CN105799776B - Automatic driving of agricultural machinery farming control system and method based on Beidou navigation - Google Patents
Automatic driving of agricultural machinery farming control system and method based on Beidou navigation Download PDFInfo
- Publication number
- CN105799776B CN105799776B CN201610252869.4A CN201610252869A CN105799776B CN 105799776 B CN105799776 B CN 105799776B CN 201610252869 A CN201610252869 A CN 201610252869A CN 105799776 B CN105799776 B CN 105799776B
- Authority
- CN
- China
- Prior art keywords
- agricultural machinery
- farming
- crops
- car
- mounted display
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Abstract
The present invention provides the automatic driving of agricultural machinery farming control systems and method based on Beidou navigation in technical field of agricultural machinery control, including differential reference station, automatic pilot and visual sensor, differential reference station includes measurement antenna one, measuring receiver one is connected on measurement antenna one, measuring receiver one is connected with transmitting station by RS232 interface, automatic pilot includes automatic navigator, car-mounted display controller, electric steering wheel controller and directive wheel rotary angle transmitter, automatic navigator is connect with car-mounted display controller, the delivery outlet of electric steering wheel controller and directive wheel rotary angle transmitter is connect with car-mounted display controller respectively, car-mounted display controller includes pattern process module, visual sensor is connect with pattern process module；The present invention guarantees that agricultural machinery reduces balking for agricultural machinery while avoiding barrier by the control to directive wheel corner, improves farm machinery tillage quality, can be used in the control work of agricultural machinery automatic Pilot farming.
Description
Technical field
The present invention relates to a kind of automatic Pilot farming control system and method, in particular to a kind of automatic driving of agricultural machinery
Farming 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；This airmanship can also be applied in agricultural machinery, in the prior art,
Agricultural machinery is walked according to the path of setting, and for planting on same field there are many crops, agricultural machinery will not automatic identification farming
Whether object is same type, agricultural machinery can terminate the crops whole farming in field according to the path of setting, and causing should not farming
Crops also by farming, cause unnecessary economic loss, and cultivating quality cannot be guaranteed, and the prior art is unable to satisfy agriculture machine
The condition of tool automatic Pilot.
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 farming control system and method based on Beidou navigation, this system can avoid not needing farming
Crops by farming the problem of, improve the cultivating quality of agricultural machinery, avoid unnecessary economic loss.
The object of the present invention is achieved like this: the automatic driving of agricultural machinery farming control system based on Beidou navigation,
Including differential reference station, automatic pilot and the visual sensor of crops for identification, the differential reference station includes measurement
Antenna one measures and is connected with measuring receiver one on antenna one, and measuring receiver one is connected with transmitting electricity by RS232 interface
Platform, the automatic pilot include that automatic navigator, car-mounted display controller, electric steering wheel controller and directive wheel corner pass
Sensor, the automatic navigator are connect with car-mounted display controller, the electric steering wheel controller and directive wheel rotation angular sensing
The delivery outlet of device is connect with car-mounted display controller respectively, and the car-mounted display controller includes pattern process module, the view
Feel that sensor is connect with pattern process module, the information sended over for handling visual sensor.
As a further improvement of the present invention, there are three the visual sensor is set, visual sensor is separately mounted to agriculture
In rack at left and right sides of machine front end rack, agricultural machinery, it is mounted on the visual sensor at left and right sides of agricultural machinery in rack and sets opposite to each other
It sets, this design can scan crop ped location crops and non-crop ped location crop map picture.
In order to further obtain the more accurate position and speed information of agricultural machinery, the automatic navigator include measurement antenna two,
Three axis attitude sensor and receive radio station, measure and be connected with measuring receiver two on antenna two, the three axis attitude sensor and
Radio station is received to pass through RS232 interface and connect with the input port of measuring receiver two, the delivery outlet of measuring receiver two with it is vehicle-mounted
Display controller connection.
In order to further increase the controllability of steering wheel, the electric steering wheel controller includes electric steering wheel, turns to
Driver and steering wheel angle sensor are controlled, the delivery outlet of the course changing control driver and the input port of electric steering wheel connect
It connects, the delivery outlet of electric steering wheel and the input port of steering wheel angle sensor connect, the delivery outlet of steering wheel angle sensor
It is connect with the input port of 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 farming control method based on Beidou navigation, specifically includes the following steps:
(1) 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, vehicle is according to the path walking of setting and real-time storage farming crop map picture；
(2) visual sensor is used to scan tractor front and side crops, and image processing module identifies crop ped location
Crops and the crops of non-crop ped location whether be identical type, and recognition result is sent to car-mounted display controller, vehicle
It carries display controller and corresponding adjustment is made to agricultural machinery route according to recognition result.
