CN107864711A - Rake the soil level method, control device and system of raking the soil level - Google Patents
Rake the soil level method, control device and system of raking the soil level Download PDFInfo
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- CN107864711A CN107864711A CN201710950260.9A CN201710950260A CN107864711A CN 107864711 A CN107864711 A CN 107864711A CN 201710950260 A CN201710950260 A CN 201710950260A CN 107864711 A CN107864711 A CN 107864711A
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- Prior art keywords
- tractor
- lines
- soil level
- driving trace
- edge
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- 239000002689 soil Substances 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 10
- 239000003337 fertilizer Substances 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000000916 dilatatory effect Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/0276—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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Working Implements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention discloses the method for raking the soil level, system of raking the soil level and controller.The method of raking the soil level comprises the following steps：The tractor is controlled to be travelled according to the driving trace according to the current location, posture and default driving trace, until complete to rake the soil level, wherein, the driving trace includes a plurality of intersecting AB lines.The present invention includes that a plurality of AB lines are intersecting and soil good mixing effect by driving trace, is sufficiently mixed beneficial to fertilizer in soil.
Description
Technical field
The present invention relates to precision agriculture field, more particularly to method of raking the soil level, control device and system of raking the soil level.
Background technology
At present, it is before soil sowing to use tractor with rotary cultivator or disc harrow at home in the flow chart of agricultural more
Loose leveling operation is carried out to soil, is referred to as in this programme and rakes the soil level, operating type there are two kinds
First way：Tractor driver arbitrarily walks according to the loose smooth situation in soil in field, where flatness,
Gas porosity is poor or is not just opened without rake toward that also, the driving trace do not fixed, and is the shortcomings that this mode：1) tractor driver
Can be because long-duration driving tractor produces fatigue；2) tractor driver arbitrarily travels in the ground, and vision coverage area is limited, in fact it could happen that
The problem of same effect difference of raking the soil level or leakage rake.
The second way：This kind of mode is that current tractor auxiliary drives conventional method, as shown in figure 1, including as follows
Step：AB lines (setting straight line by beginning and end) are set over the display, and software can be wide according to tractor 1 and farm implements
Degree auto marks out some straight lines parallel with AB lines, only illustrates A1B1 to A5B5 in Fig. 2.Tractor is in satellite navigation
Under the navigation of equipment, from starting point A along straight-line travelling B to terminal, in terminal B, tractor driver must plowing tractor at the edge of a field 2
Turning makes it go on adjacent straight line to continue to travel, traveling to terminal after, then plowing tractor redirect to adjacent straight line after
Continue and sail, after so having harrowed plot corresponding to the track according to above-mentioned driving trace, then using tractor individually the edge of a field 2 is harrowed
Ground.Such a mode solves the problems, such as tractor driver's fatigue driving, heavy duty harrow and leakage rake but due to needing tractor driver to grasp at the edge of a field 2
Make tractor 1 to turn and need to use tractor individually to rake the soil level to the edge of a field, it is impossible to realize the automatic Pilot of overall process；Furthermore
Using aforesaid way, junction that the stirring of soil is only expert at, cross-mixing effect is bad, is unfavorable for the uniform of fertilizer in soil
Distribution.
The content of the invention
The present invention solve the problems, such as be existing method soil of raking the soil level mixed effect it is bad, be unfavorable for fertilizer in soil
The problem of being uniformly distributed.
The present invention is other problem solved is that the mixed effect of soil is bad and can not realize the automatic Pilot of overall process
The problem of.
The method to solve the above problems, present invention offer one kind is raked the soil level.This method comprises the following steps：According to the present bit
Put, current pose and default driving trace control the tractor travel according to the driving trace, until completion is raked the soil level, its
In, the driving trace includes a plurality of intersecting AB lines.
In further scheme, in the driving trace, tractor drives into the AB lines at the edge of a field and rolls the AB line phases at the edge of a field away from
Friendship is in X-shaped；Or drive into the edge of a field AB lines it is parallel with the AB lines for rolling the edge of a field away from；Or drive into the AB lines at the edge of a field and roll the edge of a field away from
AB lines be angle both sides.
In further scheme, in the terminal of every AB line, the tractor steering is controlled to adjacent by remote control mode
AB lines on, or, on the driving trace, set turning point, according to the point positions, tractor real time position and
Starting point of the gesture stability tractor steering to next AB lines of the driving trace.
