CN105700533B - Automatic driving of agricultural machinery control system and method based on Beidou navigation - Google Patents
Automatic driving of agricultural machinery control system and method based on Beidou navigation Download PDFInfo
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- CN105700533B CN105700533B CN201610252863.7A CN201610252863A CN105700533B CN 105700533 B CN105700533 B CN 105700533B CN 201610252863 A CN201610252863 A CN 201610252863A CN 105700533 B CN105700533 B CN 105700533B
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- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000000034 methods Methods 0.000 claims abstract description 6
- 230000001702 transmitter Effects 0.000 claims abstract description 6
- 238000004364 calculation methods Methods 0.000 claims description 13
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000003786 synthesis reactions Methods 0.000 claims description 3
- 230000002194 synthesizing Effects 0.000 claims description 3
- 238000009313 farming Methods 0.000 abstract description 6
- 238000003971 tillage Methods 0.000 abstract description 3
- 238000005516 engineering processes Methods 0.000 description 5
- 239000000969 carriers Substances 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 2
- 238000009331 sowing Methods 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 238000004458 analytical methods Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
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- 230000002035 prolonged Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2201/00—Application
- G05D2201/02—Control of position of land vehicles
- G05D2201/0212—Driverless passenger transport vehicle
Abstract
Description
Technical field
The present invention relates to a kind of automatic driving control system and method, in particular to a kind of automatic driving of agricultural machinery control System and method.
Background technique
Agricultural is national basis, is related to national politics, economic stability, can be by with the development of China's chemurgy Distributed mode of agriculture gradually changes to concentrated agricultural.The mechanization of agricultural is the weight for measuring the development of a National agricultural Index is wanted, along with the continuous propulsion of relevant strategies, urgent requirement is proposed to mechanization of agriculture.
Agricultural machinery has artificial incomparable labor efficiency, not only reduces labor intensity, but also can liberate very Big a part of labour, and then it is engaged in other industry, therefore developing agricultural machinery is benefited the nation and the people.Agricultural machinery is mainly used for completing The operations such as ploughing and weeding, sowing, the harvesting in soil, the existing agricultural machinery overwhelming majority is pilot steering, for the field of large area For ground, driver needs prolonged driving operation, very easy fatigue.Moreover, most importantly, agricultural machinery Using be it is interim, only just needed in the period of ploughing and weeding, sowing, harvesting, in this way, working or being engaged in outside other rows The driver of industry, it has to return to one's native place in busy farming season, or large-scale land contract person does not employ largely not etc. in the time in busy farming season Driver, carry out farm work operation, this can undoubtedly bring personnel's use cost of increasing.
As satellite positioning tech (Beidou satellite system in such as China), the communication technology, computer technology are to automatically control The maturation of technology, satellite-signal can accurately determine the location information of vehicle based on the received, by vehicle's current condition Detection and analysis makes reasonable automatic Pilot scheme, and has the function of autonomous avoiding barrier；In the prior art, When vehicle encounters barrier, whether agricultural machinery can make a policy according to ambient enviroment starts autonomous lane-change mode, into autonomous lane-change After mode, vehicle can autonomous lane-change, this technology can also be used in agricultural machinery, but handling situations of agricultural machinery and common Vehicle is different, requires consideration for how cultivating quality when guaranteeing farm machinery tillage while autonomous avoiding obstacles, existing skill Art is unable to satisfy the condition of automatic driving of agricultural machinery.
Summary of the invention
For the defects in the prior art, it is an object of the invention to overcome the deficiencies in the prior art described above place, mentions For a kind of automatic driving of agricultural machinery control system and method based on Beidou navigation, this system guarantees agricultural machinery in avoiding barrier While reduce agricultural machinery situation of balking, improve the cultivating quality of agricultural machinery.
