CN107992049A - Paddy planter modularization automatic Pilot control device and its control method - Google Patents
Paddy planter modularization automatic Pilot control device and its control method Download PDFInfo
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- CN107992049A CN107992049A CN201711382028.6A CN201711382028A CN107992049A CN 107992049 A CN107992049 A CN 107992049A CN 201711382028 A CN201711382028 A CN 201711382028A CN 107992049 A CN107992049 A CN 107992049A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000009331 sowing Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 43
- 238000007726 management method Methods 0.000 claims description 35
- 238000013439 planning Methods 0.000 claims description 31
- 238000012544 monitoring process Methods 0.000 claims description 17
- 241000209094 Oryza Species 0.000 claims description 12
- 235000007164 Oryza sativa Nutrition 0.000 claims description 12
- 235000009566 rice Nutrition 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000007935 neutral effect Effects 0.000 claims description 4
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 2
- 238000010411 cooking Methods 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000011426 transformation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Soil Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of paddy planter modularization automatic Pilot control device and its control method, including：Job management terminal system, navigation positioning system, master control system, wireless telecommunications management system, course changing control and execution system, speed control and execution system and gear control and execution system.The device of the invention is selected easy to user according to actual conditions flexible configurations, paddy planter can be allowed to automatically generate walking path without inputting sowing soil size in complicated paddy field environment, there is provided Centimeter Level precisely presses desired trajectory straight line, curve and turn, forward-reverse automatic Pilot and AUTONOMOUS TASK.Achievable paddy planter can when 24 is small different terrain, landforms complicated paddy field environment in automatically walk, steering and operation.
Description
Technical field
The present invention relates to a kind of technology of agricultural mechanical field, is specifically that a kind of paddy planter modularization is driven automatically
Sail control device and its control method.
Background technology
Paddy planter is received by more and more peasant households because its saving is manually and the advantages of cost.But original water
Direct sowing of rice machine is still manually-operated mode, at least needs a people to complete the driving of paddy planter, and the degree of automation is not high,
It can not achieve unmanned.The driver of paddy planter to overcome day with high temperature according to etc. severe wild environment, seeding quality by
Experience to driver influences, and efficiency is low, is unfavorable for agricultural modernization, unmanned, intelligent.Meanwhile since reform and opening-up, agriculture
The people largely go down town, and rural area generally meets with labour and is lost in and aging trying situation.Therefore, it is rice that rice growing is unmanned
The development trend of planting industry.
The content of the invention
The present invention is poor for existing unmanned agricultural machinery adaptive ability, it is necessary to numerous parameters of preset in advance or by nothing
Man-machine offer data could realize the defects of unmanned, propose a kind of paddy planter modularization automatic Pilot control device and
Its control method, the device are selected easy to user according to actual conditions flexible configurations, can allow paddy planter in complicated paddy field
Walking path is automatically generated without inputting sowing soil size, there is provided Centimeter Level precisely presses desired trajectory straight line, song in environment
Line and turn, forward-reverse automatic Pilot and AUTONOMOUS TASK.Achievable paddy planter can when 24 is small different terrain,
Automatically walk, steering and operation in the complicated paddy field environment of looks.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of paddy planter modularization automatic Pilot control device, including：Job management terminal system,
Navigation positioning system, master control system, wireless telecommunications management system, course changing control and execution system, speed control and perform system
System and gear control and execution system, wherein：Job management terminal system is by wireless telecommunications management system to master control system
Output path planning job information simultaneously receives running state information, and navigation positioning system exports paddy planter azimuth information to master
Control system, master control system are controlled and held from course changing control and execution system, speed control and execution system and gear respectively
Row system receives steering wheel angle, throttle position, shift lever position and exports output course changing control amount, rate controlling amount and shelves
Position controlled quentity controlled variable.
The job management terminal system includes：Monitoring operation module, path planning module and by Server remote
The data communication module of communication unit and main controller wireless communication unit composition, wherein：Monitoring operation module receives and comes from data
The job status real time monitoring information of the main controller wireless communication unit of communication module, path planning module, which receives, carrys out master
The positional information in the operation plot of wireless communication unit simultaneously receives the operation GIS information from Server remote communication module, raw
Main controller is sent into working path and by main controller wireless communication unit；Path planning module is made additionally by manual setting
Industry path is simultaneously sent to master control system by main controller wireless communication unit.
