to acquire the parameter of agricultural machinery and controls its operation；Its special feature is that: the GPS/BD locating module is by defending
Star signal receiving module, GPRS network communication module and RS485 communication interface composition, satellite signal reception module is for receiving north
The positioning signal of bucket satellite or GPRS satellite launch, to determine the latitude and longitude coordinates of agricultural machinery, GPRS network communication module warp
Communication base station and gateway realize the communication with the farm machinery management Platform Server of distal end；The intelligent controller is by microcontroller
And coupled MEMS gyroscope, velocity sensor, liquid crystal display and RS485 communication interface composition, MEMS gyroscope,
Velocity sensor is respectively used to the steering angle and travel speed of measurement agricultural machinery, and liquid crystal display is for showing agricultural machinery
Operating parameter, intelligent controller are communicated by RS485 communication interface and GPS/BD locating module, to realize the upload of data
And reception；
In use, the location information of the agricultural machinery of GPS/BD locating module acquisition and the agriculture of intelligent controller acquisition
The operating parameter of industry machinery is uploaded to the farm machinery management Platform Server of distal end, farm machinery management Platform Server pair through GPRS network
The data of upload carry out storage and operation, and decision goes out the operation data of agricultural machinery, and intelligent controller is according to receiving
Operation data, which is realized, controls the automatic Pilot of agricultural machinery.
A kind of automatic driving of agricultural machinery control device with positioning function of the invention, the intelligent controller
The input terminal of microcontroller is also connected with fuel gauge, output control terminal and the hydraulic directio disk of agricultural machinery, clutch controller, brake
Vehicle controller is connected with acceleration controller, realize respectively the steering angle to agricultural machinery, driving force clutch, brake system and
Oil feeding system is controlled, to realize the control to agricultural machinery automatic running.
A kind of automatic driving of agricultural machinery control device with positioning function of the invention, shown intelligent controller is also
It is provided with the CAN bus communication module being connected with microcontroller, intelligent controller passes through CAN bus communication module and agricultural
The vehicle-mounted ECU of machinery itself communicates.
The beneficial effects of the present invention are: automatic driving of agricultural machinery control device of the invention, is provided with GPS/BD positioning
Module, intelligent controller and farm machinery management Platform Server, by GPS/BD locating module to Beidou or GPS satellite signal
It receives, the latitude and longitude coordinates information of agricultural machinery can be accurately determined out；Intelligent controller, which can be realized, runs agricultural machinery
The acquisition of parameter, farm machinery management Platform Server receive the agricultural machinery position uploaded and trip information, and by formulation
Agricultural machinery operation data is issued to intelligent controller, and operation data controls agricultural machinery to intelligent controller based on the received
Automatic running, realize unmanned operation.
Further, intelligent controller acquires agricultural machinery by MEMS gyroscope, velocity sensor, fuel gauge respectively
Steering angle, speed and Fuel Remained data, avoid the drawbacks of previous conventional codec is brought using connecting rod；Intelligence control
Device processed realizes the automatic running of agricultural machinery by steering angle, clutch, brake and the control of acceleration to agricultural machinery.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of automatic driving of agricultural machinery control device with positioning function of the invention.
In figure: 1 GPS/BD locating module, 2 intelligent controllers, 3 farm machinery management Platform Servers, 4 big-dipper satellites, 5 defend
Star signal receiving module, 6 RS485 communication interfaces, 7 GPRS network communication modules, 8 communication base stations, 9 gateways, 10 MEMS gyros
Instrument, 11 velocity sensors, 12 fuel gauges, 13 liquid crystal displays, 14 hydraulic directio disks, 15 clutch controllers, 16 brake controllers,
17 acceleration controllers, 18 RS485 communication interfaces, 19 CAN bus communication modules, 20 vehicle-mounted ECUs.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, giving a kind of automatic driving of agricultural machinery control device with positioning function of the invention
Schematic diagram is made of GPS/BD locating module 1, intelligent controller 2 and farm machinery management Platform Server 3, GPS/BD positioning
Module 1 realizes the positioning to agricultural machinery, and intelligent controller 2 can not only acquire the operating parameter of agricultural machinery, but also can
Automatically control the operation of agricultural machinery.Farm machinery management Platform Server 3 be used for receives upload agricultural machinery geographical location with
Running state parameter, and the operating path information of formulation can be issued to intelligent controller 2, to control agricultural machinery according to system
Fixed path operation.