In further scheme, this method also includes first setting the border in plot and the driving trace according to farm implements width
In the turning position on the inside of the border on straight line, the edge of a field is located in the border, and methods described includes controlling described draw
Machine is raked the soil level to border, controls the tractor to include the inner side straight line for controlling tractor on border according to driving trace traveling
Turning position turn to cause tractor to be raked the soil level according to the driving trace to the region that border surrounds.
In further scheme, in the case of tractor failure or completion of raking the soil level, the tractor is controlled described
Cruise on border.
The present invention discloses a kind of control device, and the device includes receiving module, memory, processor and output module；Its
In, the memory internal memory contains radius of turn and default driving trace, and the driving trace includes a plurality of intersecting AB lines；Institute
State receiving module receiving angle sensor signal, current location and current pose, transmission of angle sensor signal, current location and
Posture gives the processor；The processor produces control instruction according to the angular transducer signal, current location and posture；
The output module output control instructs causes transfer to control tractor according to the traveling to the transfer of tractor
Track travels, until completing to rake the soil level.
In further scheme, the memory internal memory contains border, and the beginning and end of the AB lines is located at border
On the straight line of inner side；The controller is according to the terminal of the current location of tractor, current pose and every AB line in inner side straight line
On coordinate produce control instruction, the output module transmits the control instruction to the transfer of tractor to control tractor
Turned in the terminal of every AB line to the starting point of next AB line of the driving trace.
In further scheme, the processor judges to rake the soil level whether complete according to the current location of tractor, if rake
Ground is completed, and produces the first cruise instruction；The first cruise of output module output instruction is described dilatory to cause to tractor
Machine cruises on the border；Or the processor according to current location and/or posture judge tractor whether failure, if
It is faulty, produce the second cruise instruction；The output module export this second cruise instruction to tractor transfer so that
Tractor is obtained to cruise on the border.
In further scheme, in the driving trace, tractor drives into the AB lines at the edge of a field and rolls two AB at the edge of a field away from
It is in X-shaped that line is intersecting；Or drive into the edge of a field AB lines it is parallel with the AB lines for driving into the edge of a field；Or drive into the AB lines at the edge of a field and roll away from
The AB lines at the edge of a field are the both sides at angle.
Raked the soil level system invention additionally discloses one kind, the system includes being used for the acquisition for obtaining tractor current location and posture
Device and mobile unit, the posture acquisition device transmit current location and posture to the mobile unit, the mobile unit
Including foregoing any controller.
Compared with prior art, the present invention has advantages below：
The present invention includes a plurality of AB lines by driving trace and intersected and soil good mixing effect, beneficial to fertilizer in soil
Be sufficiently mixed.Furthermore the border in plot is previously provided with, overall process automatic Pilot and the mesh of soil good mixing effect can be reached
's.
Brief description of the drawings
Fig. 1 is the schematic diagram of existing method of raking the soil level；
Fig. 2 is the schematic diagram of method the first embodiment of the invention of raking the soil level；
Fig. 3 is the schematic diagram of method second of embodiment of the invention of raking the soil level；
Fig. 4 is the structural representation of method the third embodiment of the invention of raking the soil level；
Fig. 5 is the schematic diagram of method the 4th kind of embodiment of the invention of raking the soil level；
Fig. 6 is a kind of schematic diagram of driving trace of method of the invention of raking the soil level.
Embodiment
To describe technology contents, construction feature, institute's reached purpose and effect of the present invention in detail, below in conjunction with embodiment
And accompanying drawing is coordinated to be described in detail.
Referring to Fig. 2, realize rake the soil level method equipment generally include base station, movement station, display, angular transducer,
Controller and transfer etc..Base station receives satellite-signal, and obtains differential data according to satellite-signal.Movement station generally wraps
Include mobile station receiver and the antenna being installed at the top of tractor.Mobile station receiver includes OEM boards.If OEM boards are not
Including inertial navigation (INS) module, can double antenna be set at the top of tractor to obtain the current location of tractor and posture,
If acquisition can use prior art, will not be repeated here.If OEM boards include inertial navigation (INS) module, the board
It is the board with GNSS/INS integrated navigation systems, current location and the posture of tractor is obtained by the system. GNSS/
How INS integrated navigation systems, which obtain the current location of tractor and posture, can use prior art, will not be repeated here.It is aobvious
Show that device is used for the state and and user interface of display system.Angular transducer senses the steering angle of tractor steering wheel in real time
Degree.Controller synthesis satellite-signal, vehicle attitude signal and angular transducer signal output control signal.Controller and display
It can integrate, make tablet personal computer.The transfer is hydraulic valve or steering wheel system, for receiving control letter
Number and change tractor travel direction.
