CN101592957A - A kind of auxiliary linear tracking control system for operation of distributed agricultural machine - Google Patents
A kind of auxiliary linear tracking control system for operation of distributed agricultural machine Download PDFInfo
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Abstract
The present invention relates to a kind of auxiliary linear tracking control system for operation of distributed agricultural machine, this system comprises: the GPS receiver is used to receive the current job position coordinate information of agricultural machinery; Control terminal according to described position coordinates, calculates the driftage distance between agricultural machinery and the current operation leading line, and sends described driftage to the navigation indicating control apart from information; The navigation indicating control comprises a dichromatic LED and several single color LEDs, according to the size of described driftage distance, controls the different luminance that is in of described dichromatic LED and single color LED.The present invention is based on tractor operation navigation target route Design of digital, GPS navigation and embedded Control technology, realize the auxiliary control of tractor operation process line tracking, more accurate than traditional tractor operation airmanships such as scriber and foam sprinklings, and be not subjected to the farmland operation environmental restraint, operation quality and efficient are improved.
Description
Technical field
The present invention relates to control system, be specifically related to a kind of auxiliary linear tracking control system for operation of distributed agricultural machine.
Background technology
In tractor farm work process, operation unit maneuverability is poor, easily backsets, balks, walks distance more and influence production efficiency.Do in order to reduce the recast between the operation ridge and to leak, tradition adopts scriber more or sprays foam process and carry out the foundation of mark as driver's operation navigation in the field.Along with carrying out of domestic precision agriculture technical research in recent years, the researchist has developed agricultural machinery navigation indication mechanism, and system comprises and adopts GPS, PC104 computing machine and navigation indication optical wand, can provide the navigation indication for the agricultural machinery farm work.
For the above-mentioned two kinds navigation indicating means that are used for agricultural machinery working, (1) under the situation that adopt the classic method of scriber and foam sprinkling lower, farmland surface does not have obvious reference substance and surface relief is bigger in farmland operation environment visibility, substantially infeasible or the navigation indicating effect is very poor, do not reach navigation and improve the purpose of operation quality.(2) and existing navigation indication mechanism adopts the RS232/RS485 bus, system wiring is numerous and diverse, poor reliability, and the versatility of each module of system is not strong, poor compatibility.(3) simultaneously, the distance between two light emitting diodes of this navigation indication mechanism can only realize that very out of true (1 meter) is inconvenient to be provided with by default mode.(4) in addition, originally be used to indicate agricultural machinery pilot lamp layout of cruising in deviation range unreasonable, for being different from the monochromatic pilot lamp of other diode colors, and pilot lamp is arranged in a linear, and is unfavorable for that the driver behavior personnel observe.
Summary of the invention
Purpose of the present invention just is to provide a kind of distributed tractor auxiliary linear tracking control system for operation, with a little less than solving traditional scriber and foam and spraying navigate mode adaptability, the problem of navigation effect difference, improve tractor farm work process line tracking control effect, reduce the overlapping and missing rate of operation process in the ranks, improve the farm work quality efficiency.Simultaneously, from system design and implementation method get rid of that the wiring of existing agricultural machinery navigation indication mechanism is numerous and diverse, the problem of reliability and versatility difference.According to based on agrisilviculture machinery fieldbus thought and method, propose and realize a kind of distributed tractor auxiliary linear tracking control system for operation that comprises complete module such as the airborne control terminal of tractor, the board-like navaspector of arc, Hall effect tractor wheel speed monitoring modular and GPS receiver, improve system availability and reliability with bus interface.
For achieving the above object, technical scheme of the present invention is to adopt a kind of auxiliary linear tracking control system for operation of distributed agricultural machine, and this system comprises:
The GPS receiver is used to receive the current job position coordinate information of agricultural machinery;
Control terminal according to described position coordinates, calculates the driftage distance between agricultural machinery and the current operation leading line, and sends described driftage to the navigation indicating control apart from information;
The navigation indicating control comprises a dichromatic LED and several single color LEDs, according to the size of described driftage distance, controls the different luminance that is in of described dichromatic LED and single color LED.
Wherein, a series of lines that are parallel to each other of described operation leading line for generating according to information such as agricultural machinery working plot polygonal shape and agricultural machinery working fabric widths.