In order to further increase cultivating quality, in step (2), car-mounted display controller is according to recognition result to agricultural machinery route
Make and accordingly adjusting shown in the specific method is as follows: if non-farming is identical with crop ped location crops, agricultural machinery was according to originally setting
Path walking；If agricultural machinery front end crops are different from the crops of farming, system cut-off, i.e. agricultural machinery stops operation；If
Non- crop ped location crops are identical as crop ped location crops for agricultural machinery front end and side, then system cut-off；If agricultural machinery front end crops
The minimum widith of the non-crop ped location crops in side identical as the crops of farming and identical with crop ped location crops >=
When agricultural machinery vehicle body maximum width, agricultural machinery is walked according to the path originally set, otherwise enters new cornering mode, when agricultural machinery is turned
When, change turning path, increases directive wheel corner until farming object in agricultural machinery front end is with when crop ped location crops are identical, new turns
Curved mode terminates, and agricultural machinery is walked according to the straight line path originally set；If agricultural machinery front end crops are identical as farming crops
And when the non-farming crops in side and all different farming crops, then when agricultural machinery enters cornering mode, system cut-off, i.e. agriculture
Machine stops operation.
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, electric steering wheel and directive wheel no longer adjust movement, and the visual sensor of agricultural machinery rack side scans crop ped location agriculture
Crop image simultaneously stores in real time, and non-crop ped location is agricultural machinery front end and agricultural machinery rack other side region, and image processing module is certainly
Whether dynamic identification agricultural machinery front end crops and agricultural machinery rack other side crop specie are consistent with farming crops, and will identification
As a result it is sent to car-mounted display controller, car-mounted display controller according to the actual situation adjusts agricultural machinery route in real time；This
Invention obtains the accurate position and speed information of agricultural machinery using base station and automatic navigator, improves the positioning accuracy of agricultural machinery, passes through
Whether crop ped location crops and non-crop ped location crops are one species for identification, and make route adjustment according to recognition result,
Avoid should not the crops of farming the problem of being fallen by farming, guarantee farm machinery tillage quality, solve those skilled in that art
The technical issues of solving is wanted always, can be used in control work when agricultural machinery farming.
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.
Specific embodiment
The present invention will be further described below with reference to the drawings.
Automatic driving of agricultural machinery farming control system based on Beidou navigation as shown in Figure 1, including differential reference station,
Automatic pilot and visual sensor for scanning crops, differential reference station include measurement antenna one, are measured on antenna one
It is connected with measuring receiver one, measuring receiver one is connected with transmitting station by RS232 interface, and automatic pilot includes vehicle-mounted
Navigator, car-mounted display controller, electric steering wheel controller and directive wheel controller, automatic navigator include measurement antenna
Two, three axis attitude sensor and radio station is received, measures and is connected with measuring receiver two on antenna two, three axis attitude sensor and connect
Receipts radio station passes through RS232 interface and connect with the input port of measuring receiver two, measuring receiver two and car-mounted display controller
Connection, electric steering wheel controller includes electric steering wheel, course changing control driver and steering wheel angle sensor, car-mounted display
Controller is connect with electric steering wheel, and the input port connection of electric steering wheel and steering wheel angle sensor, steering wheel angle passes
The delivery outlet of sensor is connect with the input port of course changing control driver, and car-mounted display controller includes image processing module, vision
Sensor is connect with pattern process module, and there are three visual sensor is set, visual sensor is separately mounted to agricultural machinery front end machine
In rack at left and right sides of frame, agricultural machinery, it is mounted on the visual sensor at left and right sides of agricultural machinery in rack and is disposed opposite to each other.
It is as shown in Figure 2 based on Beidou can autonomous avoiding barrier automatic driving of agricultural machinery control method, specifically
The following steps are included:
(1) 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, vehicle is according to the path walking of setting and real-time storage farming crop map picture；
(2) visual sensor is used to scan tractor front and side crops, and image processing module identifies crop ped location
Crops and the crops of non-crop ped location whether be identical type, and recognition result is sent to car-mounted display controller, vehicle
It carries display controller and corresponding adjustment is made to agricultural machinery route according to recognition result.
