CN103901833A - Vehicle-mounted computer used for managing and monitoring field work of agricultural machine and method thereof - Google Patents
Vehicle-mounted computer used for managing and monitoring field work of agricultural machine and method thereof Download PDFInfo
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- CN103901833A CN103901833A CN201210590128.9A CN201210590128A CN103901833A CN 103901833 A CN103901833 A CN 103901833A CN 201210590128 A CN201210590128 A CN 201210590128A CN 103901833 A CN103901833 A CN 103901833A
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Abstract
The invention discloses a vehicle-mounted computer used for managing and monitoring field work of an agricultural machine and a method thereof. The vehicle-mounted computer comprises a main control unit, a touch display screen and an external memory card, wherein a 32-bit processing chip based on ARM9, a power supply module, a serial communication interface, a CAN communication module and a touch screen drive module are adopted on the main control unit; the serial communication interface and the CAN communication module are interconnected with a minimum ARM9 system to achieve two communication modes, man-machine interaction can be achieved, and operation is convenient to achieve. According to the method, the vehicle-mounted computer finishes planning on straight work routes, curve work routes and circular work routes of a field of any shape on the basis of designed software programs for managing and monitoring field work of the agricultural machine. Meanwhile, a monitoring function in a navigation state is achieved, and the running track of the agricultural machine is monitored in real time. A monitoring function in a variable work state is achieved, and monitoring in work states such as variable fertilization, variable sowing, variable pesticide spraying and cutting is supported.
Description
Technical field
The present invention relates to the intelligent vehicle-carried equipment of a kind of agricultural machinery, relate in more detail a kind of truck-mounted computer and the method thereof of agricultural machinery farm work management with the monitoring of farm machinery navigation and variable operation control system.
Background technology
Farm machinery navigation and variable operation control system are to realize the important intelligence equipment of precision agriculture.Follow the popularization day by day of precision agriculture, farm machinery navigation and variable operation control system have obtained deep research.Field computer, as the platform of man-machine interaction, plays very important effect at farm machinery navigation and variable operation control system.The monitoring of navigation task setting, the setting of variable operation task and navigation and variable operation that field computer is farm machinery navigation and variable operation control system provides very friendly operation interface.Along with agriculture fast development, the intelligent requirements of field mobile unit is more and more higher, but the development of Agricultural Machinery Equipment is also relatively slow, is especially suitable for the mobile unit of agricultural machinery.The intelligent vehicle mounted terminal that is applicable at present agricultural machinery working also comparatively lacks.
Summary of the invention
Be badly in need of intelligent vehicle mounted terminal problem for above-mentioned agricultural machinery working, the invention provides a kind of farm work management and monitoring truck-mounted computer and method thereof in agricultural machinery self-navigation and variable operation control system, the present invention provides very friendly operation interface for farm machinery navigation and the monitoring of variable operation state of a control.
For realizing object of the present invention, the present invention takes following technical scheme:
A kind of agricultural machinery farm work management and the truck-mounted computer of monitoring, it is characterized in that: comprise main control unit, touch display screen and external connection of storage card, described main control unit comprises ARM9 minimum system, adopts 32 process chip, power module, serial communication interface, CAN communication module and touch-screen driver module based on ARM9; Wherein, serial communication interface and CAN communication module connect with ARM9 minimum system respectively, and realizing main control unit has two kinds of communication modes of CAN communication and serial communication, and power module provides power supply for this computing machine.
Described external connection of storage card, adopts outside plug type SD storage card, store tasks information, navigation path planning information, variable operation and prescription map and agricultural machinery working recorded information.
This truck-mounted computer is also provided with memory card interface, supports standard SD storage card.
