CN106774297A - A kind of agricultural machinery automatic path planning method, device and it is a kind of can automatic path planning agricultural machinery - Google Patents
A kind of agricultural machinery automatic path planning method, device and it is a kind of can automatic path planning agricultural machinery Download PDFInfo
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- CN106774297A CN106774297A CN201611007032.XA CN201611007032A CN106774297A CN 106774297 A CN106774297 A CN 106774297A CN 201611007032 A CN201611007032 A CN 201611007032A CN 106774297 A CN106774297 A CN 106774297A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000001105 regulatory effect Effects 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 22
- 230000002452 interceptive effect Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 description 5
- 238000012271 agricultural production Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
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- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The present invention relates to automate agricultural technology field,More particularly to a kind of agricultural machinery automatic path planning method,Device and it is a kind of can automatic path planning agricultural machinery,Agricultural machinery automatic path planning method road increased footpath regulating step,The actual ridge spacing that the step provides input port to supply user input to be produced when driving a vehicle in advance,Actual ridge spacing according to user input can either reversely release actual farm implements width X ' and actual farm implements side-play amount Y ',Then planning driving path is being generated according to farm implements side-play amount,Compared to prior art,User oneself constantly adjustment measured value is not needed using the agricultural machinery of the inventive method,Need only to user and measure once actual ridge spacing again after trial operation,Then actual ridge spacing is submitted into agricultural machinery,Agricultural machinery can automatically calculate actual farm implements width X ' and actual farm implements side-play amount Y ' with reference to actual ridge spacing.
Description
Technical field
The present invention relates to automate agricultural technology field, more particularly to a kind of agricultural machinery automatic path planning method, device and
It is a kind of can automatic path planning agricultural machinery.
Background technology
Farm equipment is generally required in one farm implements of carry in operation, for example, be accomplished by carry one at seeding time and broadcast
The machine of kind.In agricultural production, soil can be divided into multiple row field.The generation of field is that have the path of farm implements traveling and formed, and is led to
Often, farm implements are field along the region that column direction is advanced.Needed based on agricultural production, needed between field and field reserved certain
Spacing.Therefore, the travel track of agricultural machinery is usually to be advanced to form field along column direction, when waiting the border for marching to field,
Advanced to form another row field along column direction after then marching to another row along line direction.Specifically, agricultural machinery travel track be by
ECU modules (running control system, it is a installed in vehicle hydraulic valve and the controller of steering wheel, it is transmitted across by alignment system
The data and the data of angular transducer come control hydraulic valve and steering wheel to reach the effect of automatic Pilot) come what is generated,
ECU modules are when travel track is generated, it is necessary to width and desired ridge distance values according to farm implements determine laterally traveling
Distance, so that it is guaranteed that having a certain distance between field and field.The width of the specification and disunity of farm implements, namely farm implements at present
Degree is inconsistent, therefore user's manual measurement is needed before traveling and the width of farm implements is input into.
Additionally, farm implements are also difficult to farm implements when installing agree with the carry portion perfection of agricultural machinery, therefore farm implements are also difficult to phase
Medium line to course is symmetrical, i.e., farm implements are left-right asymmetry, if ignoring this asymmetric, can cause to ultimately form
Ridge spacing is suddenly big or suddenly small, therefore, when travel track is planned, it is also necessary to which the side-play amount of farm implements is added as a reference variable
To consider.User needs also to measure the deviant of farm implements when farm implements width is measured, and deviant is defeated in the lump with farm implements width
Enter in system, so that system plans course automatically.
However, user is when farm implements width and farm implements side-play amount is measured, unavoidably there is error in measurement result, if surveyed
There is deviation in amount farm implements width, then ridge spacing can be caused different from ideal value, and if mistake occurs in farm implements side-play amount, then can lead
Cause ridge spacing not of uniform size.In the prior art, the problem can only have user constantly to measure, test to correct the farm implements width of input
Solved with side-play amount, debugging is difficult.Even if additionally, debugging to accurate status, agricultural machinery during traveling, due to collision etc. original
Cause, farm implements are also easily caused and offset again, i.e., side-play amount changes again, and now user is in need debugs again again, makes
It is sufficiently complex with process.