Shown in GPS/BD locating module 1 by satellite signal reception module 5, RS485 communication interface 6 and GPRS network communicate
Module 7 forms, and satellite signal reception module 5 is used to receive the positioning signal of the transmission of big-dipper satellite 4, to determine agricultural machinery
Longitude, latitude data；In the not available situation of big-dipper satellite 4, it can be positioned by receiving GPS satellite signal.GPS/
BD locating module 1 is connected by RS485 communication interface with intelligent controller 2, to realize GPS/BD locating module 1 and intelligence
Change the data transmission between controller 2.GPS network network communication module 7 is realized through communication base station 8, gateway 9 and is taken with farm machinery management platform
Communication between business device 3, to realize mutual data transmission.
Shown in intelligent controller 2 by microcontroller and coupled MEMS gyroscope 10, velocity sensor 11,
Fuel gauge 12, liquid crystal display 13, RS485 communication interface 18 and CAN bus communication module 19 form, and microcontroller has signal
Acquisition, the effect of data operation and control output.Microcontroller is measured by MEMS (microelectromechanical systems) gyroscope 10
The steering angle of agricultural machinery changes the drawbacks of must using connecting rod using encoder in the past, extends service life.Pass through speed
Degree sensor 11, fuel gauge 12 can acquire the speed and Fuel Remained amount of agricultural machinery respectively；It can be to agriculture by liquid crystal display
The operating parameter of industry machinery is shown, observes the current operating status of vehicle in order to drive indoor auxiliary driver.
Intelligent controller 2 realizes the communication with GPS/BD locating module 1 by RS485 communication interface 18, to upload
The operating path data that vehicle operating parameters collected and reception farm machinery management Platform Server 3 issue.Intelligent controller 2
The output end of microcontroller be connected with hydraulic directio disk 14, clutch controller 15, brake controller 16, acceleration controller 17
It connects, by the control to hydraulic directio disk 14, can control the steering angle of agricultural machinery, to realize the turning of agricultural machinery, turn around
And change operation lane etc..It, can be real respectively by the control of clutch controller 15, brake controller 16 and acceleration controller 17
Transmission clutch, brake and the oil supply control of existing agricultural machinery, to ensure the normal driving of agricultural machinery.Meanwhile intelligentized control method
Device 2 is also connected by CAN bus communication module 19 with the vehicle-mounted ECU 20 of agricultural machinery, to realize intelligent controller 2 and vehicle
Carry the data transmission between ECU20.
When work, GPS/BD locating module 1 obtains longitude, the latitude coordinate of agricultural machinery, 2 collecting vehicle of intelligent controller
Every operating parameter, the position coordinates of agricultural machinery and operating parameter are uploaded to by agriculture by GPRS network communication module 7
In machine management platform server 3, farm machinery management Platform Server 3 stores the data received, operation and management, and under
Send out the motion path information of agricultural machinery.Intelligent controller 2 first determines whether agriculture machine according to the operating path information received
Whether tool is adaptively adjusted on the operating path of planning if do not made if；Intelligent controller 2 is according to the path of planning
It realizes and the automatic Pilot of agricultural machinery is controlled.
A kind of automatic driving of agricultural machinery control device with positioning function of the invention, passes through the vehicle location of acquisition
And operating parameter, the control of agricultural machinery automatic running is had effectively achieved, can be automatically controled agricultural machinery according to the road of formulation
Diameter operation reduces the investment of manpower, and beneficial effect is significant, is convenient for application and promotion.