A method for the truck-mounted computer of agricultural machinery farm work management and monitoring, is characterized in that: comprise the steps:
Set up system configuration module, comprise by corresponding configuration function to display mode setting, to touch display screen calibration, to the setting of alarm state and external sensor detection;
Set up agricultural machinery parameter module is set, comprise agricultural machinery working width, radius of turn and the setting of machine-wide agricultural machinery parameter information;
Set up agricultural machinery task management module, comprise that newly-built mission bit stream is elemental operation information, preservation task, suspended task, loading tasks and closes task, is stored in newly-built mission bit stream and prescription map in external connection of storage card;
Set up navigation monitoring administration module, comprise the agricultural machinery working width and the radius of turn that arrange according to the actual conditions of agricultural machinery, call path planning algorithm program, calculate navigation programming route point; By CAN communication module, navigation programming route information is downloaded and sent, complete path planning;
By obtaining the real-time navigation information of the agricultural machinery position in CAN communication module, utilize two kinds of view modes and touch display screen simultaneously, can monitor the driving trace of farm machinery navigation;
Set up variable operation administration module, comprise the setting of variable operation parameter, variable operation parameter comprises operating speed, homework type, and prescription map in external connection of storage card is downloaded, send in bus by CAN communication module, realize the monitoring of agricultural machinery working state by view mode.
According to the operation width and the radius of turn that arrange, call path planning algorithm, calculate navigation programming route, comprise following process;
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation boundary of land block point is set, according to path point and boundary of land block point and agricultural machinery parameter are set, obtain the path planning in plot and to its sequence; Then to every paths discretize, form multiple homogeneous path points in every paths upper pathway, the order of path point and driving path, send in bus by CAN communication module by the packing of CAN communication protocol.
Utilize two kinds of view mode monitoring farm machinery navigations, its implementation procedure comprises:
Receive agricultural machinery real time position coordinate, judge whether receive coordinate number is greater than 1, as met, judge whether it is field view, if field view is drawn field view background, draw the track of agricultural machinery travel according to position coordinates, in the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
Judgement is not field view while being vehicle view, and the position coordinates receiving by CAN communication module is rotated to conversion, draws vehicle view background, then draws the track of agricultural machinery travel according to postrotational position coordinates; In the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
Variable operation type comprises field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
Newly-built task comprises task names, homework type, operating location, processing temperature, humidity, wind direction and the operator's that can set agricultural machinery working elemental operation information.
This beneficial effect of the invention and advantage:
1. truck-mounted computer of the present invention, adopt 32 process chip based on ARM9, be suitable for Digital Image Processing, and adopt serial communication interface and CAN communication module, realize two kinds with the mode of external device communication, support 800 × 600 touch display screens, realize man-machine interaction, easy to operate, after configuring with navigation controller, solve the heavy operation intensity of agricultural machineries' driver, driver only need pass through touch display screen input operation order, computing machine is controlled agricultural machinery automatic job according to order, thereby has improved production efficiency.
2. the inventive method, mainly that computer based is in the software program of agricultural machinery farm work management with the monitoring of design, can complete the planning of straight line, curve and the circular working path in arbitrary shape plot, and by CAN communication module, routing information is sent in CAN bus, there is navigational state function for monitoring simultaneously, monitor in real time the driving trace of agricultural machinery by field view and two kinds of different modes of vehicle view; Field computer also has variable operation state of a control function for monitoring, supports the job state monitoring of variable fertilization, quantity-variation type seeding, variable spray medicine and harvesting.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention;
Fig. 2 is path planning program flow diagram;
Fig. 3 is view monitoring process flow diagram;
Fig. 4 is system configuration module diagram;
Fig. 5 is that agricultural machinery parameter arranges module diagram;
Fig. 6 is task management module diagram;
Fig. 7 is navigation management monitoring module schematic diagram;
Fig. 8 is variable operation administration module schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention program is described in detail:
As shown in Figure 1, be the inner structure schematic diagram of field computer.A kind of agricultural machinery farm work management and the truck-mounted computer of monitoring, it comprises main control unit, touch display screen and external connection of storage card, described main control unit comprises ARM9 minimum system, adopts 32 process chip, power module, serial communication interface, CAN communication module and touch-screen driver module based on ARM9; Wherein, serial communication interface is connected with ARM9 minimum system respectively with CAN communication module, realizes main control unit and have two kinds of communication modes of CAN communication and serial communication, and power module provides power supply for this computing machine.
