CN106647756A - Beidou farm machinery automatic navigation driving control system - Google Patents
Beidou farm machinery automatic navigation driving control system Download PDFInfo
- Publication number
- CN106647756A CN106647756A CN201611193209.XA CN201611193209A CN106647756A CN 106647756 A CN106647756 A CN 106647756A CN 201611193209 A CN201611193209 A CN 201611193209A CN 106647756 A CN106647756 A CN 106647756A
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- Prior art keywords
- agricultural machinery
- navigation
- control system
- big dipper
- reference station
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000003905 agrochemical Substances 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention provides a Beidou farm machinery automatic navigation driving control system. The Beidou farm machinery automatic navigation driving control system comprises a Beidou signal receiver, an angular transducer, an electromagnetic valve, a difference reference station, an autopilot, a visual sensor, and a data processing system. The Beidou signal receiver is connected with the autopilot, the data processing system, and the difference reference station. The autopilot is connected with the angular transducer, the electromagnetic valve, and the visual sensor. The difference reference station comprises a measuring antenna, and the visual sensor is connected with the data processing system. The Beidou farm machinery automatic navigation driving control system is advantageous in that good mobility and good flexibility are provided, and navigation positioning precision is improved, and therefore the real-time adjustment of the attitude of the farm machinery during a navigation process is realized.
Description
Technical field
The present invention relates to farm machinery navigation technical field, and in particular to Big Dipper agricultural machinery self-navigation Ride Control System.
Background technology
Since the nineties in 20th century, " accurate agricultural " technology is considered that 21 century realizes agricultural by International Agriculture scientific and technological circle
One of guiding technology of sustainable development.The self-navigation of agricultural machinery is an important composition of modern Intelligent agricultural machinery
, there is vast potential for future development part.The agricultural machinery of research autonomous realizes that pinpoint is thrown in, and to the greatest extent may be used from the angle of amount
The use that agrochemicals can be reduced should be an important channel and the developing direction for solving this problem.Agricultural modernization machine
The operation function that tool possesses will be more and more, and the autonomous or secondary navigation system for developing agricultural vehicle is conducive to human pilot to take out
Going out more times goes to pay close attention to other operations beyond driving, so as to realize expected items operative goals.
The Navigation Control aspect of traditional vision system all also still has problems, especially in terms of agricultural machinery, such as
In terms of image procossing, how to extract the higher routed edges of reliability under the complex background of farmland, and it is self-positioning in such as
What adjusts itself pose etc..Therefore it is particularly important to the research of agricultural machine visual navigation technology.
Precision agriculture includes positioning prescription farming and agriculture feelings automatic information collecting, wherein the farming of positioning prescription requires agriculture machine
Tool can walk according to the path planned in advance in field, accurately arrive at and complete set job task.Accurately lead
Boat is to realize one of the key technology of agricultural machinery autonomous, and its positioning precision directly affects agricultural machinery, and to carry out path automatic
The quality of tracking.Therefore, the precision of navigator fix is improved, is the matter of utmost importance for improving agricultural machine path tracking quality.
The content of the invention
In order to solve the defect of above-mentioned deficiency, the invention provides Big Dipper agricultural machinery self-navigation Ride Control System, possesses
Good mobility and flexibility security, can improve the precision of navigator fix.
The invention provides Big Dipper agricultural machinery self-navigation Ride Control System, including Big Dipper signal receiver, angle sensor
Device, magnetic valve, differential reference station, automatic pilot, vision sensor, data handling system, the Big Dipper signal receiver with
Be connected with the automatic pilot, data handling system and differential reference station respectively, the automatic pilot respectively with the angle
Degree sensor, magnetic valve are connected with vision sensor, and the differential reference station includes measurement antenna, the vision sensor and institute
State data handling system to be connected.
Above-mentioned control system, wherein, also including parameter testing system, the parameter testing system is used for angle sensor
Device is demarcated, magnetic valve is demarcated, PID is demarcated, obliquity sensor is demarcated and roll angle automatic Calibration.
Above-mentioned control system, wherein, the data handling system is used for the image information to obtaining and pre-processes, and
Extraction to the datum line that navigates, estimates position and and the relative pose between navigation datum line of agricultural machinery.
Above-mentioned control system, wherein, the differential reference station be used for collect agricultural machinery original latitude, longitude,
Height coordinate and pace, and measurement obtains original roll angle, luffing angle, yaw velocity and the advance of agricultural machinery
Directional acceleration.
