CN203012509U - Electronic control system of driverless tractor - Google Patents
Electronic control system of driverless tractor Download PDFInfo
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- CN203012509U CN203012509U CN 201220718117 CN201220718117U CN203012509U CN 203012509 U CN203012509 U CN 203012509U CN 201220718117 CN201220718117 CN 201220718117 CN 201220718117 U CN201220718117 U CN 201220718117U CN 203012509 U CN203012509 U CN 203012509U
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Abstract
The utility model discloses an electronic control system of a driverless tractor. The system comprises a central processor, a remote control module, an electronic map module, a path planning module, a DGPS navigation module, a posture correction module, an automatic speed-changing steering module, a feedback module and an integration display panel. The system of the utility model can continuously work day and night so that an agricultural machinery driver can get rid of monotonous repetitive work. The system is especially suitable for large farms in Xinjiang, the Northeast and the like. Agricultural machinery usage personnel can simultaneously operate a plurality of driverless tractors. According to an electronic map, a reasonable driving path can be automatically planed, and production efficiency is increased. Key technologies of DGPS navigation, path planning, automatic speed-changing steering and the like are used so that farmland working precision is greatly increased; the repetitive work is avoided and working efficiency is increased. Simultaneously, the system possesses the following advantages that fuel and fertilizer are saved and so on. The weight of the driverless tractor is light so that soil is not compressed tightly because of the excess weight and a crop yield can be increased.
Description
Technical field
The utility model belongs to the agricultural machinery field, relates in particular to a kind of driverless tractor electric-control system.
Background technology
The weight of present traditional tractor is larger, can press soil very tightly, makes the rhizome of crops be difficult to growth.Therefore people tend to more powerful tractor, a kind of wild plant, the subteranean stem of which is like water chestnut be got darker, and big-power tractor is overweight owing to conducting oneself with dignity, and can form darker compacting soil layer when plowing.
Summary of the invention:
The purpose of this utility model is to overcome the shortcoming of above-mentioned prior art, a kind of automobile instrument is provided, utilize synthesis display panel refresh speed fast, the advantage that stability is high refreshes the picture of synthesis display panel in real time by background program, and utilizes synthesis display Display panel driving states, solve orthodox car instrument response speed slow, pointing accuracy is poor, poor stability, the shortcoming of lacking individuality.
The utility model is achieved through the following technical solutions:
a kind of driverless tractor electric-control system, comprise central processing unit and remote control module, also comprise electric map module, path planning module, the DGPS navigation module, attitude correction module, the fluid drive steering module, feedback module and synthesis display panel, described electric map module is connected with path planning module, path planning module is connected with central processing unit, described remote control module is connected with central processing unit by wireless telecommunications, described central processing unit is connected with the fluid drive steering module, described fluid drive steering module coordinates with locomotive driving mechanism, described DGPS navigation module and attitude correction module are measured positional information and the status information of unmanned tractor, the DGPS navigation module is connected with central processing unit by wireless telecommunications, attitude correction module is connected with central processing unit, described fluid drive steering module is connected with feedback module, feedback module is connected with central processing unit, described central processing unit is connected with the synthesis display panel.
Feedback module is measured the action of fluid drive steering module, and is connected with the central processing unit circuit.
Attitude correction module is measured the transport condition of driverless tractor, is connected with the central processing unit circuit.
The utility model has the advantages that:
1, can realize working continuously round the clock, make agricultural machineries' driver break away from the dull work that repeats, be particularly suitable for the bulk farm uses such as Xinjiang and northeast.
2, the agricultural machinery user of service can operate many driverless tractors simultaneously, has improved production efficiency.
3, can according to electronic chart, automatically cook up reasonable driving path.
4, adopt the gordian techniquies such as DGPS navigation, path planning, fluid drive turn to, significantly improved the farmland operation precision, avoided repeated work, improved operating efficiency, also had simultaneously the advantages such as fuel saving and chemical fertilizer.
