CN103901833B - A kind of agricultural machinery farm work management and the car-mounted computer monitored and method thereof - Google Patents
A kind of agricultural machinery farm work management and the car-mounted computer monitored and method thereof Download PDFInfo
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- CN103901833B CN103901833B CN201210590128.9A CN201210590128A CN103901833B CN 103901833 B CN103901833 B CN 103901833B CN 201210590128 A CN201210590128 A CN 201210590128A CN 103901833 B CN103901833 B CN 103901833B
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Abstract
The present invention discloses a kind of agricultural machinery farm work management and the car-mounted computer monitored and method thereof, car-mounted computer of the present invention includes main control unit, touches display screen and external connection of storage card, and described main control unit uses based on ARM9 32 to process chip, power module, serial communication interface, CAN and touch screen driving module；Serial connects mouth and CAN connects with ARM9 minimum system respectively, it is achieved two kinds of communication modes, energy man-machine interaction, easy to operate;The inventive method mainly utilizes the software program of car-mounted computer agricultural machinery farm work based on design management and monitoring, complete the straight line in arbitrary shape plot, curve and the planning of circular working path, there is navigational state function for monitoring simultaneously, monitor the driving trace of agricultural machinery in real time；Also there is variable operation Stateful Inspection function, support the job state monitoring of variable fertilization, quantity-variation type seeding, variable spray medicine and harvesting.
Description
Technical field
The present invention relates to a kind of intelligent vehicle-carried equipment of agricultural machinery, relate to a kind of farm machinery navigation in more detail and make with variable
The agricultural machinery farm work management of industry control system and the car-mounted computer of monitoring and method thereof.
Background technology
Farm machinery navigation and variable operation control system are to realize the important intelligence equipment of precision agriculture.With precisely
The popularization day by day of agricultural, farm machinery navigation and variable operation control system have obtained in-depth study.Field calculates
Machine, as the platform of man-machine interaction, plays very important work at farm machinery navigation and variable operation control system
With.Field computer is that the navigation task of farm machinery navigation and variable operation control system is arranged, variable operation appoints
Business is arranged and the monitoring of navigation and variable operation provides very friendliness interface.Along with quickly sending out of agricultural
Exhibition, the intelligent requirements of field mobile unit is more and more higher, but the development of Agricultural Machinery Equipment is the slowest,
It is particularly adapted to the mobile unit of agricultural machinery.The intelligent vehicle mounted terminal being applicable to agricultural machinery working at present is the most scarce
Weary.
Summary of the invention
Being badly in need of intelligent vehicle mounted terminal problem for above-mentioned agricultural machinery working, the present invention provides a kind of and automatically leads at agricultural machinery
Farm work management and monitoring car-mounted computer and method thereof in boat and variable operation control system, the present invention is
Farm machinery navigation and the monitoring of variable operation controlled state provide very friendliness interface.
For realizing the purpose of the present invention, the present invention adopts the following technical scheme that:
A kind of agricultural machinery farm work management with monitoring car-mounted computer, it is characterised in that: include main control unit,
Touching display screen and external connection of storage card, described main control unit includes ARM9 minimum system, uses based on ARM9
32 process chips, power module, serial communication interface, CAN and touch screens drive mould
Block；Wherein, serial communication interface and CAN connect with ARM9 minimum system respectively, it is achieved
Main control unit has two kinds of communication modes of CAN communication and serial communication, and power module provides electricity for this computer
Source.
Described external connection of storage card, uses outside plug type SD storage card, store tasks information, navigation path planning
Information, variable operation and prescription map and agricultural machinery working record information.
This car-mounted computer is additionally provided with memory card interface, supports standard SD memory card.