Please continue to refer to Fig. 2, present invention method first embodiment of raking the soil level comprises the following steps：
Step 1：Driving trace is set by display；The driving trace includes a plurality of intersecting AB lines, as shown in Fig. 2
The AB lines for driving into the edge of a field and the AB lines for rolling the edge of a field away from are the both sides at angle, and for the ease of difference, the edge of a field of Fig. 2 middle and upper parts is identified as
The edge of a field 21, the edge of a field of bottom are labeled as the edge of a field 22.Specifically, drive into the AB lines at the edge of a field 21 and roll the AB lines at the edge of a field 21 away from
(A1B1) extended line intersects at a point and make it that A1B1, AB and its extended line form the angle of V-arrangement, likewise, driving into the edge of a field 22
AB lines (A1B1) and roll the extended line of AB lines (A2B2) at the edge of a field 22 away from and so that A1B1, A2B2 and its prolong compared to a bit
Long line forms the angle of V-arrangement, likewise, A3B3 and A2B2 and its extended line form V-arrangement ..., AnBn and An+1Bn+1 and its prolongs
Long line forms V-arrangement, does not enumerate.
The method for forming the track is as follows：Farm implements width, first AB lines (Fig. 2 institute are inputted on the interface of display
Show AB) beginning and end, the radius of turn of tractor can be automatically generated on software interface above-mentioned AB, A1B1,
A2B2 ... An+1Bn+1 etc..Computer is assured that the direction of AB lines, first AB according to the beginning and end of AB lines
After line determines, it is assured that A1B1, A1B1 according to radius of turn can determine that A2B2 after determining according to radius of turn, with
This analogizes, and generates all AB lines.Radius of turn is redirect to for tractor at the edge of a field 21 or the edge of a field 22 from the terminal of an AB line
The starting point of next AB line of the driving trace, as shown in Fig. 2 going to the starting point of A1B1 lines from the terminal B of AB lines at the edge of a field 21
A1, the starting point A2 of A2B2 lines is gone to from A1B1 terminal B1 at the edge of a field 22, by that analogy.Radius of turn oneself can pass through traveling
Measure, can also be calculated, can used by data such as the distance of wheelbase, farm implements working shaft away from rear axle of vehicle, farm implements width
Prior art, repeat no more.
Step 2：The tractor is controlled according to the driving trace according to current location, posture and default driving trace
Traveling, until completing to rake the soil level.
In this step, controller produces control according to the current location of tractor, current pose and angular transducer signal
System instruction.The control instruction is transferred to control device.Transfer according to the control instruction control tractor cause tractor 1 from
A points travel along AB lines to B points；When reaching B points, tractor driver manipulates tractor 1 and goes to A1 points from B points at the edge of a field 21；Connect
, using A1 as starting point, controller produces control instruction according to current location, current pose and angular transducer signal, turns to
Device controls the travel direction of tractor 1 according to the control instruction so that tractor 1 travels to terminal from A1 points along A1B1
B1；Then, after the B1 that reaches home, tractor driver's plowing tractor 1 causes tractor 1 to be gone to and driving trace from terminal B1
The starting point A2 of next AB line (A2B2), identical with above reason, using A2 as starting point, controller controls tractor 1 along A2B2
Traveling is until terminal B2, and after reaching terminal B2, tractor driver operates tractor 1 and redirect to the next of the driving trace from terminal B2
Bar AB lines (A3B3), by that analogy, until having travelled all AB lines, complete to rake the soil level.
Referring to Fig. 3, invention additionally discloses second of method of raking the soil level.Second of embodiment and the first embodiment
Difference be：Driving trace is different.Specifically, in the first embodiment, driving trace includes one back and forth, the traveling gone
The joining for multiple AB lines that track and the driving trace returned intersect and formed.In second of embodiment, driving trace is only
The driving trace having, without the driving trace returned, in the driving trace, tractor drives into the AB lines at the edge of a field and rolls the edge of a field away from
AB lines intersecting be in X-shaped, as shown in figure 3, driving into the AB lines (AB) at the edge of a field 21 and rolling the AB lines (A1B1) at the edge of a field 21 away to intersect be in X
Shape；The AB lines (A2B2) for driving into the edge of a field 21 and the AB lines (A3B3) for rolling the edge of a field 22 away from are in X-shaped, other AB lines as hereinbefore, no
Repeat again.