The navigation positioning system China Beidou satellite navigation system, is positioned using RTK difference globals, for measuring water
The Centimeter Level elaborate position of direct sowing of rice machine body, issues the master control system by positional information and is analyzed and handled, with
The control paddy planter walking turns to.
The master control system includes：Main Processor Unit and be attached thereto respectively two are respectively used to receive the Big Dipper
The RS232 interface of navigator fix information and data communication, SD card data memory interface and for the control to each action execution unit
System and the CAN interface of position and attitude detection, wherein：Two RS232 interfaces, SD card data memory interface, CAN interface
Data exchange and communication are carried out by internal data bus and Main Processor Unit；Main Processor Unit is according to coming from triones navigation system
The information solution of routing information, rotary angle transmitter and car body obliqueness sensor that the positional information of offer, path planning system provide
Analyse into for controlling course changing control and execution system, speed control and execution system and gear control and the movement of execution system
Control information, realizes automatically walk, steering, avoidance and the operation of paddy planter.
The wireless telecommunications management system includes：RS232 interface, wireless digital broadcasting station group, bluetooth communication module.Pass through
Second RS232 interface of RS232 and master control system connects, by work data wireless digital broadcasting station module, bluetooth communication module
It is sent to job management terminal.
The course changing control and execution system includes：Wheel steering angle sensor, body gesture sensor, CAN bus step
Stepper motor driver, decelerating step motor, synchronization belt transmission system, spline recent movement transmission system, wherein：For examining
The wheel steering angle sensor for surveying wheel steering angle is arranged at axletree and is fed back by CAN bus to master control system output corner
Signal, the body gesture sensor for detecting vehicle roll angle are arranged on vehicle body and by CAN bus to master control system
Body gesture feedback signal is exported, CAN bus stepper motor driver receives the steering action letter for carrying out self-control system
Number and drive decelerating step motor to drive spline recent movement transmission system to rotate, realize paddy planter course changing control with
Track following, high path trace precision.
The body gesture sensor is two axial rake sensors.
The speed control and execution system includes：Speed control and be attached thereto respectively with position feedback
First electric pushrod and gas pedal connector, wherein：First electric pushrod is arranged on vehicle body and its external part is with passing through oil
Door tirasse is connected with gas pedal, the seed-sowing machine speed that speed control is sent by CAN bus reception master control system
Command signal is spent, present speed instruction is converted into electric pushrod displacement, and gathers the current location of the first electric pushrod in real time,
High-precision control to the first electric pushrod given position is realized by closed loop feedback, in addition speed control exports pedal control
Instruction, to control accelerator pedal position, realizes the autonomous control of seed-sowing machine gait of march to gas pedal connector.
The gear control and execution system include：Positioner and be attached thereto respectively with position feedback
Second electric pushrod and gear shift fork connector, wherein：Second electric pushrod is hinged with selector lever lever to carry out gear certainly
Dynamic control, is fixed, the second electric pushrod external part and gear shift fork connector phase when selector lever is in neutral gear position card slot
Even, the seed-sowing machine notch command signal that positioner is sent by CAN bus reception master control system, present speed is instructed
Electric pushrod displacement is converted to, and gathers the current location of the first electric pushrod in real time, realizes that first is electronic by closed loop feedback
In addition the high-precision control of push rod given position, positioner export shifting commands to gear shift fork connector to control gear
Shift fork position, realizes the gear control of live machine operation.
It is equipped with the speed control and execution system and gear control and execution system for receiving main control system
The CAN bus transceiver of system signal.
Technique effect
Compared with prior art, the present invention program is clear and definite, convenient based on existing traditional paddy planter transformation, greatly drops
Low cost；Automatically walk and steering can be realized under complicated paddy field environment, be adapted to paddy planter to use；Communication mode with
It based on dependable performance, easy-to-use CAN communication, can be very good to realize real-time Communication for Power between each module, ensure the reality of control algolithm
When property and reliability；Control algolithm high efficient and reliable is, it can be achieved that the tracking accuracy of Centimeter Level；The position of paddy planter and movement are joined
Number can be visualized in terminal with real-time display in user, more hommization.