A kind of method of car-mounted computer of agricultural machinery farm work management and monitoring, it is characterised in that: include as
Lower step:
Set up system configuration module, including by corresponding configuration function, display pattern being arranged, showing touching
Display screen is calibrated, is arranged alarm status and external sensor detection；
Set up agricultural machinery parameter setting module, join including agricultural machinery working width, radius of turn and machine-wide agricultural machinery
Number information is arranged；
Set up agricultural machinery task management module, including newly-built mission bit stream be elemental operation information, preservation task,
Suspended task, loading tasks and closedown task, be stored in external connection of storage card by newly-built mission bit stream and prescription map
In；
Set up navigation monitoring management module, including according to agricultural machinery practical situation arrange agricultural machinery working width and
Radius of turn, calls path planning algorithm program, calculates navigation programming route point；By CAN communication mould
Navigation programming route information is downloaded and is sent by block, completes path planning；
Simultaneously by obtaining the real-time navigation information of the agricultural machinery position in CAN, utilize two kinds of views
Pattern and touch display screen, can monitor the driving trace of farm machinery navigation；
Setting up variable operation management module, arrange including variable operation parameter, variable operation parameter includes operation
Speed, homework type, and prescription map in external connection of storage card is downloaded, it is sent to always by CAN
On line, realized the monitoring of agricultural machinery working state by view mode.
According to the working width arranged and radius of turn, call path planning algorithm, calculate navigation programming road
Footpath, including following process；
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation is set
Boundary of land block point, according to arranging path point and boundary of land block point and agricultural machinery parameter, obtains the path planning in plot
And it is sorted；Then to every paths discretization, i.e. multiple homogeneous path is formed in every paths upper pathway
Point, path point and the order of driving path, is sent out by CAN by CAN communication protocol packing
Deliver in bus.
Utilizing two kinds of view mode monitoring farm machinery navigations, it realizes process and includes:
Receive agricultural machinery real-time location coordinates, it is judged that receive whether coordinate number is more than 1, as met, it is judged that be
No is field view, if field view, draws field view background, draws agricultural machinery according to position coordinates
The track of walking, when not exiting, continues and returns to receive agricultural machinery real-time location coordinates program segment.
Judge it is not field view when being vehicle view, the position coordinates received by CAN is entered
Row rotation transformation, draws vehicle view background, draws the rail of agricultural machinery travel further according to postrotational position coordinates
Mark；When not exiting, continue and return to receive agricultural machinery real-time location coordinates program segment.
Variable operation type includes field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
Newly-built task includes setting the task names of agricultural machinery working, homework type, operating location, operation temperature
The elemental operation information of degree, humidity, wind direction and operator.
This beneficial effect of the invention and advantage:
Car-mounted computer the most of the present invention, uses based on ARM9 32 to process chip, is suitable for numeral
Image procossing, and use serial communication interface and CAN, it is achieved two kinds with external device communication
Mode, supports 800 × 600 touch display screens, it is achieved man-machine interaction, easy to operate, by controlling with navigation
After device processed configuration, solving the operation intensity that agricultural machineries' driver is heavy, driver only need to be defeated by touching display screen
Entering operational order, computer controls agricultural machinery automatic job according to order, thus improves production efficiency.
2. agricultural machinery farm work based on the design management of the inventive method, mainly computer is soft with monitoring
Part program, it is possible to complete the straight line in arbitrary shape plot, curve and the planning of circular working path, and pass through
CAN is sent to routing information in CAN, has navigational state function for monitoring simultaneously, logical
Cross field view and two kinds of different modes of vehicle view monitor the driving trace of agricultural machinery in real time；Field computer is also
There is variable operation controlled state function for monitoring, support variable fertilization, quantity-variation type seeding, variable spray medicine and harvesting
Job state monitoring.
Accompanying drawing explanation
Fig. 1 is the system structure schematic diagram of the present invention；
Fig. 2 is path planning program flow diagram；
Fig. 3 is that flow chart monitored by view；
Fig. 4 is system configuration module schematic diagram；
Fig. 5 is agricultural machinery parameter setting module schematic diagram；
Fig. 6 is task management module schematic diagram；
Fig. 7 is navigation management monitoring module schematic diagram；
Fig. 8 is that variable operation manages module diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention program is described in detail:
As it is shown in figure 1, be the internal structure schematic diagram of field computer.It it is a kind of agricultural machinery farm work management
With the car-mounted computer of monitoring, it includes main control unit, touches display screen and external connection of storage card, described master control
Unit includes ARM9 minimum system, uses based on ARM9 32 to process chip, power module, serial
Communication interface, CAN and touch screen drive module；Wherein, serial communication interface and CAN communication
Module is connected with ARM9 minimum system respectively, it is achieved main control unit has the two of CAN communication and serial communication
Planting communication mode, power module is that this computer provides power supply.