Farm implements width, the beginning and end of first AB line (AB shown in Fig. 2), tractor are inputted on the interface of display
Radius of turn driving trace shown in Fig. 3 can be automatically generated on software interface.
It is as follows using the process of raking the soil level of this driving trace please continue to refer to Fig. 3：Controller is according to the present bit of tractor
Put, current pose and angular transducer signal produce control instruction.The control instruction is transferred to transfer.Transfer according to
Instruction control tractor causes tractor to be travelled from A points along AB lines to B points；When reaching B points, tractor driver manipulates dilatory
Machine goes to the starting point A1 points of next AB line (A1B1) of the driving trace from B points；Then, using A1 as starting point, controller root
Control instruction is produced according to current location, current pose and angular transducer signal, transfer drags according to control signal control
The travel direction of machine drawing 1 so that tractor 1 travels B1 to terminal from A1 points along A1B1；Then, after the B1 that reaches home, drag
Machine drawing hand plowing tractor 1 causes tractor 1 to go to the starting point of next AB line (A2B2) of the driving trace from terminal B1
A2, identical with above reason, using A2 as starting point, controller controls tractor along A2B2 travelings until terminal B2；Then, reach
After terminal B2, by that analogy, until having travelled all AB lines, complete to rake the soil level.
Please continue to refer to Fig. 4, invention additionally discloses the third ground method.The driving trace of third embodiment of the invention
And farm implements width, the beginning and end of first AB line (AB shown in Fig. 2) and direction, dilatory are inputted on the interface of display
The radius of turn of machine can automatically generate on software interface.3rd embodiment is implemented with first embodiment or second
Mode is compared, and the driving trace is different, specifically, the driving trace includes the driving trace for going and returning.In the traveling rail
In mark, the AB lines for driving into the edge of a field are parallel with the AB lines for rolling the edge of a field away from.As shown in figure 4, drive into the AB lines at the edge of a field 21 and roll the edge of a field away from
21 AB lines (A1B1) are parallel, and the AB lines (A1B1) for driving into the edge of a field 22 are parallel with the AB lines (A2B2) for rolling the edge of a field 22 away from, equally
, A2B2 is parallel with A3B3；Return direction AnBn and An+1Bn+1 it is parallel.
Please continue to refer to Fig. 4, the step of being raked the soil level according to above-mentioned driving trace, is as follows：Controller is worked as according to tractor
Front position, current pose and angular transducer signal produce control instruction.The control instruction is transferred to transfer.Transfer
Control tractor 1 that tractor 1 is travelled from A points along AB lines to B points according to the control instruction；When reaching B points, tractor
Manual operating tractor goes to A1 points from B points；Then, using A1 as starting point, controller is according to current location, current pose and angle
Sensor signal produces control instruction, and transfer controls the travel direction of tractor 1 according to the control instruction so that tractor
1 travels B1 to terminal from A1 points along A1B1；Then, after the B1 that reaches home, tractor driver's plowing tractor causes tractor
The starting point A2 with next AB line (A2B2) of the driving trace is gone to from terminal B1, it is identical with above reason, using A2 as starting point,
Controller controls tractor along A2B2 travelings until terminal B2；Then, after reaching terminal B2, by that analogy, until having travelled
All AB lines, complete to rake the soil level.
Above-mentioned first embodiment is into the 3rd embodiment, because driving trace has a plurality of intersecting AB lines, AB lines
It is intersecting enable to soil to be sufficiently mixed, so, cross-mixing effect is good, is uniformly distributed beneficial to fertilizer in soil.It is but above-mentioned
First embodiment is required for tractor driver to manipulate tractor and goes to adjacent AB into the 3rd embodiment, in the terminal of AB lines
The starting point of line, it is not real automatic Pilot, in order to solve this problem, remote control can be passed through in the terminal of every AB line
Mode sends control signal to the controller, and controller produces control signal according to the turn signal, and transfer receives
Tractor is controlled to be redirect in the terminal of AB lines on adjacent AB lines after the control signal, such as, in first embodiment, at end
Point B, B1, B2 receive turn signal and gone to accordingly on starting point A1, A2, A3.