5, to have the people to drive tractor from the anharmonic ratio equal-wattage gently a lot of for driverless tractor, can ground being ploughed to such an extent that avoid overweight and soil is pressed to get tension due to self in darker, make the rhizome of crops more easily grow, thereby crop yield is increased.
Description of drawings
Figure is control principle block diagram of the present utility model.
Embodiment
embodiment: driverless tractor electric-control system as shown in the figure, comprise central processing unit and remote control module, also comprise electric map module, path planning module, the DGPS navigation module, attitude correction module, the fluid drive steering module, feedback module and synthesis display panel, described electric map module is connected with path planning module, path planning module is connected with central processing unit, described remote control module is connected with central processing unit by wireless telecommunications, described central processing unit is connected with the fluid drive steering module, described fluid drive steering module coordinates with locomotive driving mechanism, described DGPS navigation module and attitude correction module are measured positional information and the status information of unmanned tractor, the DGPS navigation module is connected with central processing unit by wireless telecommunications, attitude correction module is connected with the central processing unit circuit, described fluid drive steering module is connected with feedback module, feedback module is connected with central processing unit, described central processing unit is connected with the synthesis display panel.
During work, obtain electronic chart by electric map module, according to electronic chart, process through path planning system in required operation boundary of land block and cook up rational working path.When tractor began to travel, the DGPS navigation module recorded dynamic data, was sent to the built-in central processing unit of tractor by wireless telecommunications, obtained positional information.Obtain the driving states information of tractor by the attitude module of rectifying a deviation, as go off course, rock, climbing, descending etc., status information is sent to the central processing unit computing, the positional information that compensation DGPS module records makes the positional information that records more accurate.The path that central processing unit has been planned this positional information on the electronic chart compares, obtain deviate, after deviate is processed, control travel speed and the direction of driverless tractor by the fluid drive steering module, thereby reach the purpose of tractor automatic Pilot.The fluid drive steering module is built into feedback module by sensors such as angular transducer, speed pickup, position transducers, the data that feedback module is measured are sent the central processing unit computing, send instruction by central processing unit again and control the auto-steering speed-variable module, realize the Based Intelligent Control to tractor driving.Remote control module is connected with central processing unit by wireless telecommunications, and the ordering calculation of central processing unit to receiving controlled speed changing steering mechanism and completed corresponding actions, thereby realizes the Long-distance Control to unmanned tractor.Central processing unit is controlled the content of Comprehensive Control Display panel in real time.
DGPS Navigation Control technology: DGPS (differential GPS) is the system that develops out for improving GPS to utilize yard precision of location.Adopt the principle of relative positioning.Two different measuring points are utilized the most of common error of differential mode cancellation and obtain higher precision, thereby obtain path navigation more accurately.
The landform compensation technique: the status informations such as the tractor that module collects is gone off course, rocked, climbing of rectifying a deviation by attitude, the positional information that compensation DGPS navigation module obtains makes the positional information that records more accurate.
The farm work Path Planning Technique: in whole system, the path planning subsystem responsible is made rational planning for to the working path of tractor.
Native system organically combines DGPS airmanship, landform compensation technique, farm work Path Planning Technique, fluid drive and automatic steering control technology and is applied on tractor, thereby realizes the unmanned of tractor.
Claims (3)
1. driverless tractor electric-control system, it is characterized in that: comprise central processing unit and remote control module, also comprise electric map module, path planning module, the DGPS navigation module, attitude correction module, the fluid drive steering module, feedback module and synthesis display panel, described electric map module is connected with path planning module, path planning module is connected with central processing unit, described remote control module is connected with central processing unit by wireless telecommunications, described central processing unit is connected with the fluid drive steering module, described fluid drive steering module coordinates with locomotive driving mechanism, described DGPS navigation module and attitude correction module are measured positional information and the status information of unmanned tractor, the DGPS navigation module is connected with central processing unit by wireless telecommunications, attitude correction module is connected with central processing unit, described fluid drive steering module is connected with feedback module, feedback module is connected with central processing unit, described central processing unit is connected with the synthesis display panel.