In step (2), middle car-mounted display controller makes the specific side accordingly adjusted according to recognition result to agricultural machinery route
Method is as follows: if non-farming is identical as crop ped location crops, agricultural machinery is walked according to the path originally set；If agricultural machinery front end
Crops are different from the crops of farming, then system cut-off, i.e. agricultural machinery stops operation；If the non-crop ped location in agricultural machinery front end and side
Crops are identical as crop ped location crops, then system cut-off；If agricultural machinery front end crops are identical as the crops of farming simultaneously
And when minimum widith >=agricultural machinery vehicle body maximum width of the non-crop ped location crops in side identical with crop ped location crops, agricultural machinery
According to the path walking originally set, otherwise enter new cornering mode, when agricultural machinery turning, changes turning path, increase is led
To wheel corner until farming object in agricultural machinery front end is with when crop ped location crops are identical, new cornering mode terminates, and agricultural machinery is according to original
The straight line path walking first set；If agricultural machinery front end crops are identical as farming crops and non-farming crops in side and
When farming crops are all different, then when agricultural machinery enters cornering mode, system cut-off, i.e. agricultural machinery stop operation.
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, electric steering wheel and directive wheel no longer adjust movement, and the visual sensor of agricultural machinery rack side scans crop ped location agriculture
Crop image simultaneously stores in real time, and non-crop ped location is agricultural machinery front end and agricultural machinery rack other side region, and image processing module is certainly
Whether dynamic identification agricultural machinery front end crops and agricultural machinery rack other side crop specie are consistent with farming crops, and will identification
As a result it is sent to car-mounted display controller, car-mounted display controller according to the actual situation adjusts agricultural machinery route in real time；This
Invention obtains the accurate position and speed information of agricultural machinery using base station and automatic navigator, improves the positioning accuracy of agricultural machinery, passes through
Whether crop ped location crops and non-crop ped location crops are one species for identification, and make route adjustment according to recognition result,
Avoid should not the crops of farming the problem of being fallen by farming, guarantee farm machinery tillage quality, solve those skilled in that art
The technical issues of solving is wanted always, can be used in control work when 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.
Claims (5)
1. the automatic driving of agricultural machinery farming control method based on Beidou navigation is realized based on farming control system, described to plough
Action control system includes differential reference station, automatic pilot and the visual sensor for scanning crops, the differential reference
It stands including measuring antenna one, measures and be connected with measuring receiver one on antenna one, measuring receiver one is connected by RS232 interface
There is transmitting station, the automatic pilot includes automatic navigator, car-mounted display controller, electric steering wheel controller and guiding
Rotary angle transmitter is taken turns, the transmitting station and automatic navigator are wirelessly connected, the automatic navigator and car-mounted display controller
The delivery outlet of connection, the electric steering wheel controller and directive wheel rotary angle transmitter is connect with car-mounted display controller respectively,
There are three the visual sensor is set, visual sensor is separately mounted to agricultural machinery front end rack, the rack at left and right sides of agricultural machinery
On, it is mounted on the visual sensor at left and right sides of agricultural machinery in rack and is disposed opposite to each other；The car-mounted display controller includes at figure
Module is managed, the visual sensor is connect with pattern process module, the information sended over for handling visual sensor, special
Sign is, specifically includes the following steps:
(1) automatic navigator and differential reference station obtain the position coordinates and velocity information of agricultural machinery, position coordinates and velocity information
It is transferred to car-mounted display controller, vehicle is according to the path walking of setting and real-time storage farming crop map picture；
(2) visual sensor is used to scan agricultural machinery front and side crops, and image processing module identifies the farming of crop ped location
Whether the crops of object and non-crop ped location are identical type, and recognition result is sent to car-mounted display controller, car-mounted display
Controller makes corresponding adjustment to agricultural machinery route according to recognition result.