In the present embodiment, this computing machine is installed on the front end of agricultural machinery pilothouse, and is also provided with shell and erecting frame, and shell is for package floor and touch display screen; Erecting frame is for installation car borne computer; This truck-mounted computer is also provided with memory card interface, supports standard SD storage card.
Above-mentioned ARM9 minimum system, adopts 32 process chip based on ARM9, is suitable for Digital Image Processing; Power module, has power-down protection, input voltage 12V; The interface of external connection of storage card, supports standard SD storage card; Serial communication interface, supports RS232 communication protocol; CAN communication module, supports ISO11783 standard communication protocol; Touch-screen driver module, supports 800 × 600 touch display screens; The display screen employing 800 × 600 of truck-mounted computer has the touch-screen of input function.
External connection of storage card is SD storage card: adopt storage and the exchange media of outside plug type SD storage card as mission bit stream, navigation path planning information, variable operation, prescription map and agricultural machinery working recorded information.
A method for the truck-mounted computer of agricultural machinery farm work management and monitoring, is characterized in that: comprise the steps:
Set up system configuration module, comprise by corresponding configuration function to display mode setting, to touch display screen calibration, to the setting of alarm state and external sensor detection;
Set up agricultural machinery parameter module is set, comprise agricultural machinery working width, radius of turn and the setting of machine-wide agricultural machinery parameter information;
Set up agricultural machinery task management module, comprise that newly-built mission bit stream is elemental operation information, preservation task, suspended task, loading tasks and closes task, is stored in newly-built mission bit stream and prescription map in external connection of storage card;
Set up navigation monitoring administration module, comprise the agricultural machinery working width and the radius of turn that arrange according to the actual conditions of agricultural machinery, call path planning algorithm program, calculate navigation programming route point; By CAN communication module, navigation programming route information is downloaded and sent, complete path planning;
By obtaining the real-time navigation information of the agricultural machinery position in CAN communication module, utilize two kinds of view modes and touch display screen simultaneously, can monitor the driving trace of farm machinery navigation;
Set up variable operation administration module, comprise the setting of variable operation parameter, variable operation parameter comprises operating speed, homework type, and prescription map in external connection of storage card is downloaded, send in bus by CAN communication module, realize the monitoring of agricultural machinery working state by view mode.
As shown in Figure 7, the navigation monitoring administration module of foundation, mainly completes path planning, and download and many views navigation monitoring in path.Path planning is to utilize agricultural machinery working width, radius of turn, machine (as ploughed plough) width parameter, goes out the path planning information of agricultural machinery according to the physical planning in plot; Path planning downloads in CAN bus; It is the trace information of field view and vehicle view monitoring farm machinery navigation by two kinds of view modes.
As shown in Figure 8, the variable operation administration module of foundation, mainly completes the setting of variable operation parameter; Be downloaded in CAN bus setting variable operation parameter and prescription map information; Then agricultural machinery, by the operation of prescription map information, is realized monitoring by variable operation administration module to the job state of agricultural machinery.
According to the operation width and the radius of turn that arrange, call path planning algorithm, calculate navigation programming route, comprise following process;
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation boundary of land block point is set, according to path point and boundary of land block point and agricultural machinery parameter are set, obtain the path planning in plot and to its sequence; Then to every paths discretize, form multiple homogeneous path points in every paths upper pathway, the order of path point and driving path, send in bus by CAN communication module by the packing of CAN communication protocol.