Wherein, described monochrome photodiode is distributed in the left and right sides of described two-color diode, and the monochrome photodiode number of the left and right sides is identical,
When described driftage apart from when setting deviation threshold, described two-color diode sends green glow, other monochrome photodiodes do not work,
When the driftage between agricultural machinery and the current operation leading line when surpass setting deviation threshold and agricultural machinery and be positioned at the leading line left side, described two-color diode sends ruddiness, and the monochrome photodiode single color LED bright, the right side that is positioned at described two-color diode left side simultaneously goes out;
When the driftage between agricultural machinery and the current operation leading line when surpass setting deviation threshold and agricultural machinery and be positioned at the leading line right side, described two-color diode sends ruddiness, and the monochrome photodiode single color LED bright, the left side that is positioned at described two-color diode right side simultaneously goes out.
Wherein, the luminous number of described single color LED determines according to the size of described driftage distance, and the number of driftage luminous described single color LED when big is many, and driftage is few apart from the number of hour luminous described single color LED.
Wherein, described navigation indicating control also comprises display screen, is used to show yawing moment and driftage distance.
Wherein, described dichromatic LED and single color LED are arranged on the arc display circuit board.
Wherein, also comprise:
The wheel speed detection module comprises wheel speed sensors, is used to measure the wheel speed of agricultural machinery.
Wherein, described wheel speed sensors is the magneto-electric hall effect sensor, and it comprises:
Magnet steel is uniformly distributed on the agricultural machinery wheel hub, is used to produce magnetic field;
Hall element is fixed on the fixed support of magnet steel.
Wherein, it is characterized in that described control terminal and described navigation indicating control carry out communication by the CAN bus.
Advantage of the present invention and beneficial effect are:
1, based on tractor operation navigation target route Design of digital, GPS navigation and embedded Control technology, realize the auxiliary control of tractor operation process line tracking, more accurate than traditional tractor operation airmanships such as scriber and foam sprinklings, and be not subjected to the farmland operation environmental restraint, operation quality and efficient are improved.
2, Fieldbus Based distributed tractor auxiliary linear tracking control system for operation design makes the highly versatile, compatible good of each module of system, and system uses operation convenient than prior art, and reliability strengthens.
3, the sensitivity of the navigation indicating control of flexible design is provided with function, and operating personnel can adjust sensitivity according to the needs of homework precision control at any time in operation process.
4, the board-like pilot lamp arrangement of arc, multi-colour LED and the design that monochromatic pilot lamp combines help the driver behavior personnel and observe deviation information in the tractor operation process, have strengthened the implementation result of system.
Description of drawings
Fig. 1 is the auxiliary linear tracking control system for operation of distributed agricultural machine structural drawing of embodiments of the present invention;
Fig. 2 is the farm work computer structure composition of embodiments of the present invention;
Fig. 3 is the tractor line tracking control synoptic diagram of embodiments of the present invention;
Fig. 4 is the navigation indicating control structured flowchart of embodiments of the present invention;
Fig. 5 is the theory diagram of the wheel speed sensors module of embodiments of the present invention.
Among the figure: 1, control terminal; 2, GPS receiver; 3, navigation indicating control; 4, resistance; 5, wheel speed detection module; 6, wheel speed sensors.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, auxiliary linear tracking control system for operation of distributed agricultural machine involved in the present invention mainly comprises the airborne control terminal 1 of GPS receiver 2, tractor, the board-like navigation indicating control 3 of arc, the Hall effect tractor wheel speed monitoring modular 5 of GPS (Global Position System) (GNSS).Four ingredients of said system have all designed the CAN bus interface, and design meets the application layer protocol of ISO11783 agrisilviculture machinery field bus communication protocol specification.
As shown in Figure 2, the airborne control terminal 1 of tractor is a core with the PC104 embedded main board, peripheral functionality parts such as integrated storage, demonstration, input and output, make up the embedded type terminal equipment that is fit to the airborne operation control of agricultural machinery, function for monitoring demand, and at the integrated characteristics of these parts, design is fit to the machinery and the surface structure of Airborne Terminal.Simultaneously 32 real-time embedded operating system WinCE.net of Microsoft are developed, customization is fit to the real-time multi-task operating system of the airborne control terminal of embedded agricultural machinery.Thereby form the airborne monitoring terminal equipment of embedded agricultural machinery that is fit to information acquisition of precision agriculture field and variable operation control.