The object of the present invention is achieved like this: the automatic driving of agricultural machinery control system based on Beidou navigation, including Differential reference station, automatic pilot and visual sensor, the differential reference station include measurement antenna one, measure and connect on antenna one It is connected to measuring receiver one, measuring receiver one is connected with transmitting station by RS232 interface, and the automatic pilot includes vehicle Carry navigator, car-mounted display controller, electric steering wheel controller and directive wheel steering angle sensor, the automatic navigator Connect with car-mounted display controller, the delivery outlet of the electric steering wheel controller and directive wheel steering angle sensor respectively with The connection of car-mounted display controller, the car-mounted display controller includes image processing module, at the visual sensor and figure Manage module connection.
When the invention works, measurement antenna one receives the navigation signal of BDS, GPS constellation, and navigation signal is transferred to measurement and connects Receipts machine one, the navigation signal that measuring receiver a pair receives carries out acquisition and tracking and positioning calculation, and obtains high-precision puppet Away from data are observed with carrier phase, positioning calculation result, pseudorange and carrier phase observation data send hair to by RS232 interface Radio platform, for transmitting station by data to external broadcasting, the data at broadcast are received radio station reception, and measuring receiver two receives The navigation signal of BDS constellation, measuring receiver two carry out acquisition and tracking, positioning calculation to the navigation signal received, are caught Tracking, positioning calculation are obtained, merges resolving after positioning calculation with the data transmitted from base station, obtains agricultural machinery itself essence True position and speed information, obtains the three-dimensional posture information of agricultural machinery itself by three axis attitude sensor, and automatic navigator is by agricultural machinery Position and speed information be sent to car-mounted display controller, car-mounted display controller is by the position of agricultural machinery and the road that set originally Diameter compares, and car-mounted display controller controls the steering of electric steering wheel by electric steering wheel controller, electric steering wheel Rotation drives the rotation of directive wheel, and the steering angle of directive wheel, directive wheel rotary angle transmitter are detected by directive wheel rotary angle transmitter The steering angle signal of directive wheel is transferred to car-mounted display controller, car-mounted display controller is continued through according to steering angle signal The rotation for turning to drive control device control electric steering wheel recycles the above movement, until agricultural machinery position and the path originally set Unanimously, whether electric steering wheel and directive wheel no longer adjust movement, deposit in front of visual sensor scanning agricultural machinery with non-crop ped location In barrier, and image processing module is transferred information to, the information that image processing module processing visual sensor sends over, Car-mounted display controller makes a policy instruction；The present invention obtains the accurate position and speed of agricultural machinery using base station and automatic navigator Information improves the positioning accuracy of agricultural machinery, the boundary line of barrier is scanned by visual sensor, image processing module is according to barrier Object boundary line is hindered to fit the optimal circular arc path of agricultural machinery turning, reduction is balked, and guarantees farm machinery tillage quality, is solved in the art Technical staff wants always the technical issues of solving, and can be used in control work when agricultural machinery farming.
In order to further increase the accuracy for being fitted optimal turning path when encountering barrier, the visual sensor is set There are two, visual sensor is separately mounted to the left and right sides of agricultural machinery front end rack.It is more accurate in order to further obtain agricultural machinery Position and speed information, the automatic navigator include measurement antenna two, three axis attitude sensor and receive radio station, measure antenna Measuring receiver two is connected on two, the three axis attitude sensor and reception radio station pass through RS232 interface and measurement receives The input port of machine two connects, and the delivery outlet of measuring receiver two is connect with car-mounted display controller.
In order to further increase the controllability of steering wheel, the wheel steering controller includes electric steering wheel, turns to Control driver and steering wheel angle sensor, the car-mounted display controller connect with electric steering wheel, electric steering wheel and The input port of steering wheel angle sensor connects, and the delivery outlet of steering wheel angle sensor is connect with course changing control driver.
As a further improvement of the present invention, electric steering wheel connection opposite with directive wheel, directive wheel rotation angular sensing Device is mounted on directive wheel.