2. the automatic driving of agricultural machinery farming control method according to claim 1 based on Beidou navigation, feature exist
In car-mounted display controller makes the specific method accordingly adjusted according to recognition result such as to agricultural machinery route in the step (2)
Shown in lower: if non-farming is identical as crop ped location crops, agricultural machinery is walked according to the path originally set；If the farming of agricultural machinery front end
Object is different from the crops of farming, then system cut-off, i.e. agricultural machinery stops operation；If the non-crop ped location farming in agricultural machinery front end and side
Object is identical as crop ped location crops, then system cut-off；If agricultural machinery front end crops are identical as the crops of farming, agricultural machinery one
The crops of crop ped location of side are identical with the non-crop ped location crops of the agricultural machinery other side and the minimum widith of non-crop ped location crops
When >=agricultural machinery vehicle body maximum width, agricultural machinery is walked according to the path originally set, otherwise enters new cornering mode, when agricultural machinery turns
When curved, change turning path, increases directive wheel corner until agricultural machinery front end farming object and when crop ped location crops are identical, newly
Cornering mode terminates, and agricultural machinery is walked according to the straight line path originally set；If agricultural machinery front end crops and farming crops phase
When the same and non-farming crops in side and all different farming crops, then when agricultural machinery enters cornering mode, system cut-off, i.e.,
Agricultural machinery stops operation.
3. the automatic driving of agricultural machinery farming control method according to claim 1 or 2 based on Beidou navigation, feature
It is, the automatic navigator includes measurement antenna two, three axis attitude sensor and receives radio station, measures and is connected on antenna two
Measuring receiver two, the three axis attitude sensor and reception radio station pass through the input of RS232 interface Yu measuring receiver two
Mouth connection, the delivery outlet of measuring receiver two are connect with car-mounted display controller.
4. the automatic driving of agricultural machinery farming control method according to claim 3 based on Beidou navigation, feature exist
In, the electric steering wheel controller include electric steering wheel, course changing control driver and steering wheel angle sensor, described turn
The input port of delivery outlet and electric steering wheel to control driver connects, and the delivery outlet and steering wheel angle of electric steering wheel pass
The input port of sensor connects, and the delivery outlet of steering wheel angle sensor is connect with the input port of course changing control driver.
5. the automatic driving of agricultural machinery farming control method according to claim 4 based on Beidou navigation, feature exist
In electric steering wheel connection opposite with directive wheel, directive wheel rotary angle transmitter is mounted on directive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252869.4A CN105799776B (en) | 2016-04-22 | 2016-04-22 | Automatic driving of agricultural machinery farming control system and method based on Beidou navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252869.4A CN105799776B (en) | 2016-04-22 | 2016-04-22 | Automatic driving of agricultural machinery farming control system and method based on Beidou navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105799776A CN105799776A (en) | 2016-07-27 |
| CN105799776B true CN105799776B (en) | 2018-12-07 |
Family
ID=56458411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610252869.4A Active CN105799776B (en) | 2016-04-22 | 2016-04-22 | Automatic driving of agricultural machinery farming control system and method based on Beidou navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105799776B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116795119A (en) * | 2016-12-05 | 2023-09-22 | 聊城大学 | Positioning and control method for multi-sensor fusion tractor navigation control system |
| CN106647756A (en) * | 2016-12-21 | 2017-05-10 | 上海华测导航技术股份有限公司 | Beidou farm machinery automatic navigation driving control system |
| 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 |
| 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 |
| CN106874887A (en) * | 2017-03-10 | 2017-06-20 | 南京沃杨机械科技有限公司 | Based on the farm machinery navigation control method that farm environment is perceived |
| CN106950961A (en) * | 2017-04-11 | 2017-07-14 | 中联重机股份有限公司 | A kind of cropper control system, operation meter mu method and crawler type cropper |
| CN109283561A (en) * | 2017-07-22 | 2019-01-29 | 西北农林科技大学 | A kind of unmanned combine harvester vision navigation 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 |
| CN109781096A (en) * | 2017-11-15 | 2019-05-21 | 洛阳中科晶上智能装备科技有限公司 | A kind of integrated navigation and location system and method for intelligent agricultural machinery |