In the present embodiment, this computer is installed on the front end of agricultural machinery driver's cabin, and is additionally provided with shell and installation
Frame, shell is for package floor and touches display screen；Installing rack is used for installing car-mounted computer；This vehicle-mounted meter
Calculation machine is additionally provided with memory card interface, supports standard SD memory card.
Above-mentioned ARM9 minimum system, uses based on ARM9 32 to process chip, is suitable for digital picture
Process；Power module, has power-down protection, input voltage 12V；The interface of external connection of storage card,
Hold standard SD memory card；Serial communication interface, supports RS232 communication protocol；CAN,
Hold ISO11783 standard communication protocol；Touch screen drives module, supports 800 × 600 touch display screens；Car
The display screen of borne computer uses 800 × 600 touch screens with input function.
External connection of storage card is SD storage card: use outside plug type SD storage card as mission bit stream, guidance path
Planning information, variable operation, prescription map and the storage of agricultural machinery working record information and exchange media.
A kind of method of car-mounted computer of agricultural machinery farm work management and monitoring, it is characterised in that: include as
Lower step:
Set up system configuration module, including by corresponding configuration function, display pattern being arranged, showing touching
Display screen is calibrated, is arranged alarm status and external sensor detection；
Set up agricultural machinery parameter setting module, join including agricultural machinery working width, radius of turn and machine-wide agricultural machinery
Number information is arranged；
Set up agricultural machinery task management module, including newly-built mission bit stream be elemental operation information, preservation task,
Suspended task, loading tasks and closedown task, be stored in external connection of storage card by newly-built mission bit stream and prescription map
In；
Set up navigation monitoring management module, including according to agricultural machinery practical situation arrange agricultural machinery working width and
Radius of turn, calls path planning algorithm program, calculates navigation programming route point；By CAN communication mould
Navigation programming route information is downloaded and is sent by block, completes path planning；
Simultaneously by obtaining the real-time navigation information of the agricultural machinery position in CAN, utilize two kinds of views
Pattern and touch display screen, can monitor the driving trace of farm machinery navigation；
Setting up variable operation management module, arrange including variable operation parameter, variable operation parameter includes operation
Speed, homework type, and prescription map in external connection of storage card is downloaded, it is sent to always by CAN
On line, realized the monitoring of agricultural machinery working state by view mode.
As it is shown in fig. 7, the navigation monitoring management module set up, mainly complete path planning, path download and
Multi views navigation monitoring.Path planning is to utilize agricultural machinery working width, radius of turn, machine (such as cultivated plough)
Width parameter, goes out the path planning information of agricultural machinery according to the physical planning in plot；Path planning downloads to CAN
In bus；It is field view and the trace information of vehicle view monitoring farm machinery navigation by two kinds of view modes.
As shown in Figure 8, the variable operation management module of foundation, mainly complete variable operation parameter and arrange；?
Set variable operation parameter and prescription map information is downloaded in CAN；Then agricultural machinery is made by prescription map information
Industry, realizes monitoring by variable operation management module to the job state of agricultural machinery.
According to the working width arranged and radius of turn, call path planning algorithm, calculate navigation programming road
Footpath, including following process；
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation is set
Boundary of land block point, according to arranging path point and boundary of land block point and agricultural machinery parameter, obtains the path planning in plot
And it is sorted；Then to every paths discretization, i.e. multiple homogeneous path is formed in every paths upper pathway
Point, path point and the order of driving path, is sent out by CAN by CAN communication protocol packing
Deliver in bus.
Utilizing two kinds of view mode monitoring farm machinery navigations, it realizes process and includes:
Receive agricultural machinery real-time location coordinates, it is judged that receive whether coordinate number is more than 1, as met, it is judged that be
No is field view, if field view, draws field view background, draws agricultural machinery according to position coordinates
The track of walking, when not exiting, continues and returns to receive agricultural machinery real-time location coordinates program segment.