Brief description of the drawings
Fig. 1 is the schematic diagram according to direct sowing of rice machine automatic drive control device of the present invention；
Fig. 2 is the schematic diagram of medium velocity of the present invention control and execution system；
Fig. 3 is course changing control and the schematic diagram of execution system in the present invention；
Fig. 4 is the schematic diagram of middle gear of the present invention control and execution system；
Fig. 5 is the schematic diagram of job management terminal system in the present invention；
Fig. 6 is the schematic diagram of wireless telecommunications management system in the present invention.
Embodiment
As shown in Figure 1, automatic Pilot control device is fought with a kind of rice that the present embodiment is related to, including：Job management
Terminal system 1, navigation positioning system 2, wireless telecommunications management system 4, master control system 5, CAN transceiver 3, course changing control and hold
Row system 7, speed control and execution system 8 and gear control and execution system 9, wherein：Job management terminal system 1, which obtains, to be made
The positional information and operation GIS information in industry plot simultaneously generate working path；Or advised according to information such as operation plot input by user
Draw working path；The working path of 1 plane-generating of job management terminal system is sent to master control by wireless telecommunications management system 4
System 5 processed and receive master control system transmission paddy planter running state information supply user monitoring, it is straight for measuring rice
The navigation positioning system 2 for broadcasting the Centimeter Level elaborate position of machine body is Chinese triones navigation system, and positional information is passed through CAN by it
Bus, which is exported to master control system, to be analyzed and is handled to control the paddy planter walking or turn to, course changing control
And execution system 7 receives the course changing control message that master control system 5 is sent by CAN bus, analytic message simultaneously merges vehicle body appearance
The information such as state information and wheel steering angle draws step motor control amount by analyzing and processing, and stepping is sent to by CAN transceiver
Motor driving machine, control direction disk 706 rotate, and realize accurate turn to；Speed control and execution system 8 receive master control system 5
The speed control message sent by CAN bus, calculates the displacement of throttle position and electric pushrod, is driven by electric pushrod
Device driving electric pushrod movement, adjusts throttle position, realizes speed control；Gear controls and execution system 9 receives main control system
The control message that system 5 is sent by CAN bus, adjusts shift lever gear, realizes that advance, reversing and neutral gear are adjusted.
Preferably, the CAN transceiver uses the TJA1050T transceiver modules of NXP.
As shown in Fig. 2, the speed control and execution system 8 includes：801, ADC module of speed control controller
802nd, electric pushrod driver 803 and the electric pushrod 804 with position feedback, wherein：Electric pushrod is connected by gas pedal
Device 807 is connected with gas pedal 805, pulls gas pedal 805 to push when electric pushrod advances, and paddy planter accelerates；It is electronic
When push rod retreats, under the action of spring 806, gas pedal 805 rises, and paddy planter slows down, the master control system 5
After the due speed of paddy planter being calculated according to paddy planter in ground orientation in the block and path planning, transmission speed control
Electric pushrod is calculated to speed control and the speed control of execution system 8 801, speed control 801 in the CAN message of system
After displacement, fed back according to the position of the ADC electric pushrods 804 measured in real time, i.e. throttle position, it is real by closed-loop control driver
Existing push rod moves forward and backward, so that accelerator press-down or rising are driven, until reaching the throttle position specified, so as to control rice
The speed of seed-sowing machine, automatically walk.
Preferably, speed control and execution system master control 801 use the STM8S208S6T6C of STM.
As shown in figure 3, the course changing control and execution system 7 includes：Steering wheel execution system master control 701, band coding
The stepper motor 704 of device 702, stepper motor driver 703, synchronous belt 705, spline recent movement transmission system 706, two
Axial rake sensor, wheel steering angle sensor 708 and CAN transceiver 710, wherein：Master control system 5 exists according to paddy planter
After ground orientation in the block and path planning calculate the due wheel steering angle of paddy planter, the CAN message of course changing control is sent
To speed control and the steering controller of execution system 7 701, two axial rake sensors 707 are fixed with paddy planter vehicle body 709
Connection, measures body gesture, is sent to steering controller 701 by CAN bus, wheel steering angle sensor 708 is installed in real time
At bogie car wheel shaft, wheel steering angle is measured in real time, steering controller 701 is sent to by CAN bus, at steering controller fusion
Manage stepper motor corner, body gesture, the wheel steering angle sensor of two axial rake sensors 707 feedback that encoder 702 is fed back
The wheel steering angle of 708 feedbacks, after calculating the due corner of stepper motor and rotating speed, is controlled by stepper motor driver 703
The rotating speed and angle of stepper motor 704, drive spline steering wheel 706 to move by synchronous belt 705, so that control direction disk
Corner and rotating speed, realize automatic turning.