2. driverless tractor electric-control system according to claim 1 is characterized in that: feedback module is measured the action of fluid drive steering module, and is connected with the central processing unit circuit.
3. driverless tractor electric-control system according to claim 1 is characterized in that: attitude correction module is measured the transport condition of driverless tractor, is connected with the central processing unit circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220718117 CN203012509U (en) | 2012-12-24 | 2012-12-24 | Electronic control system of driverless tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220718117 CN203012509U (en) | 2012-12-24 | 2012-12-24 | Electronic control system of driverless tractor |
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| CN203012509U true CN203012509U (en) | 2013-06-19 |
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| CN 201220718117 Expired - Fee Related CN203012509U (en) | 2012-12-24 | 2012-12-24 | Electronic control system of driverless tractor |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425131A (en) * | 2013-08-15 | 2013-12-04 | 江苏大学 | Navigation control method on basis of non-smooth control and disturbance observation for agricultural tractor |
| CN103914071A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation path recognition system of grain combine harvester |
| CN103914070A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation driving assisting system for grain combine harvester |
| CN105487539A (en) * | 2015-12-16 | 2016-04-13 | 无锡同春新能源科技有限公司 | Unmanned tractor |
| CN105501445A (en) * | 2015-12-16 | 2016-04-20 | 无锡同春新能源科技有限公司 | Unmanned tractor for ridge block rake-breaking work |
| CN105620470A (en) * | 2016-01-25 | 2016-06-01 | 雷沃重工股份有限公司 | Operation vehicle travel deflection detection and adjustment method and system |
| CN105911985A (en) * | 2016-04-22 | 2016-08-31 | 扬州大学 | Agricultural machinery automatic driving control device based on Beidou navigation |
| CN106489412A (en) * | 2016-09-23 | 2017-03-15 | 珠海巧力林业机械科技有限公司 | A kind of semi-automatic remote control system of brush cutter and method |
| CN106546253A (en) * | 2017-01-13 | 2017-03-29 | 山东农业大学 | A kind of farm working machinery path tracing device and its method for tracing |
| CN106585533A (en) * | 2016-11-30 | 2017-04-26 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | Distance control system of agricultural tractor |
| CN106774297A (en) * | 2016-11-15 | 2017-05-31 | 广州中海达定位技术有限公司 | A kind of agricultural machinery automatic path planning method, device and it is a kind of can automatic path planning agricultural machinery |
| CN107719356A (en) * | 2017-11-03 | 2018-02-23 | 李青松 | Pure electronic special-purpose vehicle Unmanned Systems and method |
| CN107817794A (en) * | 2017-10-13 | 2018-03-20 | 上海司南卫星导航技术股份有限公司 | Automatic navigation method, control device and navigation system |
| CN107864711A (en) * | 2017-10-13 | 2018-04-03 | 上海司南卫星导航技术股份有限公司 | Rake the soil level method, control device and system of raking the soil level |
| CN108475061A (en) * | 2015-11-12 | 2018-08-31 | 诺曼·鲍伊尔 | Unpiloted roadside signs Vehicular system |
| CN108919792A (en) * | 2018-05-30 | 2018-11-30 | 华南农业大学 | A kind of automated navigation system path planning control method |
| CN109283923A (en) * | 2018-07-02 | 2019-01-29 | 清博（昆山）智能科技有限公司 | A kind of modeling of tractor self-steering system |
| CN110285790A (en) * | 2018-12-29 | 2019-09-27 | 丰疆智能科技股份有限公司 | Agricultural machinery terrain detection system and motion control method |