The content of the invention
It is an object of the invention to avoid above-mentioned weak point of the prior art and providing one kind can quickly correct use
The measurement error at family, so as to the agricultural machinery automatic path planning method for facilitating user to debug, and provides corresponding agricultural machinery.
The purpose of the present invention is achieved through the following technical solutions：
There is provided a kind of agricultural machinery automatic path planning method, including：
Pre- driving step：Farm implements width value X, farm implements deviant Y and target ridge spacing T according to user input is pre- to plan
Planning driving path, and drive agricultural machinery to advance according to pre- planning driving path；
Path regulating step：The actual ridge spacing produced when input port is driven a vehicle in advance for user input, the reality are provided
Ridge spacing includes the ridge spacing L of the left handing-over row and ridge spacing R of right handing-over row, and is counted according to the actual ridge spacing of user input
Actual farm implements width value X ' and actual farm implements deviant Y ' is calculated, planning driving path is generated according to farm implements side-play amount.
Wherein, actual farm implements width value the X '=X- ((L+R)/2-T).
Wherein, actual farm implements deviant the Y '=Y- (L-R)/4.
Wherein, also step is corrected including abnormal：Input port is provided for user's exception ridge spacing, according to farm implements developed width
Value X ' and abnormal ridge spacing calculate abnormal farm implements deviant Y ", according to abnormal farm implements deviant Y " regenerate roadway
Footpath.
A kind of agricultural machinery automatic path planning device is also provided, including：
Pre- crane device：Farm implements width value X, farm implements deviant Y and target ridge spacing T according to user input is pre- to plan
Planning driving path, and drive agricultural machinery to advance according to pre- planning driving path；
Path adjusting means：The actual ridge spacing produced when input port is driven a vehicle in advance for user input, the reality are provided
Ridge spacing includes the ridge spacing L of the left handing-over row and ridge spacing R of right handing-over row, and is counted according to the actual ridge spacing of user input
Actual farm implements width value X ' and actual farm implements deviant Y ' is calculated, planning driving path is generated according to farm implements side-play amount.
Wherein, actual farm implements width value the X '=X- ((L+R)/2-T).
Wherein, actual farm implements deviant the Y '=Y+ (L-R)/4.
Wherein, also including abnormal correcting device：Input port is provided for user's exception ridge spacing, according to farm implements developed width
Value X ' and abnormal ridge spacing calculate abnormal farm implements deviant Y ", according to abnormal farm implements deviant Y " regenerate roadway
Footpath.
Also provide it is a kind of can automatic path planning agricultural machinery, including interactive module, main control module and ECU modules, the master
Control module obtains farm implements width value X, the farm implements deviant Y and target ridge spacing T of user input through interactive module, and these are counted
Value is transmitted to ECU modules, and the ECU modules plan pre- planning driving path accordingly, and drive agricultural machinery to advance according to pre- planning driving path；It is described
The actual ridge spacing that main control module also provides input port to supply user input to be produced when driving a vehicle in advance through interactive module, the reality
Ridge spacing is included between the ridge spacing L of the left handing-over row and ridge spacing R of right handing-over row, actual ridge of the main control module according to user input
Away from calculating actual farm implements width value X ' and actual farm implements deviant Y ', and by actual farm implements width X ' and actual farm implements side-play amount
Y ' is sent to ECU modules, and the ECU modules accordingly generate planning driving path.
Wherein, the interactive module is contact panel.
Beneficial effects of the present invention：Agricultural machinery automatic path planning method road of the invention increased footpath regulating step, the step
The rapid actual ridge spacing for providing input port to supply user input to be produced when driving a vehicle in advance, due to actual ridge spacing and target ridge spacing
The difference of T is the farm implements width value and reality used during prerun because actual farm implements width X ' and farm implements side-play amount Y ' is caused
The difference of border farm implements width value causes actual ridge spacing and target ridge spacing difference numerically, the farm implements used during prerun
Left and right handing-over row ridge spacing is not of uniform size during the difference of deviant and actual farm implements deviant causes actual ridge spacing, therefore basis
The actual ridge spacing of user input can either reversely release actual farm implements width X ' and actual farm implements side-play amount Y ', then in basis
Farm implements side-play amount generates planning driving path, compared to prior art, user oneself is not needed not using the agricultural machinery of the inventive method
Disconnected adjustment measured value, it is thus only necessary to which user measures once actual ridge spacing again after trial operation, then puies forward actual ridge spacing
Agricultural machinery is given, agricultural machinery can automatically calculate actual farm implements width X ' and actual farm implements side-play amount with reference to actual ridge spacing
Y’。
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but embodiment in accompanying drawing is not constituted to any limit of the invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to the following drawings
Other accompanying drawings.
