CN104656649A - Intelligent navigation and automatic control system for orchard tractor - Google Patents
Intelligent navigation and automatic control system for orchard tractor Download PDFInfo
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- CN104656649A CN104656649A CN201310612452.0A CN201310612452A CN104656649A CN 104656649 A CN104656649 A CN 104656649A CN 201310612452 A CN201310612452 A CN 201310612452A CN 104656649 A CN104656649 A CN 104656649A
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- sensor
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- control system
- driver module
- intelligent navigation
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- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent navigation and automatic control system for an orchard tractor and belongs to the technical field of automatic control. The intelligent navigation and automatic control system for the orchard tractor is characterized by comprising an ARM controller (1), a power supply module (2), a laser transmitter (3), a vehicle speed sensor (4), a position and altitude sensor (5), a PID controller (6), a course angle sensor (7), a turning angle sensor (8), a shift sensor (9), a driving module (10), a direct-current servo motor (11) and a steering control motor (12). Compared with the prior art, the system has the advantages of simple structure, convenience in mounting and debugging, high reliability, high measurement precision, low power consumption, easiness in popularization, convenience in maintaining and the like.
Description
Technical field
The invention belongs to automatic control technology field, in particular, belong to a kind of orchard tractor intelligent navigation automatic control system.
Background technology
In recent years, agricultural automation technology is rapidly developed, and especially the application of the automatic navigation technology of agri-vehicle is also further extensive.In the process, laser measuring technology is high because of its measuring accuracy, round-the-clockly can apply, not by electromagnetic interference (EMI), can provide the advantages such as a large amount of range informations accurately with upper frequency, obtain applying more and more widely in agri-vehicle navigation research.
The people such as the Oscar of Hokkaido University adopt laser scanner as navigation sensor, utilize Hough transform identification fruit tree, and control tractor at orchard straight line moving, achieving lateral deviation is 0.11m, and course deviation is the navigation results of 1.5 °.The people such as the Bradley Hamner of Carnegie Mellon University are using LMS291 laser scanner as navigation sensor, develop a multi-usage autonomous mobile robot for orchard---APM(autonomous prime mover), achieve the orchard self-navigation of vehicle.The people such as U.S. Vijay Subramanian, adopt laser scanner as the checkout equipment of barrier, utilize multi-sensor fusion technology to achieve vehicle in the walking of citrus orchard automatic linear, during with 3.1m/s speeds, and mean deviation 7.6cm.The people such as U.S. Yvan adopt 3 D laser scanning and GPS to locate phase integration technology, achieve the self-navigation of vehicle.The present invention take laser scanner as navigator, merges multiple sensor, devises orchard tractor intelligent navigation automatic control system based on PID control theory.
Summary of the invention
The present invention, in order to effectively solve above technical matters, gives a kind of orchard tractor intelligent navigation automatic control system.
A kind of orchard tractor intelligent navigation automatic control system of the present invention, is characterized in that: comprise ARM controller, power module, laser beam emitting device, vehicle speed sensor, Position and attitude sensor, PID controller, heading sensor, rotary angle transmitter, displacement transducer, driver module, DC servo motor, course changing control motor; Wherein:
Described ARM controller respectively with described power module, described laser beam emitting device, described vehicle speed sensor, described Position and attitude sensor, described PID controller, described heading sensor, described rotary angle transmitter, institute's displacement sensors is connected, described PID controller respectively with described ARM controller, described driver module is connected, described driver module respectively with described PID controller, described DC servo motor, described course changing control motor is connected, described DC servo motor respectively with described driver module, described vehicle speed sensor is connected, described course changing control motor respectively with described driver module, described rotary angle transmitter is connected.
The present invention is compared with prior art: have that system architecture is simple, installation and debugging convenient, system reliability is high, measuring accuracy is high, low in energy consumption, be easy to penetration and promotion, the advantage such as easy to maintenance.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of orchard tractor intelligent navigation automatic control system of the present invention.
Embodiment
Fig. 1 is the structural representation of orchard tractor intelligent navigation automatic control system of the present invention, and orchard tractor intelligent navigation automatic control system comprises ARM controller 1, power module 2, laser beam emitting device 3, vehicle speed sensor 4, Position and attitude sensor 5, PID controller 6, heading sensor 7, rotary angle transmitter 8, displacement transducer 9, driver module 10, DC servo motor 11, course changing control motor 12; Wherein:
Described ARM controller 1 respectively with described power module 2, described laser beam emitting device 3, described vehicle speed sensor 4, described Position and attitude sensor 5, described PID controller 6, described heading sensor 7, described rotary angle transmitter 8, institute's displacement sensors 9 is connected, described PID controller 6 respectively with described ARM controller 1, described driver module 10 is connected, described driver module 10 respectively with described PID controller 6, described DC servo motor 11, described course changing control motor 12 is connected, described DC servo motor 11 respectively with described driver module 10, described vehicle speed sensor 4 is connected, described course changing control motor 12 respectively with described driver module 10, described rotary angle transmitter 8 is connected.
Claims (1)
1. an orchard tractor intelligent navigation automatic control system, is characterized in that: comprise ARM controller (1), power module (2), laser beam emitting device (3), vehicle speed sensor (4), Position and attitude sensor (5), PID controller (6), heading sensor (7), rotary angle transmitter (8), displacement transducer (9), driver module (10), DC servo motor (11), course changing control motor (12); Wherein:
Described ARM controller (1) respectively with described power module (2), described laser beam emitting device (3), described vehicle speed sensor (4), described Position and attitude sensor (5), described PID controller (6), described heading sensor (7), described rotary angle transmitter (8), institute's displacement sensors (9) is connected, described PID controller (6) respectively with described ARM controller (1), described driver module (10) is connected, described driver module (10) respectively with described PID controller (6), described DC servo motor (11), described course changing control motor (12) is connected, described DC servo motor (11) respectively with described driver module (10), described vehicle speed sensor (4) is connected, described course changing control motor (12) respectively with described driver module (10), described rotary angle transmitter (8) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310612452.0A CN104656649A (en) | 2013-11-25 | 2013-11-25 | Intelligent navigation and automatic control system for orchard tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310612452.0A CN104656649A (en) | 2013-11-25 | 2013-11-25 | Intelligent navigation and automatic control system for orchard tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104656649A true CN104656649A (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310612452.0A Pending CN104656649A (en) | 2013-11-25 | 2013-11-25 | Intelligent navigation and automatic control system for orchard tractor |
Country Status (1)
| Country | Link |
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| CN (1) | CN104656649A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544508A (en) * | 2017-09-29 | 2018-01-05 | 翟笃震 | Tractor laser navigation control system |
| CN109283923A (en) * | 2018-07-02 | 2019-01-29 | 清博（昆山）智能科技有限公司 | A kind of modeling of tractor self-steering system |
-
2013
- 2013-11-25 CN CN201310612452.0A patent/CN104656649A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544508A (en) * | 2017-09-29 | 2018-01-05 | 翟笃震 | Tractor laser navigation control system |
| CN109283923A (en) * | 2018-07-02 | 2019-01-29 | 清博（昆山）智能科技有限公司 | A kind of modeling of tractor self-steering system |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150527 |