Utilize two kinds of view mode monitoring farm machinery navigations, its implementation procedure comprises:
Receive agricultural machinery real time position coordinate, judge whether receive coordinate number is greater than 1, as met, judge whether it is field view, if field view is drawn field view background, draw the track of agricultural machinery travel according to position coordinates, in the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
Judgement is not field view while being vehicle view, and the position coordinates receiving by CAN communication module is rotated to conversion, draws vehicle view background, then draws the track of agricultural machinery travel according to postrotational position coordinates; In the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
Variable operation type comprises field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
As shown in Figure 2, be path planning program flow diagram.This program completes the planning of straight line, curve and the circular working path in arbitrary shape plot.Be described with reference to the accompanying drawings: first determine whether the path of storage before utilizing, if the historical path in storage card is directly read in the path before utilizing, directly by CAN communication module, routing information is sent in CAN bus, complete path planning; If need path planning again, first set path point, then arranges the frontier point in plot; Comprise according to set path point and agricultural machinery working parameter that agricultural machinery width and agricultural machinery radius of turn information are cooked up path again and to its sequence; Finally the order of the path point of discretize and driving path is sent to and in bus, completes path planning.
Described two kinds of view modes monitoring farm machinery navigations that utilize, its implementation procedure comprises:
Receive agricultural machinery information and comprise real time position coordinate, judge whether receive coordinate number is greater than 1, as met, judge whether it is field view, if field view is drawn field view background, draw the track of agricultural machinery travel according to position coordinates, in the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
If machine view, the position coordinates that the bus from CAN communication module is received is rotated conversion, draws machine view background, then draws the track of agricultural machinery travel according to postrotational position coordinates; In the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
As shown in Figure 3, be view monitoring process flow diagram.Field computer receives agricultural machinery in information such as real time position coordinate, travel speed and the agricultural machinery states in field by CAN communication module, and agricultural machinery is monitored in real time.First field truck-mounted computer receives the information of agricultural machinery by CAN module, then judgement will show the type of view, if field view utilizes the agricultural machinery position coordinates passing ratio scale transformation obtaining, be that screen coordinate is showing screen display by agricultural machinery coordinate conversion; If vehicle view is utilized and obtained agricultural machinery position coordinates by the conversion such as rotation of coordinate and proportional zoom, be that screen coordinate is showing screen display by agricultural machinery coordinate conversion.
As shown in Figure 4, be system configuration module diagram.The system configuration module of setting up mainly completes the calibration to display mode setting, sensor detection, the setting of alarm state and touch display screen.Display mode setting can be switched according to actual conditions Night and the day mode of field truck-mounted computer, more can see screen clearly; Sensor detects, and whether the state of operation sensor is detected and normally worked, abnormal when detecting, alarm equipment alarm; Display screen calibration can be calibrated the input precision of touch display screen, thereby avoids causing maloperation because of touch-screen trueness error.
As shown in Figure 5, the agricultural machinery parameter of field truck-mounted computer arranges module, and main complete operation machine-wide, operation width and radius of turn parameter arrange.Set operation width, machine-wide and the radius of turn parameter of agricultural machinery according to the actual conditions of agricultural machinery.
Newly-built task comprises task names, homework type, operating location, processing temperature, humidity, wind direction and the operator's that can set agricultural machinery working elemental operation information.
As shown in Figure 6, the agricultural machinery task management module of field truck-mounted computer, mainly completes newly-built task, preservation task, suspended task, loading tasks and closes task.Newly-built task can be set task names, homework type, operating location, processing temperature, humidity, wind direction and operator's elemental operation information of agricultural machinery working; Preservation task can be kept at agricultural machinery working information in external connection of storage card, in order to consulting; Suspended task temporarily interrupts carrying out of task; The task of closing can be closed the task of the current execution of agricultural machinery, stops current task.
Claims (9)
1. an agricultural machinery farm work is managed and the truck-mounted computer of monitoring, it is characterized in that: comprise main control unit, touch display screen and external connection of storage card, described main control unit comprises ARM9 minimum system, adopts 32 process chip, power module, serial communication interface, CAN communication module and touch-screen driver module based on ARM9; Wherein, serial communication interface and CAN communication module connect with ARM9 minimum system respectively, and realizing main control unit has two kinds of communication modes of CAN communication and serial communication, and power module provides power supply for this computing machine.
2. the truck-mounted computer with monitoring by a kind of agricultural machinery farm work management claimed in claim 1, it is characterized in that: described external connection of storage card, adopt outside plug type SD storage card, store tasks information, navigation path planning information, variable operation and prescription map and agricultural machinery working recorded information.