Above-mentioned control system, wherein, the vision sensor is provided with three, and vision sensor is separately mounted to agricultural machinery most
In front end frame, the frame of the agricultural machinery left and right sides, the vision sensor in the frame of the agricultural machinery left and right sides is disposed opposite to each other.
The present invention has advantages below：Possess good mobility and flexibility, the precision of navigator fix can be improved, can
To realize carrying out real-time adjustment to the attitude of agricultural machinery in navigation procedure.
Description of the drawings
By reading the detailed description made to non-limiting example with reference to the following drawings, the present invention and its feature, outward
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is the structural representation of the Big Dipper agricultural machinery self-navigation Ride Control System of the present invention.
Specific embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And, it is obvious to the skilled person that the present invention can be able to without the need for one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, for some technical characteristics well known in the art do not enter
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explaination technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
With reference to shown in Fig. 1, the invention provides Big Dipper agricultural machinery self-navigation Ride Control System, including the reception of Big Dipper signal
Machine 1, angular transducer 2, magnetic valve 3, differential reference station 4, automatic pilot 5, vision sensor 6, data handling system 7, north
Bucket signal receiver 1 is connected with automatic pilot 5, data handling system 7 and differential reference station 4 with respectively, 5 points of automatic pilot
It is not connected with angular transducer 2, magnetic valve 3 and vision sensor 6, differential reference station 4 includes measurement antenna, vision sensor 6
It is connected with data handling system 7, wherein angular transducer 2, magnetic valve 3, automatic pilot 5, vision sensor 6 are arranged on agricultural machinery
On, for the collection to agricultural machinery ambient signals and the intelligentized control method to agricultural machinery.
The present invention carries out acquisition and tracking and positioning calculation by the navigation signal that Big Dipper signal receiver 1 pair is received, and
Obtain high-precision pseudorange and observe data with carrier phase, positioning calculation result, pseudorange and carrier phase observation data pass through
RS232 interfaces send differential reference station 4 to, and Big Dipper signal receiver 1 receives navigation signal, and the navigation signal to receiving is carried out
Acquisition and tracking, positioning calculation, carry out acquisition and tracking, positioning calculation, with the data transmitted from base station after positioning calculation
Do fusion to resolve, obtain agricultural machinery itself exact position velocity information, the three-dimensional of agricultural machinery itself is obtained by three axis attitude sensor
The position and speed information of agricultural machinery is sent to car-mounted display controller by attitude information, automatic navigator, and car-mounted display controller will
The position of agricultural machinery compares with the path for setting originally, and car-mounted display controller is controlled electronic by electric steering wheel controller
The steering of steering wheel, the rotation of the rotational band action-oriented wheel of electric steering wheel detects directive wheel by directive wheel rotary angle transmitter
Steering angle, directive wheel rotary angle transmitter be directed to take turns steering angle signal be transferred to car-mounted display controller, car-mounted display control
Device processed is continued through according to steering angle signal and turns to the rotation that drive control device controls electric steering wheel, circulates above action, directly
It is consistent with the path of original setting to agricultural machinery position, such that it is able to realize the precision navigation of agricultural machinery.
Of the invention one preferably and in non-limiting embodiment, also including parameter testing system, the parameter testing system
For demarcating to angle sensor calibration, magnetic valve, PID is demarcated, obliquity sensor is demarcated and roll angle automatic Calibration.
Preferably and in non-limiting embodiment, data handling system is used for the image information to obtaining to be carried out the present invention one
Pretreatment, and to the extraction of the datum line that navigates, estimate position and and the relative pose between navigation datum line of agricultural machinery.
The present invention one is preferably and in non-limiting embodiment, differential reference station be used to collecting agricultural machinery original latitude
Degree, longitude, height coordinate and pace, and measurement obtains original roll angle, luffing angle, the yaw angle speed of agricultural machinery
Degree and direction of advance acceleration.
Preferably and in non-limiting embodiment, vision sensor is provided with three to the present invention one, and vision sensor is pacified respectively
Agricultural machinery is mounted in foremost in frame, the frame of the agricultural machinery left and right sides, the vision sensor in the frame of the agricultural machinery left and right sides
It is disposed opposite to each other.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure that do not describe in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit, all using the disclosure above
Methods and techniques content make many possible variations and modification to technical solution of the present invention, or be revised as equivalent variations etc.
Effect embodiment, this has no effect on the flesh and blood of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification
In the range of technical scheme protection.