As shown in figure 4, the gear control and execution system 9 include：Steering wheel execution system master control 901, an ADC
Module 902, electric pushrod driver 903 and the electric pushrod 904 with position feedback, gear shift fork connector 906, gearbox connect
Bar 907 and shift lever 905, shift lever 905 have 3 gears：Forward gear, neutral gear and reverse gear, have correspondence in each gear
Gear card slot, after moving to particular gears position, shift lever 905 can be blocked by card slot automatically, 904 end of electric pushrod with
Gear shift fork connector 906 is fixedly connected, and gear shift fork connector 906 and gearbox connecting rod 907 are all cut with scissors with shift lever 905
Connect, 907 end of gearbox connecting rod is connected with direct sowing of rice machine gearbox, and the master control system 5 exists according to paddy planter
After ground orientation in the block and path planning judge that paddy planter needs to advance or moves backward, the CAN message of gear control is sent
Gearshift execution system master control 901 is given, after main control module 901 parses target gear, the push rod position measured according to ADC is fed back,
Closed-loop control electric pushrod driver 903 drives electric pushrod 904 to move, and drives shift lever 905 to turn to specified gear card
Groove blocks, and shift lever 905 drives gearbox connecting rod 907 to realize gearshift.
Preferably, gear control and execution system master control 801 use the STM8S208S6T6C of STM.
As shown in figure 5, the job management terminal system 1 includes：User monitoring module 101, path planning module
102nd, data communication module 103, data communication module 103 include：Server remote communication unit 104 and main controller wireless telecommunications
105 two parts of unit so that job management terminal system 1 can be with the Cloud Server and master control system of with storing operation block message
5 communications, wherein：Master control system 5 passes through wireless telecommunications management system 4 and main controller wireless communication unit 105 and job management
Terminal system 1 communicates, and sends paddy planter job status, user monitoring is supplied by monitoring operation module 101；Path planning mould
Block 102 can obtain the positional information in operation plot by main controller wireless communication unit 105, pass through Server remote communication module
104 obtain operation GIS information from Cloud Server, generate working path, and pass through main controller wireless communication unit 105 and channel radio
News management system 4 is sent to master control system 5 with automatic Pilot；At the same time also can by 101 manual setting of monitoring operation module
The relevant parameter that block message, working path need, it is wireless by main controller after path planning module 102 cooks up working path
Communication unit 105 and wireless telecommunications management system are sent to master control system 5.
As shown in fig. 6, the wireless telecommunications management system 4 includes：RS232 interface 401, bluetooth communication module 402, nothing
Line data radio station module 403, the wireless telecommunications management system 4 pass through RS232 interface 401 and the 2nd RS232 of master control system
Interface connects, and the work data that master control system provides is sent out by bluetooth communication module 402 and wireless digital broadcasting station module 403
Give job management terminal system 1.
Preferably, the bluetooth communication module of the wireless telecommunications management system 4 uses the CC2541 modules of TI.
The present embodiment is related to the control method of above-mentioned paddy planter servomechanism, specifically comprises the following steps：
Step 1, operation is determined with reference to triones navigation system 2 by the monitoring operation module 101 of job management terminal system 1
The orientation and size in plot, set the job parameters such as sowing spacing.Path planning mould 102 is according to operation plot azimuth dimension information
After going out the working path of paddy planter with complete coverage path planning algorithmic rule, it is sent to master control system and preserves and perform.
Step 2, paddy planter is travelled to the starting point in operation plot, is opened by job management terminal system 1 and driven automatically
Sail pattern.
Step 3, master control system 5 combines the longitude and latitude and orientation for the paddy planter that BDStar navigation system 2 provides
Angle, the coordinate in operation block coordinates system is converted to by coordinates transformation method, is performed with reference to the working path planned in advance straight
OK, steering and operation, until completing.
In step 1, path planning module 102 is using Ω types path planning algorithms planning edge of a field turning path, outside the edge of a field
Operation area path use straight line path planning algorithm.Operation needed for path planning module 102 block message can pass through service
Device remote communication unit obtains the GIS information that Cloud Server provides and obtains, and can also be inputted by 101 user of monitoring operation module
Arrive.