Fig. 1 is agricultural machinery travel path schematic diagram.
Note：Dotted line is agricultural machinery path in figure, and perforated line is then indicated between the ridge spacing L of left handing-over row and the ridge of right handing-over row
Away from R.
Specific embodiment
The invention will be further described with the following Examples.
The present invention it is a kind of can automatic path planning agricultural machinery specific embodiment, the agricultural machinery 1 include interactive module, master control
Module and ECU modules, the main control module through interactive module obtain user input the width value X of farm implements 2, the deviant Y of farm implements 2 and
Target ridge spacing T, and by these data transfers to ECU modules, the ECU modules plan pre- planning driving path accordingly, and according to carrying out ahead of schedule
Car path drives agricultural machinery 1 is advanced.Specifically, the special operation following methods of the agricultural machinery 1：
Pre- driving step：Farm implements 2 width value X, farm implements 2 deviant Y and target ridge spacing of the ECU modules according to user input
T plans pre- planning driving path, and according to pre- planning driving path drives agricultural machinery 1 to advance；
Path regulating step：Main control module provides the reality produced when input port is driven a vehicle in advance for user input to interactive module
Border ridge spacing, actual ridge spacing includes the ridge spacing L of the left handing-over row and ridge spacing R of right handing-over row, as shown in figure 1, left handing-over
Row refers to the junction that farm implements 2 are distributed in field formed by the left part of agricultural machinery 1, and right handing-over row refers to that farm implements 2 are distributed in agriculture
The junction of field formed by the right part of machine 1, then master control calculates actual agriculture according to the actual ridge spacing of user input
Have a 2 width value X ' and the deviant Y ' of actual farm implements 2, and the width value X ' of actual farm implements 2 that will be calculated and actual farm implements 2 offset
Value Y ' is sent to ECU modules, wherein the width value X ' of actual farm implements 2=X- ((L+R)/2-T), the deviant Y ' of actual farm implements 2=Y+
(L-R)/4, ECU modules then generate planning driving path according to the side-play amount of farm implements 2.
It is abnormal to correct step：Main control module provides input port and supplies user's exception ridge spacing to interactive module, then basis
The developed width value X ' of farm implements 2 and abnormal ridge spacing calculate the deviant Y of abnormal farm implements 2 ", and the abnormal farm implements 2 that will be calculated
Deviant Y " sends ECU module, ECU modules are according to the deviant Y of abnormal farm implements 2 " regenerate planning driving path.
Illustrated with actual numerical value below, if the developed width value of the farm implements 2 of certain agricultural machinery 1 loading is X '=100；Dress
The side-play amount of farm implements 2 (real offset) Y '=4 during load, that is, the width value of farm implements 2 for being distributed in the left side of agricultural machinery 1 is 54, is distributed in
The width value of farm implements 2 on the right side of agricultural machinery 1 is 46, the desired target ridge spacing T=20 of peasant.