Claims (3)
1. a kind of automatic driving of agricultural machinery control device with positioning function, including GPS/BD locating module (1), intelligence
Controller (2) and farm machinery management Platform Server (3), GPS/BD locating module and intelligent controller are all set in agriculture machine
In the driver's cabin of tool, GPS/BD locating module is used to receive satellite-signal and realizes the positioning of agricultural machinery, intelligent controller
For acquiring the parameter of agricultural machinery and controlling its operation；It is characterized by: the GPS/BD locating module is connect by satellite-signal
Module (5), GPRS network communication module (7) and RS485 communication interface (6) composition are received, satellite signal reception module is for receiving
The positioning signal of big-dipper satellite (4) or GPRS satellite launch, to determine the latitude and longitude coordinates of agricultural machinery, GPRS network communicates mould
Block realizes the communication with the farm machinery management Platform Server (3) of distal end through communication base station (8) and gateway (9)；The intelligent control
Device processed by microcontroller and coupled MEMS gyroscope (10), velocity sensor (11), liquid crystal display (13) and
RS485 communication interface (18) composition, MEMS gyroscope, velocity sensor are respectively used to the steering angle and traveling of measurement agricultural machinery
Speed, liquid crystal display are used to show the operating parameter of agricultural machinery, and intelligent controller passes through RS485 communication interface and GPS/
BD locating module communicates, to realize the upload and reception of data；
In use, the location information of the agricultural machinery of GPS/BD locating module acquisition and the agriculture machine of intelligent controller acquisition
The operating parameter of tool is uploaded to the farm machinery management Platform Server (3) of distal end, farm machinery management Platform Server through GPRS network (7)
Storage and operation are carried out to the data of upload, and decision goes out the operation data of agricultural machinery, intelligent controller is according to receiving
Operation data realize the automatic Pilot of agricultural machinery controlled.
2. a kind of automatic driving of agricultural machinery control device with positioning function according to claim 1, feature exist
In: the input terminal of the microcontroller of the intelligent controller (2) is also connected with fuel gauge (12), output control terminal and agriculture machine
Hydraulic directio disk (14), clutch controller (15), the brake controller (16) of tool are connected with acceleration controller (17), real respectively
Now the steering angle of agricultural machinery, driving force clutch, brake system and oil feeding system are controlled, to realize to agricultural machinery
The control of automatic running.
3. a kind of automatic driving of agricultural machinery control device with positioning function according to claim 1 or 2, feature
Be: shown intelligent controller (2) is additionally provided with the CAN bus communication module (19) being connected with microcontroller, intelligent
Controller is communicated by the vehicle-mounted ECU (20) of CAN bus communication module and agricultural machinery itself.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468632.0A CN109991960A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic driving of agricultural machinery control device with positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468632.0A CN109991960A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic driving of agricultural machinery control device with positioning function |
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| Publication Number | Publication Date |
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| CN109991960A true CN109991960A (en) | 2019-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711468632.0A Pending CN109991960A (en) | 2017-12-29 | 2017-12-29 | A kind of automatic driving of agricultural machinery control device with positioning function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026760A (en) * | 2020-08-07 | 2020-12-04 | 义乌市深研智能科技有限公司 | Agricultural machinery safety control method and device, cloud control equipment and agricultural machinery system |
| WO2021121429A1 (en) * | 2019-12-18 | 2021-06-24 | 中联农业机械股份有限公司 | Intelligent agricultural machine based on binary control system |
-
2017
- 2017-12-29 CN CN201711468632.0A patent/CN109991960A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021121429A1 (en) * | 2019-12-18 | 2021-06-24 | 中联农业机械股份有限公司 | Intelligent agricultural machine based on binary control system |
| CN112026760A (en) * | 2020-08-07 | 2020-12-04 | 义乌市深研智能科技有限公司 | Agricultural machinery safety control method and device, cloud control equipment and agricultural machinery system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190709 |
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| WD01 | Invention patent application deemed withdrawn after publication |