-
2012
- 2012-12-24 CN CN 201220718117 patent/CN203012509U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425131A (en) * | 2013-08-15 | 2013-12-04 | 江苏大学 | Navigation control method on basis of non-smooth control and disturbance observation for agricultural tractor |
| CN103425131B (en) * | 2013-08-15 | 2015-12-23 | 江苏大学 | Based on the farm tractor navigation control method of nonsmooth control and disturbance observation |
| CN103914071A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation path recognition system of grain combine harvester |
| CN103914070A (en) * | 2014-04-02 | 2014-07-09 | 中国农业大学 | Visual navigation driving assisting system for grain combine harvester |
| CN108475061A (en) * | 2015-11-12 | 2018-08-31 | 诺曼·鲍伊尔 | Unpiloted roadside signs Vehicular system |
| CN105487539A (en) * | 2015-12-16 | 2016-04-13 | 无锡同春新能源科技有限公司 | Unmanned tractor |
| CN105501445A (en) * | 2015-12-16 | 2016-04-20 | 无锡同春新能源科技有限公司 | Unmanned tractor for ridge block rake-breaking work |
| CN105620470B (en) * | 2016-01-25 | 2018-09-07 | 雷沃重工股份有限公司 | A kind of working truck line displacement detection method of adjustment and system |
| CN105620470A (en) * | 2016-01-25 | 2016-06-01 | 雷沃重工股份有限公司 | Operation vehicle travel deflection detection and adjustment method and system |
| CN105911985B (en) * | 2016-04-22 | 2019-03-01 | 扬州大学 | Automatic driving of agricultural machinery control method based on Beidou navigation |
| CN105911985A (en) * | 2016-04-22 | 2016-08-31 | 扬州大学 | Agricultural machinery automatic driving control device based on Beidou navigation |
| CN106489412A (en) * | 2016-09-23 | 2017-03-15 | 珠海巧力林业机械科技有限公司 | A kind of semi-automatic remote control system of brush cutter and method |
| CN106489412B (en) * | 2016-09-23 | 2019-12-31 | 珠海巧力林业机械科技有限公司 | Semi-automatic remote control system and method for brush cutter |
| CN106774297A (en) * | 2016-11-15 | 2017-05-31 | 广州中海达定位技术有限公司 | A kind of agricultural machinery automatic path planning method, device and it is a kind of can automatic path planning agricultural machinery |
| CN106585533A (en) * | 2016-11-30 | 2017-04-26 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | Distance control system of agricultural tractor |
| CN106546253A (en) * | 2017-01-13 | 2017-03-29 | 山东农业大学 | A kind of farm working machinery path tracing device and its method for tracing |
| CN106546253B (en) * | 2017-01-13 | 2023-05-05 | 山东农业大学 | Farmland operation machinery path tracking device and tracking method thereof |
| CN107817794A (en) * | 2017-10-13 | 2018-03-20 | 上海司南卫星导航技术股份有限公司 | Automatic navigation method, control device and navigation system |
| CN107864711A (en) * | 2017-10-13 | 2018-04-03 | 上海司南卫星导航技术股份有限公司 | Rake the soil level method, control device and system of raking the soil level |
| CN107719356A (en) * | 2017-11-03 | 2018-02-23 | 李青松 | Pure electronic special-purpose vehicle Unmanned Systems and method |
| CN108919792B (en) * | 2018-05-30 | 2021-08-24 | 华南农业大学 | Path planning control method for automatic navigation system |
| CN108919792A (en) * | 2018-05-30 | 2018-11-30 | 华南农业大学 | A kind of automated navigation system path planning control method |
| CN109283923A (en) * | 2018-07-02 | 2019-01-29 | 清博（昆山）智能科技有限公司 | A kind of modeling of tractor self-steering system |
| CN110285790A (en) * | 2018-12-29 | 2019-09-27 | 丰疆智能科技股份有限公司 | Agricultural machinery terrain detection system and motion control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20161224 |