| CN109238284B (en) * | 2018-08-29 | 2021-03-02 | 北京农业智能装备技术研究中心 | Method for determining tool operating point in automatic navigation of agricultural machine |
| CN109358625A (en) * | 2018-10-25 | 2019-02-19 | 丰疆智慧农业股份有限公司 | Automatic Pilot agricultural machinery and its dynamical system |
| CN111026119B (en) * | 2019-12-20 | 2023-02-24 | 扬州大学 | Farming seedling row-to-row weeding control method for accurately correcting Beidou satellite navigation |
| CN111296141B (en) * | 2020-03-31 | 2021-08-06 | 扬州大学 | Crop farming process |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2269893A1 (en) * | 2008-04-17 | 2011-01-05 | Mitsubishi Heavy Industries, Ltd. | Vehicle steering control device and method |
| CN102530071A (en) * | 2011-12-21 | 2012-07-04 | 株洲易力达机电有限公司 | Electric power-assisted steering aligning controller without angle sensor |
| CN103895698A (en) * | 2012-12-27 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Hydraulic agricultural machine automatic steering control device and control method |
| CN104842822A (en) * | 2015-05-26 | 2015-08-19 | 山东省计算中心（国家超级计算济南中心） | High-precision Beidou positioning based universal automatic driving control device for agricultural machinery |
| CN105045280A (en) * | 2015-08-03 | 2015-11-11 | 中国农业大学 | Self-propelled spraying machine navigation system based on satellite system and method |
-
2016
- 2016-04-22 CN CN201610252869.4A patent/CN105799776B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2269893A1 (en) * | 2008-04-17 | 2011-01-05 | Mitsubishi Heavy Industries, Ltd. | Vehicle steering control device and method |
| CN102530071A (en) * | 2011-12-21 | 2012-07-04 | 株洲易力达机电有限公司 | Electric power-assisted steering aligning controller without angle sensor |
| CN103895698A (en) * | 2012-12-27 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Hydraulic agricultural machine automatic steering control device and control method |
| CN104842822A (en) * | 2015-05-26 | 2015-08-19 | 山东省计算中心（国家超级计算济南中心） | High-precision Beidou positioning based universal automatic driving control device for agricultural machinery |
| CN105045280A (en) * | 2015-08-03 | 2015-11-11 | 中国农业大学 | Self-propelled spraying machine navigation system based on satellite system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105799776A (en) | 2016-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105799776B (en) | Automatic driving of agricultural machinery farming control system and method based on Beidou navigation | |
| CN105700533B (en) | Automatic driving of agricultural machinery control system and method based on Beidou navigation | |
| USRE48509E1 (en) | Raster-based contour swathing for guidance and variable-rate chemical application | |
| US9002566B2 (en) | Visual, GNSS and gyro autosteering control | |
| CN105911985B (en) | Automatic driving of agricultural machinery control method based on Beidou navigation | |
| CN106132187B (en) | Control device for work vehicle | |
| EP3400798A1 (en) | An agricultural system | |
| US20200288625A1 (en) | Agricultural utility vehicle | |
| US20170357267A1 (en) | Autonomous work vehicle obstacle detection system | |
| US7885745B2 (en) | GNSS control system and method | |
| CN106627753A (en) | Agricultural machinery automatic driving tillage control system guided by Beidou navigation system and control method | |
| WO2016076320A1 (en) | Field state detection system | |
| CN104842822A (en) | High-precision Beidou positioning based universal automatic driving control device for agricultural machinery | |
| CN109099925A (en) | A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device | |
| CN108375366B (en) | Land parcel measuring system and method based on unmanned aerial vehicle | |
| CN104731105A (en) | Navigation device and method for enabling agricultural machine to enter preset path based on Smart Heading | |
| EP3864944A1 (en) | Implement control of vehicle and implement combination | |
| CN106647756A (en) | Beidou farm machinery automatic navigation driving control system | |
| Yang et al. | Development and application of a wheel-type robot tractor | |
| CN208796078U (en) | A kind of quantity-variation type seeding control system and seeding system | |
| CN106595637A (en) | Visual navigation method for agricultural machine | |
| CN109213050A (en) | A kind of quantity-variation type seeding control system and its control method | |
| CN103196441A (en) | Spraying machine integrated navigation method and system of | |
| US20220221865A1 (en) | Autonomous Travel System | |
| CN209749570U (en) | Orchard intelligence is from walking water-spraying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160727 Assignee: Jiangsu Changfa Agricultural Equipment Co., Ltd. Assignor: Yangzhou University Contract record no.: 2019320000059 Denomination of invention: Automatic drive cultivation control system and method for agricultural machine based on Beidou navigation Granted publication date: 20181207 License type: Exclusive License Record date: 20190322 |
|
| EE01 | Entry into force of recordation of patent licensing contract |