In step 3, master control system 5 is obtained according to BDStar navigation system 2 paddy planter azimuth information and
The working path data of storage compare, and judge whether to need to turn to.Straight trip route segment, when paddy planter orientation and operation road
Footpath is there are lateral deviation or heading angle deviation and exceedes required precision, then controls course changing control and execution by sliding mode control algorithm
System 7 is turned to, and adjustment paddy planter orientation, reduces tracking error；When error is in the range of precision receiving, then rice is straight
The machine of broadcasting keeps this course angle to keep straight on.In edge of a field route segment, master control system 5 is positioned according to the turning path and Beidou navigation of planning
System 2 provide paddy planter orientation, by pid control algorithm control paddy planter speed and turn to carry out path with
Track.
In step 3, when the paddy planter azimuth information that master control system 5 is obtained according to Big Dipper Position Fixing Navigation System 2
With the working path data of storage, judge that paddy planter reaches working path terminal, then stop sowing and walking, and pass through work
Monitoring operation module 101 in industry administrative terminal system 1 notifies user.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (12)
- A kind of 1. paddy planter modularization automatic Pilot control device, it is characterised in that including：Job management terminal system, Navigation positioning system, master control system, wireless telecommunications management system, course changing control and execution system, speed control and perform system System and gear control and execution system, wherein：Job management terminal system is by wireless telecommunications management system to master control system Output path planning job information simultaneously receives running state information, and navigation positioning system exports paddy planter azimuth information to master Control system, master control system are controlled and held from course changing control and execution system, speed control and execution system and gear respectively Row system receives steering wheel angle, throttle position, shift lever position and exports output course changing control amount, rate controlling amount and shelves Position controlled quentity controlled variable.
- 2. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the operation Administrative terminal system includes：Monitoring operation module, path planning module and by Server remote communication unit and main controller without The data communication module of line communication unit composition, wherein：Monitoring operation module receive the main controller from data communication module without The job status real time monitoring information of line communication unit, path planning module receive the operation for carrying out master wireless communication unit The positional information in plot simultaneously receives the operation GIS information from Server remote communication module, generates working path and passes through master Control device wireless communication unit is sent to main controller；Path planning module is additionally by manual setting working path and passes through main controller Wireless communication unit is sent to master control system.
- 3. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the navigation Alignment system China Beidou satellite navigation system, is positioned using RTK difference globals, for measuring centimetre of paddy planter body Level elaborate position, issues the master control system by positional information and is analyzed and handled, to control the direct sowing of rice Machine is walked or turned to.
- 4. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the master control System processed includes：Main Processor Unit and be attached thereto respectively two are respectively used to receive Beidou navigation location information and data The RS232 interface of communication, SD card data memory interface and detect for the control to each action execution unit and position and attitude CAN interface, wherein：Two RS232 interfaces, SD card data memory interface, CAN interface by internal data bus with Main Processor Unit carries out data exchange and communication；Main Processor Unit according to provided from triones navigation system positional information, road The information of routing information, rotary angle transmitter and car body obliqueness sensor that footpath planning system provides is parsed into turns to control for controlling System and execution system, speed control and execution system and the control information of gear control and the movement of execution system, realize rice Automatically walk, steering, avoidance and the operation of seed-sowing machine.
- 5. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, described is wireless Communication management system is connected by the second RS232 interface of RS232 and master control system, by work data wireless digital broadcasting station mould Group, bluetooth communication module are sent to job management terminal.
- 6. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the steering Control and execution system include：Wheel steering angle sensor, body gesture sensor, CAN bus stepper motor driver, step of slowing down Stepper motor, synchronization belt transmission system, spline recent movement transmission system, wherein：Wheel for detecting wheel steering angle turns Angle transducer is arranged at axletree and by CAN bus to master control system output corner feedback signal, for detecting vehicle body The body gesture sensor of angle of heel is arranged on vehicle body and exports body gesture feedback letter to master control system by CAN bus Number, CAN bus stepper motor driver receives the steering action signal for carrying out self-control system and drives deceleration stepping electric Machine drives spline recent movement transmission system to rotate, and realizes paddy planter course changing control and track following, high path with Track precision.
