CN103955219A - Opposite-type laser tractor aided navigation control system - Google Patents
Opposite-type laser tractor aided navigation control system Download PDFInfo
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- CN103955219A CN103955219A CN201410175144.0A CN201410175144A CN103955219A CN 103955219 A CN103955219 A CN 103955219A CN 201410175144 A CN201410175144 A CN 201410175144A CN 103955219 A CN103955219 A CN 103955219A
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Abstract
The invention relates to an opposite-type laser tractor aided navigation control system which comprises a laser sensor emitting end, a laser sensor receiving end, a navigation indicating terminal and a control core. A laser emitter used by the laser sensor emitting end and a laser receiver used by the laser receiving end are arranged on the same horizontal plane. The laser receiver points to the laser emitter. The emitting end deflects synchronously along with front wheels of a tractor, and meanwhile the laser emitter rotates at a constant speed with a stepping motor. The navigation indicating terminal is used for indicating tractor off-course information. STM32 is used as a main control chip of the control core, the tractor off-course information is judged by obtaining the time interval between two-time level signal changing of the laser receiver, and the navigation indicating terminal is controlled to display an off-course angle in a pointer-deflection mode. Based on a laser sensor and a single chip microcomputer control technology, straight line navigation auxiliary control during a tractor running process is achieved, compared with navigation control systems such as a GPS, cost is lower, and tractor working accuracy and efficiency can be effectively improved.
Description
Technical field
The present invention relates to control system field, be specially a kind of correlation laser tractor assisting navigation control system.
Background technology
Nowadays, explore and set up the precision agriculture operating mode that tallies with the national condition and become China's agricultural and walk the only way of sustainable development.Precision agriculture Mechanization Technique relates to the links such as arable land, sowing, fertilising, irrigation and results, and can agricultural machinery working have direct impact to the effect of above each link enforcement by straight-line travelling in crossing.Tractor straight-line travelling can reduce soil to be backsetted, balks, keeping parallelism between the each row of crop while ensureing sowing, and provide condition precedent for crop machinery in mid-term topdresses with weeding.In Field-working Tractor-implement process, the driving path overwhelming majority of operation unit is determined by operator on the tractor's driving technology, tradition adopts marker or draws poor according to indicating effect under complex work environment as driver's operation navigation of the modes such as edge of a field line by plugging in mark post, is difficult to reach guiding driver and drives the object that tractor takes the air line; And domestic exploitation in recent years comprise that the farm machinery navigation indication system being made up of GPS and computing machine etc. is due to system complex, high in cost of production problem makes this type of navigational system also therefore slowly fail large scale application.
Summary of the invention
The object of this invention is to provide a kind of correlation laser tractor assisting navigation control system, poor to solve traditional navigate mode indicating effect, the problem such as adaptability is weak provides a kind of tractor assisting navigation control system scheme of low-cost and high-precision simultaneously.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of correlation laser tractor assisting navigation control system, is characterized in that, this system is made up of laser transmitter projects end, laser sensor receiving end, navigation indicating terminal and control core, described laser transmitter projects end is arranged on the pivot stud of tractor front-wheel, by correlation generating laser, generating laser support, independent current source, stepper motor, stepper motor driver and mounting bracket composition, described laser sensor receiving end is arranged on the vehicle body of Tractor Front Axle top, formed by correlation laser pickoff and receiver holder, receiver signal wire Access Control core, described navigation indicating terminal is fixed on tractor cab front windshield by sucker, by angle dial, the small type stepping motor of pointer is installed, stepper motor driver, LCDs, independent button and be with suctorial erecting frame composition, navigation indicating terminal is by wire Access Control core, described control core is taking STM32 as main control chip, by gathering the laser pickoff signal of Access Control core, tractor driftage information is outputed on navigation indicating terminal.
Described generating laser is powered by 12V independent current source, and generating laser and independent current source are fixed on stepping motor rotating shaft by generating laser support, and is rotated with constant speed by described stepper motor driver Driving Stepping Motor.
Described generating laser and laser pickoff are arranged in same level, laser pickoff fixed directional generating laser, in the time that generating laser rotates to the horizontally-opposed position of laser pickoff, laser pickoff produces level variable signal, master control core receives the mistiming of twice level variable signal by recording laser receiver, just can calculate the angle information of tractor driftage.
Described control core converts yaw angle information to the pulse signal of respective amount, rotates corresponding angle by stepper motor driver control small type stepping motor towards correspondence direction.Described independent button and LCDs are for regulating and demonstration operation sensitivity information.