Referring to Fig. 5, the present invention discloses the method for raking the soil level of the 4th embodiment, this method comprises the following steps：
Step 1：The border 3 in plot is pre-set according to farm implements width and radius of turn, always according to farm implements width, first
Beginning and end, the radius of turn of tractor of AB lines (AB shown in Fig. 2) can automatically generate traveling rail on software interface
Mark.The border 3 includes the edge of a field, forms the method on the border 3 and can be, establishes the model of tractor, plowing tractor around
The edge in plot one week, border 3 is obtained according to antenna coordinate and vehicle model behind ground one week, or pass through the display in advance
Input, or the drawing for including the border is imported in advance.The driving trace of formation uses the driving trace of first embodiment.
Step 2, border is raked the soil level and the region that border surrounds raked the soil level using the driving trace.In this step, first
The region 4 that border 3 surrounds is raked the soil level, the process raked the soil level will not be described here referring to the narration of first embodiment.Region 4 has been harrowed
Afterwards, controller produces control instruction control tractor and raked the soil level in the border (borderline region) 3, so as to which whole plot be harrowed
It is complete.In addition, the embodiment and first embodiment further differ in that：Which can be realized rakes the soil level automatically.Specifically chat
State as follows：Tractor can obtain the current location of tractor 1 in real time during the ground block edge one week, and then, it can obtain
Obtain the coordinate of the terminal of each AB lines on the inner side straight line 32 on border 3.The coordinate of AB line terminals is exactly tractor in inner side straight line 32
On turning position.During tractor travels from starting point A to terminal B, the changing coordinates of tractor, institute can be also obtained in real time
With, if the changing coordinates of tractor are equal to the coordinate of terminal on the straight line of inner side, such as, changing coordinates are equal to terminal B2 seat
Mark, controller just produce control instruction, and then, A3 is redirect to by transfer control tractor 1, is auto-steering, with such
Push away, auto-steering can be realized in the terminal of every AB line.
In summary, the 4th embodiment can realize the automatic Pilot of overall process, be additionally, since a plurality of of driving trace
AB intersects, thus it is possible to so that soil good mixing effect, beneficial to the uniform mixing of fertilizer in soil.In addition, in tractor failure
Or in the case of completion of raking the soil level, controller can produce control instruction according to the current location and/posture of tractor, and then,
The tractor is controlled to be cruised on the border.Reach specifically, deviateing default driving path when the current location of tractor
The threshold value of setting, it is believed that tractor breaks down, and now, produces control instruction and tractor is cruised on border 3.Such as
The current location of fruit tractor is equal to the terminal point coordinate of driving trace, then, is judged as that tractor is raked the soil level completions, now, produces and control
System instruction controls the tractor to be cruised on border 3.
Those skilled in the art can be inspired from above-mentioned embodiment：As long as driving trace footpath has a plurality of intersecting
AB lines, just can reach the well-mixed purpose of soil, driving trace be not limited to it is above-mentioned several, such as, can also be wide according to farm implements
Degree, the beginning and end of first AB line (AB shown in Fig. 2), turning position, tractor radius of turn can be in software interface
On automatically generate driving trace, such a driving trace can also be irregular curve, than as shown in Figure 6.
In addition, invention additionally discloses a kind of control device, the device includes receiving module, memory, processor and output
Module.The memory internal memory contains driving trace, and the driving trace includes a plurality of intersecting AB lines.The receiving module receives
Angular transducer signal, current location and current pose, transmission of angle sensor signal, current location and posture give the processing
Device.The processor produces control signal according to the angular transducer signal, current location and posture.The output module is defeated
Go out control instruction causes transfer control tractor to be travelled according to the driving trace to the transfer of tractor, until complete
Into raking the soil level.In further scheme, the memory internal memory contains border, and the beginning and end of the AB lines is located at the interior of border
On the straight line of side；The controller is according to the terminal of the current location of tractor, current pose and every AB line on the straight line of inner side
Coordinate produce control instruction, the output module transmits the control instruction to the transfer of tractor to control tractor to exist
The terminal of every AB line is turned to the starting point of next AB line of the driving trace.In further scheme, the processor root
Judge to rake the soil level whether complete according to the current location of tractor, if raking the soil level completion, produce the first cruise instruction；The output module
The cruise of output first is instructed to tractor to cause the tractor to be cruised on the border；Or the processor according to
Current location and/or posture judge tractor whether failure, if faulty, produce second cruise instruction；The output module
The second cruise instruction is exported to the transfer of tractor to cause tractor to be cruised on the border.