However, due to the error of peasant's measurement, cause the width value X=98 of farm implements 2, the side-play amount Y=6 of farm implements 2 of input,
The width value of farm implements 2 that system now thinks to be distributed in the left side of agricultural machinery 1 is 55, and the width value of farm implements 2 for being distributed in the right side of agricultural machinery 1 is
43, target ridge spacing will not be influenceed for the predetermined amount of user input, therefore the amount by measurement error, remain as 20.In this kind of feelings
Under condition, ECU has planned travel path and has driven agricultural machinery 1 to drive a vehicle in advance, based on above-mentioned data, during ECU path plannings, when agricultural machinery 1 is complete
Prepare transverse shifting after the operation of Cheng Yilie to be transferred to during another row, agricultural machinery 1 judges currently to prepare the place that transverse shifting is crossed
It is left handing-over row or right handing-over row, if left handing-over row, in order to ensure there is 20 ridge spacing, then it is assumed that need traveling 130
(i.e. 55*2+20), if right handing-over row, then it is assumed that need traveling 106 (i.e. 43*2+20).However, due to being actually distributed in
The width value of farm implements 2 in the left side of agricultural machinery 1 and the width value of farm implements 2 for being distributed in the right side of agricultural machinery 1 are not 55 and 43, but 54 and 46,
Therefore actually left handing-over row ridge spacing is 22 after pre- driving, and the ridge spacing of right handing-over row is 14, and this undoubtedly exists with desired value
Very big deviation.There is deviation week in peasant, according to the conventional method, then need to remeasure and adjust in discovery ridge spacing and desired value
The width value of farm implements 2 and the deviation of farm implements 2 of whole input, but this be difficult to ensure measure again it is just necessarily accurate.And use the party
Method, then calculate and correct the width value X of farm implements 2, the deviant Y of farm implements 2 using actual ridge spacing, thus obtain actual value X ' and
The deviant Y ' of actual farm implements 2.
According to the method for above-mentioned path set-up procedure, user provides the input of low income port and measures left handing-over row according to agricultural machinery 1
The ridge spacing of ridge spacing 22 and right handing-over row is 14.System can calculate to obtain the width value X ' of actual farm implements 2=X- according to computing formula
((L+R)/2-T)=98- ((22+14)/2-20)=100, the deviant Y ' of actual farm implements 2=Y- (L-R)/4=6+ (22-14)/4
=4.Therefore the accurate width value of actual farm implements 2 and the deviant of actual farm implements 2 have been obtained, ECU is according to accurate actual farm implements 2
Width value and the deviant of actual farm implements 2 and accurate route can be cooked up.
In addition, this method is additionally contemplates that being expert at during machine, due to reasons such as vibrations, the deviant of actual farm implements 2 is possible to
Change is produced, and then causes ridge spacing to occur change again, for the situation, this method also provides abnormal step of correcting and comes again
The deviant of farm implements 2 is corrected, correct algorithm is actually similar to above, will not be repeated here.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained to the present invention with reference to preferred embodiment, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention
Matter and scope.
Claims (10)
1. a kind of agricultural machinery automatic path planning method, it is characterised in that including：
Pre- driving step：Farm implements width value X, farm implements deviant Y and target ridge spacing T according to user input plan pre- driving
Path, and drive agricultural machinery to advance according to pre- planning driving path；
Path regulating step：There is provided between the actual ridge spacing produced when input port is driven a vehicle in advance for user input, the actual ridge
Away from ridge spacing L and the ridge spacing R of right handing-over row including left handing-over row, and reality is calculated according to the actual ridge spacing of user input
Border farm implements width value X ' and actual farm implements deviant Y ', planning driving path is generated according to farm implements side-play amount.
2. a kind of agricultural machinery automatic path planning method as claimed in claim 1, it is characterised in that：The actual farm implements width value
X '=X- ((L+R)/2-T).
3. a kind of agricultural machinery automatic path planning method as claimed in claim 1, it is characterised in that：The actual farm implements deviant
Y '=Y- (L-R)/4.
4. a kind of agricultural machinery automatic path planning method as claimed in claim 1, it is characterised in that also correct step including abnormal：
Input port is provided for user's exception ridge spacing, it is inclined to calculate abnormal farm implements according to farm implements developed width value X ' and abnormal ridge spacing
Shifting value Y ", according to abnormal farm implements deviant Y " regenerates planning driving path.