- 7. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the speed Control and execution system include：Speed control and the first electric pushrod and throttle with position feedback being attached thereto respectively Tirasse, wherein：First electric pushrod be arranged on vehicle body and its external part with by gas pedal connector and throttle Pedal connects, the seed-sowing machine speed command signal that speed control is sent by CAN bus reception master control system, will current speed Degree instruction is converted to electric pushrod displacement, and gathers the current location of the first electric pushrod in real time, passes through closed loop feedback realization pair In addition the high-precision control of first electric pushrod given position, speed control export pedal control instruction to gas pedal and connect Device realizes the autonomous control of seed-sowing machine gait of march to control accelerator pedal position.
- 8. paddy planter modularization automatic Pilot control device according to claim 1, it is characterized in that, the gear Control and execution system include：Positioner and the second electric pushrod and gear with position feedback being attached thereto respectively Shift fork connector, wherein：Second electric pushrod is hinged with selector lever lever and is automatically controlled with carrying out gear, at selector lever In being fixed in neutral gear position card slot, the second electric pushrod external part is connected with gear shift fork connector, and positioner passes through CAN Bus receives the seed-sowing machine notch command signal that master control system is sent, and present speed instruction is converted to electric pushrod displacement, And the current location of the first electric pushrod is gathered in real time, the high accuracy of the first electric pushrod given position is realized by closed loop feedback In addition control, positioner export shifting commands to gear shift fork connector to control gear shift fork position, realize seed-sowing machine The gear control of operation.
- 9. the automatic Pilot control method of the device according to any of the above-described claim, it is characterised in that including following step Suddenly：Step 1, the side in operation plot is determined by the monitoring operation module navigation alignment system of job management terminal system Position and size, set sowing spacing, path planning mould is according to operation plot azimuth dimension information complete coverage path planning algorithm After the working path for cooking up paddy planter, master control system is sent to；Step 2, paddy planter is travelled to the starting point in operation plot, and automatic Pilot mould is opened by job management terminal system Formula；Step 3, the longitude and latitude for the paddy planter that master control system navigation alignment system provides and azimuth, pass through coordinate Transfer algorithm is converted to the coordinate in operation block coordinates system, performs straight trip with reference to the working path planned in advance, turns to and make Industry, until completing all working paths.
- 10. according to the method described in claim 9, it is characterized in that, in step 1, path planning module uses Ω type path plannings Algorithmic rule edge of a field turning path, the operation area path outside the edge of a field use straight line path planning algorithm；Needed for path planning module Operation block message pass through Server remote communication unit obtain Cloud Server provide GIS information or monitoring operation module use Family inputs to obtain.
- 11. according to the method described in claim 9, it is characterized in that, in step 3, master control system is obtained according to navigation positioning system To paddy planter azimuth information and storage working path data compare, judge whether to need to turn to：In straight trip route segment, there are lateral deviation or heading angle deviation and exceed precision with working path when paddy planter orientation It is required that then controlling course changing control and execution system to be turned to by sliding mode control algorithm, adjustment paddy planter orientation, reduces Tracking error；When error is in the range of precision receiving, then paddy planter keeps this course angle to keep straight on；In the paddy planter side that edge of a field route segment, master control system are provided according to the turning path and navigation positioning system of planning Position, controls paddy planter speed by pid control algorithm and turns to progress path trace.