Automatic driving of agricultural machinery control method based on Beidou navigation, specifically includes the following steps:
(1) knowledge source of disperse policy decision unit and knowing for policy of Central Government unit are stored in car-mounted display controller in advance Knowledge source, the priori knowledge and experience of the knowledge source storage disperse policy decision unit of policy of Central Government unit, each disperse policy decision unit Local decision result has a priority, and policy of Central Government unit makes final decision according to multiple disperse policy decision results；
(2) preset device and base station obtain the position coordinates and velocity information of agricultural machinery, position coordinates and velocity information It is transferred to car-mounted display controller；
(3) visual sensor is used to scan in front of tractor and whether tractor two sides have barrier；If in front of agricultural machinery and When the equal clear in side, agricultural machinery is advanced according to the path originally set；If thering is barrier, obstacle height to be higher than in front of agricultural machinery When radius of wheel and side clear, agricultural machinery is first walked according to the path originally set, and visual sensor scans barrier Boundary line, the image processing module in car-mounted display controller is used to fit the most short circular arc road turned along boundary line Diameter, converses agricultural machinery rotating angle increment, and when agricultural machinery is to circular arc path starting point, agricultural machinery enters cornering mode；If having barrier in front of agricultural machinery When hindering object, obstacle height lower than radius of wheel and side clear, agricultural machinery is first walked according to the path originally set；If agriculture Having barrier, obstacle height to be higher than radius of wheel and front obstacle in front of machine, there is also obstacles on one side of non-plowing direction Object, when the distance between barrier is greater than vehicle body maximum width, policy of Central Government unit makes the instruction of cut-through object, visual sensing Device scans the boundary line of agricultural machinery front obstacle, and the image processing module in car-mounted display controller is used to fit along side The circular arc path of boundary line turning, converses agricultural machinery corner variable quantity according to circular arc path and is sent to car-mounted display controller, when Distance between barrier is less than vehicle body maximum width constantly, and policy of Central Government unit makes final decision result as stopping, i.e. system Power-off, agricultural machinery stop operation.
In order to further increase cultivating quality, in step (3), car-mounted display controller differentiates agriculture according to stored path Machine cultivation area and non-cultivation area, in avoiding barrier, agricultural machinery is turned to non-cultivation area direction.
In order to further increase the controllability of the directive wheel corner in avoiding barrier, avoiding barrier kinematics mould is established Type:
1)
Assuming that speed varies less when agricultural machinery 2 is turned, regard as at the uniform velocity, then:
2)
3)
Synthesis is 1)~3) it obtains, whenWhen, directive wheel corner variable quantity are as follows:
WhenWhen, directive wheel corner variable quantity is calculated according to above-mentioned corner variable quantity calculation formula, and upper It is opposite to state corner variable quantity；
WhenWhen, directive wheel corner variable quantity are as follows:
Wherein,For the radius of the first circular arc, i.e., radius when agricultural machinery is turned,For the radius of the first circular arc,For the maximum angle of the first circular arc and agricultural machinery original path vertical direction,Second circular arc and agricultural machinery 2 are original The maximum angle in path orthogonal direction,ForThe speed of moment agricultural machinery,For in the first circular arc path of fitting At a distance from parallel with 2 direction of travel of agricultural machinery between circular arc endpoint,Between circular arc endpoint in the second circular arc path of fitting With agricultural machinery direction of travel it is parallel at a distance from,For the agricultural machinery revolving speed changed over time, system becomes according to 2 actual speed of agricultural machinery Change Automatic solution,For agricultural machinery turning time,For directive wheel corner variable quantity.
It further comprise following in step (3) to further increase the control precision of directive wheel corner in control system Step:
After system makes a policy the instruction of cut-through object, into cornering mode, system according to fitting circular arc path Set when walking, in system angled variable quantity referring to absolute value as, whenWhen,Moment turns Kinking beam,Deviate threshold value for agricultural machinery corner；If being unsatisfactory for the condition that turning terminates, steering wheel continues to adjust until meeting Above-mentioned condition；The fore-and-aft distance walked when cut-through object is set as H, and when H >=H1+H2, cornering mode terminates, and agricultural machinery is according to original Set path walking.