The present invention also discloses one kind and raked the soil level system, and the system includes being used for the acquisition for obtaining tractor current location and posture
Device and mobile unit.The posture acquisition device transmits current location and posture to the mobile unit.The mobile unit
Including foregoing any controller.The current location and posture acquisition device are such as made up of base station and movement station
Device, it is not limited, as long as the current position of tractor and posture can be obtained.
It is above-mentioned rake the soil level system also have it is above-mentioned rake the soil level method the advantages of, will not be repeated here.
Claims (10)
1. method of raking the soil level, it is characterised in that：This method comprises the following steps：
The tractor is controlled according to the driving trace row according to the current location, current pose and default driving trace
Sail, until complete to rake the soil level, wherein, the driving trace includes a plurality of intersecting AB lines.
2. method according to claim 1 of raking the soil level, it is characterised in that：In the driving trace, tractor drives into the edge of a field
It is in X-shaped that AB lines are intersecting with the AB lines for rolling the edge of a field away from；Or drive into the edge of a field AB lines it is parallel with the AB lines for rolling the edge of a field away from；Or sail
The AB lines for entering the edge of a field and the AB lines for rolling the edge of a field away from are the both sides at angle.
3. method according to claim 1 of raking the soil level, it is characterised in that：In the terminal of every AB line, pass through remote control mode control
The tractor steering is made to adjacent AB lines, or, on the driving trace, turning point is set, according to the turning point position
Put, the starting point of the real time position of tractor and the gesture stability tractor steering to next AB line of the track.
4. method according to claim 1 of raking the soil level, it is characterised in that：This method also includes first being configured according to farm implements width
In the turning position on the inside of the border on straight line, methods described includes controlling described draw for the border of block and the driving trace
Machine is raked the soil level to border, controls the tractor to include the inner side straight line for controlling tractor on border according to driving trace traveling
Turning position turn to cause tractor to be raked the soil level according to the driving trace to the region that border surrounds.
5. method according to claim 3 of raking the soil level, it is characterised in that：In tractor failure or the situation for completion of raking the soil level
Under, control the tractor to be cruised on the border.
6. control device, it is characterised in that：The device includes receiving module, memory, processor and output module；Wherein,
The memory internal memory contains driving trace, and the driving trace includes a plurality of intersecting AB lines；
Receiving module receiving angle sensor signal, current location and the current pose, it is transmission of angle sensor signal, current
Position and posture give the processor；
The processor produces control signal according to the angular transducer signal, current location and posture；
The output module output control instructs causes transfer to control tractor according to described to the transfer of tractor
Driving trace travels, until completing to rake the soil level.
7. control device according to claim 6, it is characterised in that：The memory internal memory contains border, the AB lines
Beginning and end be located on the inner side straight line on border；The controller is according to the current location of tractor, current pose and every
Coordinate of the terminal of bar AB lines on the straight line of inner side produces control instruction, and the output module transmits the control instruction to tractor
Transfer to control tractor to be turned in the terminal of every AB line to the starting point of next AB line of the driving trace.
8. control device according to claim 6, it is characterised in that：The processor is sentenced according to the current location of tractor
Whether disconnected rake the soil level completes, if raking the soil level completion, produces the first cruise instruction；The first cruise of output module output instruction is dragged
Machine drawing to cause the tractor to be cruised on the border；
Or the processor according to current location and/or posture judge tractor whether failure, if faulty, produce the
Two cruise instructions；The output module exports the second cruise instruction to the transfer of tractor to cause tractor described
Cruise on border.
9. control device according to claim 6, it is characterised in that：In the driving trace, tractor drives into the edge of a field
It is in X-shaped that AB lines are intersecting with two AB lines for rolling the edge of a field away from；Or drive into the edge of a field AB lines it is parallel with the AB lines for driving into the edge of a field；Or
Person, the AB lines for driving into the edge of a field and the AB lines for rolling the edge of a field away from are the both sides at angle.
10. system of raking the soil level, the system includes being used for the acquisition device and mobile unit for obtaining tractor current location and posture, institute
Posture acquisition device transmission current location and posture are stated to the mobile unit, it is characterised in that：The mobile unit includes power
Profit requires the controller any one of 6 to 9.
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