Judge it is not field view when being vehicle view, the position coordinates received by CAN is entered
Row rotation transformation, draws vehicle view background, draws the rail of agricultural machinery travel further according to postrotational position coordinates
Mark；When not exiting, continue and return to receive agricultural machinery real-time location coordinates program segment.
Variable operation type includes field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
As in figure 2 it is shown, be path planning program flow diagram.This program complete arbitrary shape plot straight line,
Curve and the planning of circular working path.It is described with reference to the accompanying drawings: it is first determined whether storage before utilizing
Path, if utilize before path, then directly read the historical path in storage card, directly pass through
CAN is sent to routing information in CAN, completes path planning；If needing road again
Footpath is planned, first set path point, then arranges the boundary point in plot；Further according to set path point and agriculture
Machine operation parameter includes agricultural machinery width and agricultural machinery radius of turn information planning outbound path and sorts it；Finally handle
The path point of discretization and the order of driving path are sent in bus complete path planning.
Described utilizing two kinds of view modes monitoring farm machinery navigations, it realizes process and includes:
Receive agricultural information and include real-time location coordinates, it is judged that receive whether coordinate number is more than 1, as met,
Judge whether it is field view, if field view, draw field view background, paint according to position coordinates
The track of agricultural machinery travel processed, when not exiting, continues and returns to receive agricultural machinery real-time location coordinates program segment.
If machine vision, carry out rotating change to the position coordinates received from the bus of CAN
Change, draw machine vision background, draw the track of agricultural machinery travel further according to postrotational position coordinates；When not
When exiting, continue and return to receive agricultural machinery real-time location coordinates program segment.
As it is shown on figure 3, be that flow chart monitored by view.Field computer receives agricultural machinery by CAN
The information such as real-time location coordinates, travel speed and agricultural machinery state in field, monitor in real time to agricultural machinery.
First field car-mounted computer receives the information of agricultural machinery by CAN module, then judges the class of view to be shown
Type, if field view, utilizes the agricultural machinery position coordinates passing ratio scale transformation obtained, is sat by agricultural machinery
Mark is converted to screen coordinate and shows on a display screen；If vehicle view, utilize and obtain agricultural machinery position coordinates
Rotated by coordinate and proportional zoom etc. is converted, and is that screen coordinate shows on a display screen by agricultural machinery Coordinate Conversion
Show.
As shown in Figure 4, it is system configuration module schematic diagram.The system configuration module set up mainly completes aobvious
Show that pattern is arranged, sensor detects, alarm status is arranged and touches the calibration of display screen.Display pattern sets
Put and more can see cls according to the Night of practical situation switching field car-mounted computer and day mode
Curtain；Sensor detects, and detects whether normally to work to the state of operation sensor, when exception being detected,
Alarm equipment alarm；Display screen calibration can calibrate the input precision touching display screen, thus avoids because of touch screen
Trueness error causes maloperation.
As it is shown in figure 5, the agricultural machinery parameter setting module of field car-mounted computer, mainly complete to operate machine width
Degree, working width and radius of turn parameter are arranged.Practical situation according to agricultural machinery set agricultural machinery working width,
Machine-wide and radius of turn parameter.
Newly-built task includes setting the task names of agricultural machinery working, homework type, operating location, operation temperature
The elemental operation information of degree, humidity, wind direction and operator.
As shown in Figure 6, the agricultural machinery task management module of field car-mounted computer, mainly complete newly-built task,
Preservation task, suspended task, loading tasks and closedown task.Newly-built task can set the task of agricultural machinery working
Title, homework type, operating location, processing temperature, humidity, wind direction and operator's elemental operation information；
Agricultural machinery working information can be saved in external connection of storage card by preservation task, in case consulting；During suspended task is temporary transient
Disconnected performing of task；Closedown task can close the task that agricultural machinery currently performs, and terminates current task.