3. the truck-mounted computer with monitoring by a kind of agricultural machinery farm work management described in claim 1 or 2, is characterized in that: this truck-mounted computer is also provided with memory card interface, supports standard SD storage card.
4. a method for the truck-mounted computer of a kind of agricultural machinery farm work management claimed in claim 1 and monitoring, is characterized in that: comprise the steps:
Set up system configuration module, comprise by corresponding configuration function to display mode setting, to touch display screen calibration, to the setting of alarm state and external sensor detection;
Set up agricultural machinery parameter module is set, comprise agricultural machinery working width, radius of turn and the setting of machine-wide agricultural machinery parameter information;
Set up agricultural machinery task management module, comprise that newly-built mission bit stream is elemental operation information, preservation task, suspended task, loading tasks and closes task, is stored in newly-built mission bit stream and prescription map in external connection of storage card;
Set up navigation monitoring administration module, comprise the agricultural machinery working width and the radius of turn that arrange according to the actual conditions of agricultural machinery, call path planning algorithm program, calculate navigation programming route point; By CAN communication module, navigation programming route information is downloaded and sent, complete path planning;
By obtaining the real-time navigation information of the agricultural machinery position in CAN communication module, utilize two kinds of view modes and touch display screen simultaneously, can monitor the driving trace of farm machinery navigation;
Set up variable operation administration module, comprise the setting of variable operation parameter, variable operation parameter comprises operating speed, homework type, and prescription map in external connection of storage card is downloaded, send in CAN bus by CAN communication module, realize the monitoring of agricultural machinery working state by view mode.
5. by the method for a kind of truck-mounted computer for agricultural machinery farm work management and monitoring claimed in claim 4, it is characterized in that: according to the operation width and the radius of turn that arrange, call path planning algorithm, calculate navigation programming route, comprise following process;
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation boundary of land block point is set, according to path point and boundary of land block point and agricultural machinery parameter are set, obtain the path planning in plot and to its sequence; Then to every paths discretize, form multiple homogeneous path points in every paths upper pathway, the order of path point and driving path, send in bus by CAN communication module by the packing of CAN communication protocol.
6. the method with the truck-mounted computer of monitoring by a kind of agricultural machinery farm work management claimed in claim 4, is characterized in that: utilize two kinds of view mode monitoring farm machinery navigations, its implementation procedure comprises:
Receive agricultural machinery real time position coordinate, judge whether receive coordinate number is greater than 1, as met, judge whether it is field view, if field view is drawn field view background, draw the track of agricultural machinery travel according to position coordinates, in the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
7. the method with the truck-mounted computer of monitoring by a kind of agricultural machinery farm work management claimed in claim 6, it is characterized in that: judgement is not field view, while being vehicle view, the position coordinates receiving by CAN communication module is rotated to conversion, draw vehicle view background, then draw the track of agricultural machinery travel according to postrotational position coordinates; In the time not exiting, continuing to turn back to receives agricultural machinery real time position coordinate program segment.
8. the method with the truck-mounted computer of monitoring by a kind of agricultural machinery farm work management claimed in claim 4, is characterized in that: variable operation type comprises field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
9. the truck-mounted computer with monitoring by a kind of agricultural machinery farm work management claimed in claim 4, is characterized in that: newly-built task comprises task names, homework type, operating location, processing temperature, humidity, wind direction and the operator's that can set agricultural machinery working elemental operation information.
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| CN107390680A (en) * | 2017-06-19 | 2017-11-24 | 中国烟草总公司广东省公司 | The spray method and system of agricultural intelligent pesticide spraying system |
| CN107480887A (en) * | 2017-08-15 | 2017-12-15 | 河北农业大学 | A kind of agricultural machinery working intervention schedule method and system and platform |
| CN109254545A (en) * | 2018-08-03 | 2019-01-22 | 南京赫曼机器人自动化有限公司 | The multiple unmanned agricultural vehicle remote centralized control systems of one kind and method |
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