Advantage of the present invention is:
The present invention is with low cost, high performance STM32 microcontroller is control core, carry the navigation indicating terminal of technical grade laser sensor and hommization, realize the straight-line travelling ancillary control function in tractor operation process, give the straight-line travelling aid in guide of operator on the tractor's simple, intuitive, alleviate driver's labour intensity, improve the production efficiency of agricultural machinery with this, homework precision and safe reliability, replace degree of accuracy such as adopting marker and plug in mark post low simultaneously, be subject to the tradition navigation indicating mode that operating environment restriction is larger, and can replace taking GPS etc. as controlling the expensive navigate mode on basis.The designed simple readability of navigation indicating terminal, is easy to the yaw angle information in driver's Real Time Observation tractor operation process and makes in time correction, has cost low, and precision is high, is easy to the advantages such as popularization.
Brief description of the drawings
Fig. 1 is structural drawing of the present invention.
Fig. 2 is control system structured flowchart of the present invention.
Fig. 3 is control principle schematic diagram of the present invention.
Fig. 4 is control flow chart of the present invention.
Embodiment
Referring to Fig. 1 and Fig. 2, correlation laser tractor assisting navigation control system involved in the present invention, mainly comprises laser transmitter projects end 1, laser sensor receiving end 2, navigation indicating terminal 4 and control core 3.
For more clearly describing implementation process of the present invention, here taking Dongfanghong-LX754 type tractor as example.Laser transmitter projects end 1 is arranged on the pivot stud of tractor front-wheel, formed by correlation generating laser, generating laser support, independent current source, stepper motor, stepper motor driver and mounting bracket, generating laser is powered by 12V independent current source, independent current source and generating laser are fixed on through generating laser support in the rotating shaft of stepper motor, and stepper motor is connected with tractor front-wheel steer stub by mounting bracket.Laser sensor receiving end 2 is arranged on the vehicle body of Tractor Front Axle top, is made up of correlation laser pickoff and receiver holder, and laser pickoff and generating laser are arranged in same level, receiver signal wire Access Control core.Navigation indicating terminal 4 is fixed on tractor cab front windshield by sucker, by angle dial, the small type stepping motor that pointer is installed, stepper motor driver, LCDs, independent button and be with suctorial erecting frame to form, navigation indicating terminal 4 is by wire Access Control core 3, control core 3 is taking STM32 as main control chip, by gathering the laser pickoff signal of Access Control core 3, tractor driftage information is outputed on navigation indicating terminal 4.
Can rotate at the uniform velocity accurately for realizing laser transmitter projects end, here use the stepper motor driver Driving Stepping Motor of certain speed closed loop band segmentation function, drive generating laser to rotate with constant rotational speed, stepper motor driver Access Control core, by its rotational speed grade of control core control, and can use the independent button on navigation indicating terminal stepper motor to be set for friction speed grades such as 150rpm, 300rpm, 450rpm, 600rpm, and by control core 3, rotational speed is presented in LCDs.
For the driftage information showing in tractor driving process directly perceived, navigation indicating terminal 4 is designed to the form that pointer shows by the present invention, pointer is arranged in the high-precision small type stepping motor rotating shaft of certain money, stepper motor is driven by the stepper motor driver of high precision band segmentation function equally, stepper motor taking certain deliberate steps elongation as 0.9 degree is as example, stepper motor driver levels of sub division is set at 100 o'clock, each pulse signal will make motor rotation 0.009 degree, and levels of sub division can be by the toggle switch control on stepper motor driver.
Describe the present invention in detail and realize the control principle of tractor assisting navigation below in conjunction with Fig. 3 and Fig. 4, NPN type correlation generating laser and laser pickoff are arranged in same level, generating laser rotates with constant speed with stepper motor, in the time that generating laser rotates to the horizontal relative position of laser pickoff, laser pickoff receives laser signal, and produces high level.Control core interrupt module receives level variable signal and produces immediately interruption, and the count value of counter register read real-time clock module in break in service function in, by calculating the difference of twice count value, just can extrapolate the size of tractor front-wheel yaw angle.
As shown in (1) in Fig. 3, in the ideal case, suppose not deflection of front-wheel when tractor travels, receiving end will receive the laser signal that transmitting terminal sends with Fixed Time Interval, and this time interval is the time that stepping motor rotating shaft rotates a circle.In the time that tractor front-wheel deflects in the process of moving, as shown in (2) in Fig. 3, laser transmitter projects end can be followed the same angle of tractor front-wheel deflection, when now laser transmitter projects end rotates a circle within the set time, arrive shown position 1, when transmitting terminal is again after a bit of time when in-position 2, generating laser receiving end receives laser signal, produces level and changes.The θ angle of now walking around is the angle of tractor driftage.In the time of tractor front-wheel deflection left side, Laser emission end rotates to will be shorter than set time with the time of laser pick-off end aligned position, and the mistiming shortening by calculating is with regard to the angle of known tractor front-wheel deflection left.Equally, in the time of tractor front-wheel deflection right side, Laser emission end rotates to will be longer than the set time with the time of laser pick-off end aligned position, and the angle of now tractor front-wheel deflection to the right also can calculate.