Detailed description of the invention
Fig. 1 is the connection block diagram of control system of the present invention.
Fig. 2 is the program chart of control method of the present invention.
Fig. 3 is the optimal circular arc path figure of agricultural machinery in the present invention.
Wherein, 1 non-cultivation area, 2 agricultural machinery, 3 cultivation areas, 4 paths originally set, 5 obstacles borders lines, 6 One circular arc path, 7 second circular arc paths.
Specific embodiment
The present invention will be further described below with reference to the drawings.
Embodiment 1
Automatic driving of agricultural machinery control system based on Beidou navigation as shown in Figure 1, including it is differential reference station, automatic Pilot and visual sensor, differential reference station include measurement antenna one, measure and are connected with measuring receiver one on antenna one, survey Amount receiver one is connected with transmitting station by RS232 interface, and automatic pilot includes automatic navigator, car-mounted display control Device, electric steering wheel controller and directive wheel controller, automatic navigator include measurement antenna two, three axis attitude sensor and connect Radio station is received, measures and is connected with measuring receiver two on antenna two, the three axis attitude sensor and reception radio station pass through RS232 Interface is connect with the input port of measuring receiver two, and measuring receiver two is connect with car-mounted display controller, wheel steering control Device processed includes electric steering wheel, course changing control driver and steering wheel angle sensor, car-mounted display controller and electronic direction The input port of disk connection, electric steering wheel and steering wheel angle sensor connects, the delivery outlet of steering wheel angle sensor with turn It is connected to the input port of control driver, car-mounted display controller includes image processing module, visual sensor and graphics process Module connection, there are two visual sensor is set, visual sensor is mounted on the left and right sides of 2 front end of agricultural machinery.
It is as shown in Figures 2 and 3 based on Beidou can autonomous avoiding barrier automatic driving of agricultural machinery control method, Specifically includes the following steps:
(1) knowledge source of disperse policy decision unit and knowing for policy of Central Government unit are stored in car-mounted display controller in advance Knowledge source, the priori knowledge and experience of the knowledge source storage disperse policy decision unit of policy of Central Government unit, each disperse policy decision unit Local decision result has a priority, and policy of Central Government unit makes final decision according to multiple disperse policy decision results；
(2) preset device and base station obtain the position coordinates and velocity information of agricultural machinery 2, position coordinates and velocity information It is transferred to car-mounted display controller；
(3) visual sensor is used to scan in front of tractor and whether tractor two sides have barrier；If the front of agricultural machinery 2 and When the equal clear in side, agricultural machinery 2 is advanced according to the path 4 originally set；If having barrier, obstacle height in front of agricultural machinery 2 When higher than radius of wheel and side clear, agricultural machinery 2 is first walked according to the path 4 originally set, and visual sensor scans The boundary line of barrier, the image processing module in car-mounted display controller are used to fit the most short circle turned along boundary line Arc path, converses 2 rotating angle increment of agricultural machinery, and when agricultural machinery 6 starting point of the 2 to the first circular arc path, agricultural machinery 2 enters cornering mode；If When having barrier, obstacle height in front of agricultural machinery 2 lower than radius of wheel and side clear, agricultural machinery 2 is first according to original setting Path 4 walk；If thering is barrier, obstacle height to be higher than radius of wheel and front obstacle in non-farming side in front of agricultural machinery 2 To one side there is also barrier, when the distance between barrier is greater than vehicle body maximum width, policy of Central Government unit is made around barrier Hinder the instruction of object, visual sensor scans the boundary line of 2 front obstacle of agricultural machinery, the image procossing in car-mounted display controller Module is used to fit the circular arc path turned along boundary line, and it is concurrent to converse 2 corner variable quantity of agricultural machinery according to circular arc path It send to car-mounted display controller, when the distance between barrier is less than vehicle body maximum width constantly, policy of Central Government unit is made finally The result of decision is to stop, i.e., system cut-off, agricultural machinery 2 stop operation；In addition, car-mounted display controller is sentenced according to stored path Other agricultural machinery 2 cultivation area 3 and non-cultivation area 1, in avoiding barrier, optimal circular arc path is along the non-crop ped location of agricultural machinery 2 1 direction of domain.