As shown in Figure 3, tractor line tracking control program enforcement aspect, at operation plot polygon O ' EFGO, operation directional ray OO ' and working width (navigation spacing is set, be S among the figure) after, control program is according to physical dimension and the working width of operation plot outsourcing rectangle ABCD, generates the line segment of series of parallel in the operation directional ray automatically according to the inclination angle of operation directional ray.By judging the position relation in these line segments and operation plot, ask the polygonal intersection point of these parallel segments and operation plot, will be positioned at intersection point paired on the Polygonal Boundary of plot again and connect, distribute in many operation leading lines that are parallel to each other of inside, plot.These one group of leading lines that is parallel to each other are the target of following the tracks of in the tractor farm work process.In arbitrary moment in the tractor operation process, with respect to the operation leading line that the current operation of representative follows the trail of the objective, tractor GPS location point can be regarded as the driftage of tractor apart from (being d among the figure) to the vertical range of current operation leading line.Control program receive in real time the tractor top fixedly after the latitude and longitude coordinates of gps antenna through the projection conversion, generate the planimetric coordinates of current location, the calculating of the distance of going off course can be calculated by the distance calculation formula of putting straight line.Control program will be gone off course apart from being converted to a steering order that meets the ISO11783 agreement, send to the board-like navigation indicating control of arc by the airborne control terminal of tractor through the CAN bus, finish assisting navigation indication control procedure one time.Simultaneously, the relevant position data are carried out record with relevant job parameters such as tractor travel speeds.In tractor farm work process, in one group of parallel working navigation target, constantly repeat said process, finish tractor operation auxiliary straight line tracking Control task, reach the purpose of overlapping omission of minimizing and raising operation quality in the ranks.
As shown in Figure 4, the board-like navigation indicating control 3 of arc is connected and composed by the display circuit board of the light emitting diode of governor circuit and curved arrangement.The board-like navigation indicating control of arc with CAN bus interface adopts single-chip microcomputer W77E58P as core processor, by CAN bus controller chip SJA1000, opto-coupler chip 6N137 and CAN transceiver 82C250 expansion CAN bus interface.The board-like navigation indicating control of arc is articulated on the CAN bus by the CAN bus interface, realizes and the mutual communication of the airborne control terminal of tractor.The board-like navigation indicating control of arc adopts 2 74LS373 chips to expand 16 road I/O interfaces, and the I/O interface of expansion is used to connect 16 light emitting diodes.Navigation indicating control surface is provided with a row totally 17 light emitting diodes, and wherein, middle light emitting diode is a multi-color LED, and its left and right side respectively has 8 light emitting diodes that can glow.For the assisting navigation effect of enhanced navigation indicating control, be convenient to the driver behavior personnel and observe, 17 light emitting diodes are arranged as arc, middle multi-color LED is big than other diodes.All light emitting diodes are arranged on the arc display circuit board, and the board-like navigation indicating control of arc main control circuit is connected with display circuit board by the IO interface.The P2 of single-chip microcomputer W77E58P and P3 part pin be as the interface of serial LCD, and the LCD of the board-like navigation indicating control of arc can also show the speed module measure and transmit that the receives present speed value on the CAN bus.
During distributed tractor auxiliary linear tracking control system for operation operate as normal, the board-like navigation indicating control of arc receives the airborne control terminal of tractor in real time and is dealt into driftage on the CAN bus apart from information, show intuitively by light emitting diode, show bias direction and numerical value by LCD simultaneously.When tractor on the navigation target line, travel and deviation when setting deviation threshold, multi-color LED is bright to be green, other diodes do not work; When the driftage distance of the current relatively navigation target line in tractor position surpassed preset threshold, middle multi-color LED took on a red color.If to left avertence then left side leds send ruddiness, the number that light emitting diode is lighted in the left side is by the side-play amount decision of each light emitting diode representative of driftage distance and setting; If to right avertence then the right side light emitting diode send ruddiness, the number that light emitting diode is lighted on the right side is by the side-play amount decision of each light emitting diode representative of driftage distance and setting.As long as it is luminous that the driver sees red light emitting diodes, just can adjust the direct of travel of tractor rapidly, be green up to multi-color LED, thereby kept the operation route deviation of tractor as far as possible little.The LCD liquid crystal display of the board-like navigation indicating control of arc can also show in real time and connects tractor operating speed value.
In addition, can pass through the flexible setting navigation indicator of the airborne control terminal application program of tractor parameter (as the side-play amount of single light emitting diode representative etc.) and speed measurement module parameter (as radius of wheel etc.), and send on board-like navigation indicating control of arc and the Hall effect wheel speed monitoring modular by the CAN bus.So that the driver can adjust the key parameter of auxiliary linear tracking control system according to tractor operating speed, working width and concrete homework type, better bring into play the assisting navigation effect of system.