When correlation laser tractor assisting navigation control system is normally worked, navigation indicating terminal 4 receives the yaw angle information that control core 3 is sent in real time, and show by the form of needle deflection, operator on the tractor can according to pointer to the left or to the right the situation of deflection judge the driftage information in tractor driving process, adjust bearing circle to reach the object of tractor straight line moving with this, driver can also arrange sensitivity of control system according to different work environment, and sensitivity information is presented in the LCDs of Navigation Control terminal.
Claims (4)
1. a correlation laser tractor assisting navigation control system, is characterized in that, this system is made up of laser transmitter projects end, laser sensor receiving end, navigation indicating terminal and control core, described laser transmitter projects end is arranged on the pivot stud of tractor front-wheel, by correlation generating laser, generating laser support, independent current source, stepper motor, stepper motor driver and mounting bracket composition, described laser sensor receiving end is arranged on the vehicle body of Tractor Front Axle top, formed by correlation laser pickoff and receiver holder, receiver signal wire Access Control core, described navigation indicating terminal is fixed on tractor cab front windshield by sucker, by angle dial, the small type stepping motor of pointer is installed, stepper motor driver, LCDs, independent button and be with suctorial erecting frame composition, navigation indicating terminal is by wire Access Control core, described control core is taking STM32 as main control chip, by gathering the laser pickoff signal of Access Control core, tractor driftage information is outputed on navigation indicating terminal.
2. a kind of correlation laser tractor assisting navigation control system according to claim 1, it is characterized in that: described generating laser is powered by 12V independent current source, generating laser and independent current source are fixed on stepping motor rotating shaft by generating laser support, and are rotated with constant speed by described stepper motor driver Driving Stepping Motor.
3. a kind of correlation laser tractor assisting navigation control system according to claim 1, it is characterized in that: described generating laser and laser pickoff are arranged in same level, laser pickoff fixed directional generating laser, in the time that generating laser rotates to the horizontally-opposed position of laser pickoff, laser pickoff produces level variable signal, master control core receives the mistiming of twice level variable signal by recording laser receiver, just can calculate the angle information of tractor driftage.
4. a kind of correlation laser tractor assisting navigation control system according to claim 1, it is characterized in that: described control core converts yaw angle information to the pulse signal of respective amount, rotate corresponding angle by stepper motor driver control small type stepping motor towards correspondence direction; Described independent button and LCDs are for regulating and demonstration operation sensitivity information.
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| CN201410175144.0A CN103955219B (en) | 2014-04-26 | 2014-04-26 | A kind of correlation laser tractor assisting navigation control system |
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| CN201410175144.0A CN103955219B (en) | 2014-04-26 | 2014-04-26 | A kind of correlation laser tractor assisting navigation control system |
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| CN104678999A (en) * | 2014-12-15 | 2015-06-03 | 刘丙炎 | Intelligent tractor |
| CN105292024A (en) * | 2015-11-18 | 2016-02-03 | 江苏省农业科学院 | Guiding device and method for simple agricultural vehicle linear walking |
| CN107263509A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot path planning system and control method |
| CN107544508A (en) * | 2017-09-29 | 2018-01-05 | 翟笃震 | Tractor laser navigation control system |
| CN107782739A (en) * | 2016-08-31 | 2018-03-09 | 鞍钢股份有限公司 | Laser-based strip steel hole identification device and method |
| CN111750898A (en) * | 2020-07-21 | 2020-10-09 | 浙江省特种设备科学研究院 | Auxiliary calibration device and method for curved surface navigation of wall-climbing robot |
| WO2023221501A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技股份有限公司 | Agricultural machine information sharing method and system, and electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105292024A (en) * | 2015-11-18 | 2016-02-03 | 江苏省农业科学院 | Guiding device and method for simple agricultural vehicle linear walking |
| CN107263509A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot path planning system and control method |
| CN107263509B (en) * | 2016-04-06 | 2024-02-09 | 王方明 | Public cleaning robot path planning system and control method |
| CN107782739A (en) * | 2016-08-31 | 2018-03-09 | 鞍钢股份有限公司 | Laser-based strip steel hole identification device and method |
| CN107782739B (en) * | 2016-08-31 | 2021-01-08 | 鞍钢股份有限公司 | Laser-based strip steel hole identification device and method |
| CN107544508A (en) * | 2017-09-29 | 2018-01-05 | 翟笃震 | Tractor laser navigation control system |
| CN111750898A (en) * | 2020-07-21 | 2020-10-09 | 浙江省特种设备科学研究院 | Auxiliary calibration device and method for curved surface navigation of wall-climbing robot |
| WO2023221501A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技股份有限公司 | Agricultural machine information sharing method and system, and electronic device and storage medium |
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| CN103955219B (en) | 2016-05-25 |
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