Establish avoiding barrier kinematics model:
1)
Assuming that speed varies less when agricultural machinery 2 is turned, regard as at the uniform velocity, then:
2)
3)
Synthesis is 1)~3) it obtains, whenWhen, directive wheel corner variable quantity are as follows:
WhenWhen, directive wheel corner variable quantity is calculated according to above-mentioned corner variable quantity calculation formula, and upper It is opposite to state corner variable quantity；
WhenWhen, directive wheel corner variable quantity are as follows:
Wherein,For the radius of the first circular arc, i.e., radius when agricultural machinery is turned,For the radius of the first circular arc,For the maximum angle of the first circular arc and agricultural machinery original path vertical direction,Second circular arc and agricultural machinery 2 are original The maximum angle in path orthogonal direction,ForThe speed of moment agricultural machinery,For in the first circular arc path of fitting At a distance from parallel with 2 direction of travel of agricultural machinery between circular arc endpoint,Between circular arc endpoint in the second circular arc path of fitting With agricultural machinery direction of travel it is parallel at a distance from,For the agricultural machinery revolving speed changed over time, system becomes according to 2 actual speed of agricultural machinery Change Automatic solution,For agricultural machinery turning time,For directive wheel corner variable quantity.
In step (3), further include steps of
After system makes a policy the instruction of cut-through object, into cornering mode, system according to fitting circular arc path Set when walking, in system angled variable quantity referring to absolute value as, whenWhen,Moment turns Kinking beam,Deviate threshold value for 2 corner of agricultural machinery；If being unsatisfactory for the condition that turning terminates, steering wheel continues to adjust until meeting Above-mentioned condition；The fore-and-aft distance walked when cut-through object is set as H, and when H >=H1+H2, cornering mode terminates, and agricultural machinery 2 is according to original To set path walking.
Wherein, disperse policy decision unit makes the corresponding result of decision, policy of Central Government unit to each event occurred The result of decision that comprehensive each disperse policy decision unit is made makes last decision, and system is held according to last Decision Control movement The operation of row mechanism.
When the invention works, measurement antenna one receives the navigation signal of BDS, GPS constellation, and navigation signal is transferred to measurement and connects Receipts machine one, the navigation signal that measuring receiver a pair receives carries out acquisition and tracking and positioning calculation, and obtains high-precision puppet Away from data are observed with carrier phase, positioning calculation result, pseudorange and carrier phase observation data send hair to by RS232 interface Radio platform, for transmitting station by data to external broadcasting, the data at broadcast are received radio station reception, and measuring receiver two receives The navigation signal of BDS constellation, measuring receiver two carry out acquisition and tracking, positioning calculation to the navigation signal received, are caught Tracking, positioning calculation are obtained, merges resolving after positioning calculation with the data transmitted from base station, obtains agricultural machinery 2 itself Exact position velocity information, the three-dimensional posture information of agricultural machinery 2 itself is obtained by three axis attitude sensor, and automatic navigator is by agriculture The position and speed information of machine 2 is sent to car-mounted display controller, car-mounted display controller by the position of agricultural machinery 2 with set originally Path compare, car-mounted display controller by electric steering wheel controller control electric steering wheel steering, electronic direction The rotation of disk drives the rotation of directive wheel, and the steering angle of directive wheel is detected by directive wheel rotary angle transmitter, and directive wheel corner passes The steering angle signal of directive wheel is transferred to car-mounted display controller by sensor, and car-mounted display controller continues according to steering angle signal Control the rotation of electric steering wheel by turning to drive control device, recycle the above movement, until 2 position of agricultural machinery with originally set Path 4 is consistent, and electric steering wheel and directive wheel no longer adjust movement, and visual sensor scans 2 front of agricultural machinery and non-crop ped location Whether there are obstacles, and transfers information to image processing module, and image processing module processing visual sensor sends over Information, car-mounted display controller is made whether according to newest turning path instruction execution；The present invention uses base station and vehicle-mounted Navigator obtains the accurate position and speed information of agricultural machinery 2, improves the positioning accuracy of agricultural machinery 2, scans barrier by visual sensor Hinder the boundary line of object, image processing module fits agricultural machinery 2 according to obstacles borders line 5 and turns optimal circular arc path, optimal circle The obstacles borders line 5 in non-cultivation area 1 scanned according to arc path defines boundaries the tangent line of outer most edge, according to most Circular arc is arranged in the tangent line of outer rim, and the method can be reduced and be balked, and guarantees 2 cultivating quality of agricultural machinery, solves those skilled in that art The technical issues of solving is wanted always, can be used in the control work of agricultural machinery farming.