- 12. according to the method described in claim 9, it is characterized in that, in step 3, when master control system is according to Big Dipper location navigation The paddy planter azimuth information and the working path data of storage that system obtains, it is whole to judge that paddy planter reaches working path Point, then stop sowing and walking, and notifies user by the monitoring operation module in job management terminal system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711382028.6A CN107992049B (en) | 2017-12-20 | 2017-12-20 | Modularized automatic driving control device of rice direct seeding machine and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711382028.6A CN107992049B (en) | 2017-12-20 | 2017-12-20 | Modularized automatic driving control device of rice direct seeding machine and control method thereof |
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| CN108919792A (en) * | 2018-05-30 | 2018-11-30 | 华南农业大学 | A kind of automated navigation system path planning control method |
| CN109164808A (en) * | 2018-09-07 | 2019-01-08 | 农业部南京农业机械化研究所 | A kind of intelligent agricultural machinery automatic aligning device |
| CN109213167A (en) * | 2018-09-14 | 2019-01-15 | 双峰县湘源金穗收割机制造有限公司 | A kind of unmanned wisdom control system of agricultural machinery and its control method |
| CN109213050A (en) * | 2018-10-30 | 2019-01-15 | 中国农业大学 | A kind of quantity-variation type seeding control system and its control method |
| CN109964556A (en) * | 2019-04-11 | 2019-07-05 | 湖南龙舟农机股份有限公司 | A kind of rotary tillage machine control system and method |
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| CN108919792A (en) * | 2018-05-30 | 2018-11-30 | 华南农业大学 | A kind of automated navigation system path planning control method |
| CN108919792B (en) * | 2018-05-30 | 2021-08-24 | 华南农业大学 | Path planning control method for automatic navigation system |
| CN109164808A (en) * | 2018-09-07 | 2019-01-08 | 农业部南京农业机械化研究所 | A kind of intelligent agricultural machinery automatic aligning device |
| CN109164808B (en) * | 2018-09-07 | 2021-04-02 | 农业部南京农业机械化研究所 | Intelligent automatic aligning device for agricultural machinery |
| CN109213167A (en) * | 2018-09-14 | 2019-01-15 | 双峰县湘源金穗收割机制造有限公司 | A kind of unmanned wisdom control system of agricultural machinery and its control method |
| CN109213050A (en) * | 2018-10-30 | 2019-01-15 | 中国农业大学 | A kind of quantity-variation type seeding control system and its control method |
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| WO2020198937A1 (en) * | 2019-03-29 | 2020-10-08 | Baidu.Com Times Technology (Beijing) Co., Ltd. | Communications protocols between planning and control of autonomous driving vehicle |
| CN109964556A (en) * | 2019-04-11 | 2019-07-05 | 湖南龙舟农机股份有限公司 | A kind of rotary tillage machine control system and method |
| CN110150064A (en) * | 2019-04-19 | 2019-08-23 | 吴忠市伊禾农机作业服务有限公司 | A kind of paddy rice planting method based on Beidou Navigation System |
| CN110502021A (en) * | 2019-09-24 | 2019-11-26 | 一米信息服务(北京)有限公司 | A kind of agricultural machinery working paths planning method and system |
| CN110502021B (en) * | 2019-09-24 | 2022-07-15 | 一米信息服务(北京)有限公司 | Agricultural machinery operation path planning method and system |
| CN112650206A (en) * | 2019-10-10 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Intelligent mower walking control method and intelligent mower |
| CN111142518A (en) * | 2019-12-16 | 2020-05-12 | 农业农村部南京农业机械化研究所 | Self-adaptive seeding control system based on unmanned technology and control method thereof |
| CN111142518B (en) * | 2019-12-16 | 2020-11-20 | 农业农村部南京农业机械化研究所 | Self-adaptive seeding control system based on unmanned technology and control method thereof |
| WO2021121429A1 (en) * | 2019-12-18 | 2021-06-24 | 中联农业机械股份有限公司 | Intelligent agricultural machine based on binary control system |
| CN111309030A (en) * | 2020-03-26 | 2020-06-19 | 洛阳智能农业装备研究院有限公司 | Tractor unmanned motion control simulation system and simulation method thereof |
| CN111309030B (en) * | 2020-03-26 | 2024-05-24 | 洛阳智能农业装备研究院有限公司 | Unmanned motion control simulation system and simulation method for tractor |
| CN111459200A (en) * | 2020-03-27 | 2020-07-28 | 中信重工机械股份有限公司 | Bagged cement automatic loading robot servo control system |
| CN113848870A (en) * | 2020-06-10 | 2021-12-28 | 广州极飞科技股份有限公司 | Seeding control method and device for unmanned vehicle, terminal equipment, unmanned vehicle and medium |
| CN113805575A (en) * | 2020-06-12 | 2021-12-17 | 颜炳郎 | Carrier system |
| CN113892399A (en) * | 2021-09-13 | 2022-01-07 | 中国一冶集团有限公司 | Accurate positioning spray-seeding grass planting method and pulse pressure spray-seeding machine |
| CN116267109A (en) * | 2023-03-14 | 2023-06-23 | 华南农业大学 | Manual-automatic integrated design method of direct seeding machine of rice, direct seeding machine of rice and operation method |
| CN116267109B (en) * | 2023-03-14 | 2024-06-28 | 华南农业大学 | Manual-automatic integrated design method of direct seeding machine of rice, direct seeding machine of rice and operation method |
| CN116118855A (en) * | 2023-04-14 | 2023-05-16 | 哈尔滨工业大学人工智能研究院有限公司 | Automatic driving control system, control method and sprayer |
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