Claims (5)
1. Big Dipper agricultural machinery self-navigation Ride Control System, it is characterised in that including Big Dipper signal receiver, angular transducer,
Magnetic valve, differential reference station, automatic pilot, vision sensor, data handling system, the Big Dipper signal receiver and difference
It is connected with the automatic pilot, data handling system and differential reference station, the automatic pilot is passed respectively with the angle
Sensor, magnetic valve are connected with vision sensor, and the differential reference station includes measurement antenna, the vision sensor and the number
It is connected according to processing system.
2. Big Dipper agricultural machinery self-navigation Ride Control System as claimed in claim 1, it is characterised in that also including parameter testing
System, the parameter testing system be used for angle sensor calibration, magnetic valve demarcate, PID demarcate, obliquity sensor demarcate and
Roll angle automatic Calibration.
3. Big Dipper agricultural machinery self-navigation Ride Control System as claimed in claim 2, it is characterised in that the data processing system
Unite for pre-processing to the image information for obtaining, and to the extraction of the datum line that navigates, estimate position and and the navigation of agricultural machinery
Relative pose between datum line.
4. Big Dipper agricultural machinery self-navigation Ride Control System as claimed in claim 1, it is characterised in that the differential reference station
For collect agricultural machinery original latitude, longitude, height coordinate and pace, and measurement obtains the original of agricultural machinery
Roll angle, luffing angle, yaw velocity and direction of advance acceleration.
5. the Big Dipper agricultural machinery self-navigation Ride Control System as described in any one of claim 1-4, it is characterised in that described to regard
Feel that sensor is provided with three, vision sensor is separately mounted to agricultural machinery foremost in frame, the frame of the agricultural machinery left and right sides, installs
Vision sensor in the frame of the agricultural machinery left and right sides is disposed opposite to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611193209.XA CN106647756A (en) | 2016-12-21 | 2016-12-21 | Beidou farm machinery automatic navigation driving control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611193209.XA CN106647756A (en) | 2016-12-21 | 2016-12-21 | Beidou farm machinery automatic navigation driving control system |
Publications (1)
| Publication Number | Publication Date |
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| CN106647756A true CN106647756A (en) | 2017-05-10 |
Family
ID=58833784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611193209.XA Pending CN106647756A (en) | 2016-12-21 | 2016-12-21 | Beidou farm machinery automatic navigation driving control system |
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| Country | Link |
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| CN (1) | CN106647756A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108050927A (en) * | 2017-12-08 | 2018-05-18 | 湖北省农业机械工程研究设计院 | Paddy field Ni Jiao depth surveys robot |
| CN108345310A (en) * | 2018-04-04 | 2018-07-31 | 上海华测导航技术股份有限公司 | A kind of agricultural machinery automated driving system |
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN110618683A (en) * | 2019-10-12 | 2019-12-27 | 江苏农林职业技术学院 | Agricultural machine attitude monitoring device and method based on Beidou navigation |
| CN111350117A (en) * | 2020-03-17 | 2020-06-30 | 广东博智林机器人有限公司 | Material paving actuating device and material paving robot |
| CN113778103A (en) * | 2021-09-19 | 2021-12-10 | 南京农业大学 | Automatic driving system based on Beidou navigation and vision technology |
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| CN205750533U (en) * | 2016-05-12 | 2016-11-30 | 扬州大学 | The automatic Pilot of a kind of agricultural machinery controls device |
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2016
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| AU2008203618A1 (en) * | 2007-01-05 | 2008-07-10 | Agjunction Llc | A vehicle control system |
| CN104536315A (en) * | 2014-12-08 | 2015-04-22 | 湖南星邦重工有限公司 | Aerial work platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108050927A (en) * | 2017-12-08 | 2018-05-18 | 湖北省农业机械工程研究设计院 | Paddy field Ni Jiao depth surveys robot |
| CN108345310A (en) * | 2018-04-04 | 2018-07-31 | 上海华测导航技术股份有限公司 | A kind of agricultural machinery automated driving system |
| CN108345310B (en) * | 2018-04-04 | 2022-01-28 | 上海华测导航技术股份有限公司 | Agricultural machinery autopilot system |
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN110618683A (en) * | 2019-10-12 | 2019-12-27 | 江苏农林职业技术学院 | Agricultural machine attitude monitoring device and method based on Beidou navigation |
| CN111350117A (en) * | 2020-03-17 | 2020-06-30 | 广东博智林机器人有限公司 | Material paving actuating device and material paving robot |
| CN111350117B (en) * | 2020-03-17 | 2021-09-14 | 广东博智林机器人有限公司 | Material paving actuating device and material paving robot |
| CN113778103A (en) * | 2021-09-19 | 2021-12-10 | 南京农业大学 | Automatic driving system based on Beidou navigation and vision technology |
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Application publication date: 20170510 |
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