5. a kind of agricultural machinery automatic path planning device, it is characterised in that including：
Pre- crane device：Farm implements width value X, farm implements deviant Y and target ridge spacing T according to user input plan pre- driving
Path, and drive agricultural machinery to advance according to pre- planning driving path；
Path adjusting means：There is provided between the actual ridge spacing produced when input port is driven a vehicle in advance for user input, the actual ridge
Away from ridge spacing L and the ridge spacing R of right handing-over row including left handing-over row, and reality is calculated according to the actual ridge spacing of user input
Border farm implements width value X ' and actual farm implements deviant Y ', planning driving path is generated according to farm implements side-play amount.
6. a kind of agricultural machinery automatic path planning device as claimed in claim 5, it is characterised in that：The actual farm implements width value
X '=X- ((L+R)/2-T).
7. a kind of agricultural machinery automatic path planning device as claimed in claim 6, it is characterised in that：The actual farm implements deviant
Y '=Y+ (L-R)/4.
8. a kind of agricultural machinery automatic path planning device as claimed in claim 7, it is characterised in that also including abnormal correcting device：
Input port is provided for user's exception ridge spacing, it is inclined to calculate abnormal farm implements according to farm implements developed width value X ' and abnormal ridge spacing
Shifting value Y ", according to abnormal farm implements deviant Y " regenerates planning driving path.
9. it is a kind of can automatic path planning agricultural machinery, including interactive module, main control module and ECU modules, the main control module warp
Interactive module obtains farm implements width value X, the farm implements deviant Y and target ridge spacing T of user input, and by these data transfers extremely
ECU modules, the ECU modules plan pre- planning driving path accordingly, and drive agricultural machinery to advance according to pre- planning driving path；It is characterized in that：
The actual ridge spacing that the main control module also provides input port to supply user input to be produced when driving a vehicle in advance through interactive module, it is described
Actual ridge spacing includes the ridge spacing L of the left handing-over row and ridge spacing R of right handing-over row, reality of the main control module according to user input
Ridge spacing calculates actual farm implements width value X ' and actual farm implements deviant Y ', and actual farm implements width X ' and actual farm implements is inclined
Shifting amount Y ' is sent to ECU modules, and the ECU modules accordingly generate planning driving path.
10. it is as claimed in claim 9 it is a kind of can automatic path planning agricultural machinery, it is characterised in that：The interactive module is tactile
Control panel.
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| CN201611007032.XA CN106774297B (en) | 2016-11-15 | 2016-11-15 | A kind of agricultural machinery automatic path planning method, apparatus and it is a kind of can automatic path planning agricultural machinery |
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| CN107831770A (en) * | 2017-11-07 | 2018-03-23 | 北京勇搏科技有限公司 | A kind of unmanned harvester |
| CN107885205A (en) * | 2017-11-07 | 2018-04-06 | 北京勇搏科技有限公司 | A kind of cultivated complete machine based on unmanned technology |
| CN107918387A (en) * | 2017-11-07 | 2018-04-17 | 北京勇搏科技有限公司 | A kind of unpiloted cultivated complete machine |
| CN108021130A (en) * | 2017-11-07 | 2018-05-11 | 北京勇搏科技有限公司 | A kind of unpiloted harvester |
| CN109945813A (en) * | 2019-03-26 | 2019-06-28 | 首都师范大学 | The determination method of agricultural machinery equipment installation offset |
| CN111994078A (en) * | 2020-09-04 | 2020-11-27 | 深圳冰河导航科技有限公司 | Driving deviation correction method, device and equipment applied to automatic driving and storage medium |
| CN111998852A (en) * | 2020-07-17 | 2020-11-27 | 无锡卡尔曼导航技术有限公司 | Method for automatically adjusting cross-over of agricultural machinery |
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| CN111998852B (en) * | 2020-07-17 | 2021-03-16 | 无锡卡尔曼导航技术有限公司 | Method for automatically adjusting cross-over of agricultural machinery |
| CN111994078A (en) * | 2020-09-04 | 2020-11-27 | 深圳冰河导航科技有限公司 | Driving deviation correction method, device and equipment applied to automatic driving and storage medium |
| CN111994078B (en) * | 2020-09-04 | 2024-01-26 | 深圳冰河导航科技有限公司 | Driving deviation correcting method, device and equipment applied to automatic driving and storage medium |
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| Publication number | Publication date |
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| CN106774297B (en) | 2019-12-03 |
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