Claims (6)
1. an agricultural machinery farm work management and the method monitored, it is characterised in that: comprise the steps:
Set up system configuration module, including by corresponding configuration function, display pattern being arranged, showing touching
Display screen is calibrated, is arranged alarm status and external sensor detection；
Set up agricultural machinery parameter setting module, join including agricultural machinery working width, radius of turn and machine-wide agricultural machinery
Number information is arranged；
Set up agricultural machinery task management module, including newly-built mission bit stream be elemental operation information, preservation task,
Suspended task, loading tasks and closedown task, be stored in external connection of storage card by newly-built mission bit stream and prescription map
In；
Set up navigation monitoring management module, including according to agricultural machinery practical situation arrange agricultural machinery working width and
Radius of turn, calls path planning algorithm program, calculates navigation programming route point；By CAN communication mould
Navigation programming route information is downloaded and is sent by block, completes path planning；
Simultaneously by obtaining the real-time navigation information of the agricultural machinery position in CAN, utilize two kinds of views
Pattern and touch display screen, can monitor the driving trace of farm machinery navigation；
Setting up variable operation management module, arrange including variable operation parameter, variable operation parameter includes operation
Speed, homework type, and prescription map in external connection of storage card is downloaded, sent by CAN
In CAN, realized the monitoring of agricultural machinery working state by view mode.
2. a kind of agricultural machinery farm work management as described in claim 1 and the method monitored, its feature exists
In: according to the working width arranged and radius of turn, call path planning algorithm, calculate navigation programming road
Footpath, including following process:
Judge whether to utilize previous path, if do not utilized previous path, reset path point and operation is set
Boundary of land block point, according to arranging path point and boundary of land block point and agricultural machinery parameter, obtains the path planning in plot
And it is sorted；Then to every paths discretization, on every paths, multiple homogeneous path point is i.e. formed,
Path point and the order of driving path, it is sent to by CAN by CAN communication protocol packing
In bus.
3. a kind of agricultural machinery farm work management as described in claim 1 and the method monitored, its feature exists
In: utilizing two kinds of view mode monitoring farm machinery navigations, it realizes process and includes:
Receive agricultural machinery real-time location coordinates, it is judged that receive whether coordinate number is more than 1, as met, it is judged that
Whether it is field view, if field view, draws field view background, draw agriculture according to position coordinates
The track of machine walking, when not exiting, continues and returns to receive agricultural machinery real-time location coordinates program segment.
4. a kind of agricultural machinery farm work management as described in claim 3 and the method monitored, its feature exists
In: judge it is not field view, when being vehicle view, to the position coordinates received by CAN
Carry out rotation transformation, draw vehicle view background, draw agricultural machinery travel further according to postrotational position coordinates
Track；When not exiting, continue and return to receive agricultural machinery real-time location coordinates program segment.
5. a kind of agricultural machinery farm work management as described in claim 1 and the method monitored, its feature exists
In: homework type includes field agricultural machinery variable fertilization, quantity-variation type seeding, variable spray medicine and variable harvesting.
6. a kind of agricultural machinery farm work management as described in claim 1 and the method monitored, its feature exists
In: newly-built task includes setting the task names of agricultural machinery working, homework type, operating location, operation temperature
The elemental operation information of degree, humidity, wind direction and operator.
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| US10048693B2 (en) * | 2016-06-10 | 2018-08-14 | Trimble Inc. | Transparently achieving auto-guidance of a mobile machine |
| CN116795119A (en) * | 2016-12-05 | 2023-09-22 | 聊城大学 | Positioning and control method for multi-sensor fusion tractor navigation control system |
| 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 |
| WO2021022563A1 (en) * | 2019-08-08 | 2021-02-11 | 深圳市大疆创新科技有限公司 | Agricultural machinery supervision method and device |
| CN111399508B (en) * | 2020-03-20 | 2023-12-22 | 中联智慧农业股份有限公司 | Intelligent agriculture system and intelligent agriculture method |
| CN115683148A (en) * | 2022-11-11 | 2023-02-03 | 江苏徐工工程机械研究院有限公司 | Automatic driving method, device and system, and computer readable storage medium |
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| FR2954841B1 (en) * | 2009-12-30 | 2012-01-27 | Thales Sa | METHOD AND DEVICE FOR CENTRALIZED MANAGEMENT OF TASKS TO BE CARRIED OUT BY A CREW OF AN AIRCRAFT IN FLIGHT |
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| CN2816870Y (en) * | 2005-08-23 | 2006-09-13 | 中国农业大学 | Intelligent control terminal for yield monitoring and variable operation based on CAN bus |
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