Because magneto-electric hall effect sensor working stability is subjected to Effect of Environmental such as temperature, dust reliably, hardly, be particularly suitable for upward uses of farmland operation equipment such as tractor.Wheel speed sensors in the tractor auxiliary linear tracking control system for operation is made up of the magnet steel that Hall element and being used to produces magnetic field, and magnet steel is uniformly distributed on the tractor wheel hub, and Hall element is fixed on the fixed support of magnet steel 5-8mm.During the Hall element operate as normal, the N-type semiconductor Hall element of energising is with respect to the magnet steel motion of rotation, just can produce pulse signal during every field region through a magnet steel, the pulse signal of wheel speed signal detecting unit by detect producing can calculate the rotating speed of wheel and with respect to the linear velocity on ground.
As shown in Figure 5, tractor wheel speed monitoring modular adopts Winbond W77E58P type 51 series monolithics as core controller, use Philips independence CAN bus controller SJA1000, opto-coupler chip 6N137 and CAN transceiver 82C250 expansion CAN bus interface, design wheel velocity signal capturing circuit, thus make up tractor wheel speed monitoring modular with CAN bus interface.When the tractor engaged wheel rotated, magnet steel just produced pulse signal during near proximity Hall switch, and pulse signal is isolated by photoisolator TLP521-2, and the counter that is input to single-chip microcomputer is then counted.Utilize resulting pulse number in the certain hour cycle, can calculate the rotating speed of tractor engaged wheel, thereby calculate the travel speed of Work machine.
The integrated research of distributed tractor auxiliary linear tracking control system for operation aspect, emphasis designs the communication flow between system applies layer communications protocol and each node of system.According to the definition of ISO 11783 communication protocols, each message elements is made up of 29 identifier and 64 message unit.According to agricultural assisting navigation surveillance actual needs, designed system's message data form commonly used, divided data transmission statement, steering order statement, query statement, answer statement etc. on the function.The base unit that message is a Frame with 8 bytes.Content comprises start bit, statement type, parameter and end mark etc.Start bit represents that with a byte " $ " the second bit representation statement type is represented with ASCII character, and as V representation speed statement, F represents rate of fertilizer application control statement etc.The 8th byte of message is ' # ', as the stop bit of message.Message 3-5 transmits the position the concrete parameter of this statement.Adopt the bus connectivity scenario between distributed each module of tractor auxiliary linear tracking control system for operation, communicate according to the application layer communication protocol of formulating.In order to guarantee to be articulated in the interconnection that communicates with each other of each ECU module on the bus, each ECU module is kept a system monitoring table after powering up operation, comprise online address of node, nodename and other node descriptors.Node is dynamically reached the standard grade or all will be sent reaching the standard grade or deferred information of broadcasting to bus during off-line, and online each node can dynamically be monitored the state of connected node.Said process is exactly the typical node initializing process of system communication.After system initialization is finished, enter the normal operation process, carry out following communication process: (1) farm work computer analyzing GPS locating information, the offset distance of calculating job position this moment and current operation leading line forms the driftage data and sends to auxiliary parallel guider; (2) farm work computing machine wait navigation indicating control is replied; (3) auxiliary parallel guider is carried out the demonstration task; (4) the farm work computing machine is preserved work datas such as current location and driftage distance; (5) system proceeds the next position operation Navigation Control task.
More than be preferred forms of the present invention, according to content disclosed by the invention, those of ordinary skill in the art can expect some identical, replacement schemes apparently, and these schemes all should fall into the scope of protection of the invention.
Claims (9)
1, a kind of auxiliary linear tracking control system for operation of distributed agricultural machine is characterized in that, this system comprises:
The GPS receiver is used to receive the current job position coordinate information of agricultural machinery;
Control terminal according to described position coordinates, calculates the driftage distance between agricultural machinery and the current operation leading line, and sends described driftage to the navigation indicating control apart from information;
The navigation indicating control comprises a dichromatic LED and several single color LEDs, according to the size of described driftage distance, controls the different luminance that is in of described dichromatic LED and single color LED.
2, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 1, it is characterized in that a series of lines that are parallel to each other of described operation leading line for generating according to essential informations such as agricultural machinery working plot polygonal shape and agricultural machinery working fabric widths.
3, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 1 is characterized in that, described monochrome photodiode is distributed in the left and right sides of described two-color diode, and the monochrome photodiode number of the left and right sides is identical,
When described driftage apart from when setting deviation threshold, described two-color diode sends green glow, other monochrome photodiodes do not work,
When the driftage between agricultural machinery and the current operation leading line when surpass setting deviation threshold and agricultural machinery and be positioned at the leading line left side, described two-color diode sends ruddiness, and the monochrome photodiode single color LED bright, the right side that is positioned at described two-color diode left side simultaneously goes out;
When the driftage between agricultural machinery and the current operation leading line when surpass setting deviation threshold and agricultural machinery and be positioned at the leading line right side, described two-color diode sends ruddiness, and the monochrome photodiode single color LED bright, the left side that is positioned at described two-color diode right side simultaneously goes out.
4, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 3, it is characterized in that, the luminous number of described single color LED is determined according to the size of described driftage distance, the number of driftage luminous described single color LED when big is many, and driftage is few apart from the number of hour luminous described single color LED.
5, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 4 is characterized in that, described navigation indicating control also comprises display screen, is used to show yawing moment and driftage distance.
6, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 5 is characterized in that, described dichromatic LED and single color LED are arranged on the arc display circuit board.
7, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 1 is characterized in that, also comprises:
The wheel speed detection module comprises wheel speed sensors, is used to measure the wheel speed of agricultural machinery.
8, auxiliary linear tracking control system for operation of distributed agricultural machine as claimed in claim 7 is characterized in that, described wheel speed sensors is the magneto-electric hall effect sensor, and it comprises:
Magnet steel is uniformly distributed on the agricultural machinery wheel hub, is used to produce magnetic field;
Hall element is fixed on the fixed support of magnet steel.
As each described auxiliary linear tracking control system for operation of distributed agricultural machine in the claim 1 to 8, it is characterized in that 9, described control terminal and described navigation indicating control carry out communication by the CAN bus.
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| CN102298366A (en) * | 2011-05-19 | 2011-12-28 | 黑龙江志坚分析测试技术有限公司 | Agriculture-machinery-working wireless monitoring system |
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| CN103196441A (en) * | 2013-03-19 | 2013-07-10 | 江苏大学 | Spraying machine integrated navigation method and system of |
| CN103901886A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Universal CAN node for distributed agricultural machine navigation control system |
| CN103901833A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Vehicle-mounted computer used for managing and monitoring field work of agricultural machine and method thereof |
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| CN102298366A (en) * | 2011-05-19 | 2011-12-28 | 黑龙江志坚分析测试技术有限公司 | Agriculture-machinery-working wireless monitoring system |
| CN102323824A (en) * | 2011-07-06 | 2012-01-18 | 李华 | Satellite navigated self-walking control system of agricultural machinery and control method thereof |
| CN102323824B (en) * | 2011-07-06 | 2013-10-16 | 李华 | Satellite navigated self-walking control system of agricultural machinery and control method thereof |
| CN103901886A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Universal CAN node for distributed agricultural machine navigation control system |
| CN103901833A (en) * | 2012-12-28 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Vehicle-mounted computer used for managing and monitoring field work of agricultural machine and method thereof |
| CN103901833B (en) * | 2012-12-28 | 2016-12-28 | 中国科学院沈阳自动化研究所 | A kind of agricultural machinery farm work management and the car-mounted computer monitored and method thereof |
| CN103196441A (en) * | 2013-03-19 | 2013-07-10 | 江苏大学 | Spraying machine integrated navigation method and system of |
| CN105629973A (en) * | 2015-12-18 | 2016-06-01 | 广州中海达卫星导航技术股份有限公司 | RTK technology-based agricultural machinery straight driving method and RTK technology-based agricultural machinery straight driving device |
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| CN107884593A (en) * | 2017-10-27 | 2018-04-06 | 江苏大学 | A kind of agricultural tool speed monitoring system and method using tractor as power |
| CN107884593B (en) * | 2017-10-27 | 2020-09-25 | 江苏大学 | Agricultural machine speed monitoring system and method using tractor as power |
| CN109104949A (en) * | 2018-07-27 | 2019-01-01 | 北京农业智能装备技术研究中心 | A kind of seeding and fertilizing spray is to cave operational method |
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| CN111897343B (en) * | 2020-08-06 | 2021-05-28 | 上海联适导航技术股份有限公司 | Automatic operation control method and device for unmanned agricultural machine |
| CN113804212A (en) * | 2021-08-23 | 2021-12-17 | 上海联适导航技术股份有限公司 | Path planning method and device for harrowing operation |
| WO2023025105A1 (en) * | 2021-08-23 | 2023-03-02 | 上海联适导航技术股份有限公司 | Path planning method and apparatus for harrowing operation |
| CN114675659A (en) * | 2022-05-28 | 2022-06-28 | 广州市盛望信息科技有限公司 | Agricultural robot motion control method and system |
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