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor A little replacements and deformation, these replacements and deformation all fall in the scope of protection of the present invention.
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| CN106627753A (en) * | 2016-12-21 | 2017-05-10 | 上海华测导航技术股份有限公司 | Agricultural machinery automatic driving tillage control system guided by Beidou navigation system and control method |
| CN106595637A (en) * | 2016-12-21 | 2017-04-26 | 上海华测导航技术股份有限公司 | Visual navigation method for agricultural machine |
| CN106527450A (en) * | 2016-12-26 | 2017-03-22 | 农芯科技（北京）有限责任公司 | Trackless navigation system and method |
| CN106647770A (en) * | 2017-01-22 | 2017-05-10 | 无锡卡尔曼导航技术有限公司 | Field turning path planning and control method used for farm machinery driverless driving |
| CN106681335A (en) * | 2017-01-22 | 2017-05-17 | 无锡卡尔曼导航技术有限公司 | Obstacle-avoiding route planning and control method for unmanned agricultural machine driving |
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| CN106772451A (en) * | 2017-02-23 | 2017-05-31 | 陕西科丰农业机械有限公司 | Beidou navigation flat ground system and Beidou navigation agricultural production method |
| CN107422731A (en) * | 2017-06-19 | 2017-12-01 | 中国烟草总公司广东省公司 | The arable land control method and control system of agricultural intelligent Agricultural land system |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN107738750B (en) * | 2017-09-27 | 2020-10-13 | 北京航空航天大学 | Aerial towline towing target system-based unmanned aerial vehicle air-based accurate recovery device and method |
| CN107697303B (en) * | 2017-09-27 | 2020-10-13 | 北京航空航天大学 | Unmanned aerial vehicle air-based recovery device and method based on aviation towing type stable target system |
| CN107702720B (en) * | 2017-10-11 | 2019-11-29 | 北京耘华科技有限公司 | A kind of agricultural machinery cultivation leading line modification method and system |
| CN107783539A (en) * | 2017-10-25 | 2018-03-09 | 上海联适导航技术有限公司 | Four-wheel carrier servomechanism and its control method based on Beidou satellite navigation |
| CN107831771A (en) * | 2017-11-10 | 2018-03-23 | 安徽省现代农业装备产业技术研究院有限公司 | A kind of dilatory machine automatic drive system, control method and caterpillar tractor |
| CN108313125B (en) * | 2017-12-29 | 2020-12-15 | 苏州智加科技有限公司 | Method and device for calibrating steering angle sensor |
| CN110058563B (en) * | 2019-01-18 | 2020-05-05 | 丰疆智能科技研究院(常州)有限公司 | Operation monitoring system and monitoring method thereof |
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Application publication date: 20160622 Assignee: Jiangsu Changfa Agricultural Equipment Co., Ltd. Assignor: Yangzhou University Contract record no.: 2019320000060 Denomination of invention: Agricultural machinery automatic driving control system based on Beidou navigation and method thereof Granted publication date: 20181207 License type: Exclusive License Record date: 20190322 |