CN108279680A - A kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity - Google Patents
A kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity Download PDFInfo
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- CN108279680A CN108279680A CN201810202553.3A CN201810202553A CN108279680A CN 108279680 A CN108279680 A CN 108279680A CN 201810202553 A CN201810202553 A CN 201810202553A CN 108279680 A CN108279680 A CN 108279680A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 32
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 17
- 230000010365 information processing Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
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- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
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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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to a kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity, which includes camera, image processing module, control module, GPS module, position information process module, PWM speed adjusting modules, DC power supply, liquid crystal display and ultrasonic wave module；The camera is mounted on the front of collecting cart, the input terminal connection of camera and image processing module；The output end of image processing module is wirelessly connect with control module and host computer respectively；The GPS module of the location information for acquiring two vehicles is mounted on collecting cart and agricultural machinery；GPS module is connect with the output end of position information process module.Integrated use of the present invention GPS positioning, visual pattern identification and processing, ultrasonic wave protection, intelligent control etc.; the position and transport condition of collecting cart are acquired and are controlled; in the case where cost increase rate is little; the efficiency for acquiring and collecting to crops is greatly increased, the consumption of human resources is reduced.
Description
Technical field
The present invention relates to agricultural machinery technical field of automatic control, and in particular to a kind of agricultural machinery based on GPS and visual identity
Collecting cart intelligence system for tracking, i.e., the system that collecting cart follows harvester automatically.
Background technology
The crops harvesting of traditional agriculture is a more time-consuming ring.Mechanical harvesters greatly improve receipts
It cuts efficiency and saves manpower and materials.But tradition machinery harvester is that the grain of harvesting is used to be first stored in included feed bin, etc.
Feed bin storage, which has expired to return again to, to be transmitted to grain on collecting cart.This has seriously affected harvesting and has been imitated with the work for collecting this link
Rate.Thus when carrying out harvesting, often manually opens a collecting cart and harvesting vehicle is followed to carry out real-time collecting, received with improving
It cuts and collection efficiency.In harvesting more manpowers are consumed with when collecting.Fourth is forever preceding et al., and (Ding Yongqian, king cause feelings, forest form pool, Bi Wei
Flat, Lin little Lan, Xue Jin woodss independently collect vehicle course control system [J] agricultural mechanical journals, 2015,46 (01):8-13+
7.) a kind of autonomous following control system modeling of the vehicle based on infrared sensor detection virtual course angle and design side are proposed
Method, but since system uses infrared sensor, the sensor to react sensitive to heat, external source is affected to sensor,
And collecting cart is manually starts to follow by the mode that the collecting cart uses to being just collected after vehicle, if distance farther out if cannot know
Not, following can only carry out disposably closely following in the presence of limitation.The laboratory independent development of Shanghai Communications University's intelligent vehicle
CyberCS intelligent vehicle system for tracking realizes the vehicle of the Multi-sensor Fusions such as view-based access control model, Magnetic Sensor, laser radar certainly
It is main that Shanghai Communications University is followed to follow research to achieve larger achievement the autonomous of intelligent vehicle, but its cost of implementation is higher,
System structure is more complex, is unsuitable for agricultural extension use.
Invention content
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of based on GPS and visual identity
Agricultural machinery collecting cart intelligence system for tracking.Image recognition technology is combined by the system for tracking with GPS positioning technology, makes collecting cart
Harvester can be followed automatically；Integrated use of the present invention GPS positioning, visual pattern identification and processing, ultrasonic wave protection, intelligence control
System etc., is acquired and controls to the position and transport condition of collecting cart, in the case where cost increase rate is little, greatly
The efficiency for acquiring and collecting to crops is improved, the consumption of human resources is reduced.
The present invention solve the technical problem the technical solution adopted is that：A kind of agriculture based on GPS and visual identity is provided
Machine collecting cart intelligence system for tracking, it is characterised in that the system includes camera, image processing module, control module, GPS moulds
Block, position information process module, PWM speed adjusting modules, DC power supply, liquid crystal display and ultrasonic wave module；
The camera is mounted on the front of collecting cart, the input terminal connection of camera and image processing module；At image
The output end of reason module is wirelessly connect with control module and host computer respectively；It is mounted on collecting cart and agricultural machinery
GPS module, two GPS modules are used to acquire the location information of two vehicles, collect positioning signal；GPS module and position information process
The output end of module connects, and the position information process module is wirelessly connect with host computer；Simultaneously at location information
The output end of reason module is also connected with control module and liquid crystal display；The input terminal of the control module is also associated with for ensureing
The ultrasonic wave module of traffic safety；The output end of control module passes through the PWN speed governing for controlling motor direction of rotation and rotating speed
Module connects the left side drive motor and right side drive motors of collecting cart, and the output end of control module connects collecting cart simultaneously and is used for
Control the transfer turned to；The DC power supply is powered for whole system；Above-mentioned image processing module, control module, position
Set the vehicle frame that message processing module, PWM speed adjusting modules, DC power supply, liquid crystal display, ultrasonic wave module are installed in collecting cart
On；It is loaded with image processing program in residing image processing module, GPS gathers processing journey is loaded in position information process module
Sequence is loaded with control collecting cart traveling program in control module.
The transfer is steering wheel or steering-engine.
Compared with prior art, advantageous effect of the present invention is：
1) the application applies ripe image processing techniques and GPS positioning technology in agricultural vehicle from system for tracking,
Realize following for vehicle high-precision.Remote coarse positioning is carried out by meter level GPS, is then carried out closely by camera again
Finely positioning, the combination of two kinds of technologies ensure that the accuracy of system operation, makes positioning accuracy in Centimeter Level, simultaneously significantly
The requirement to equipment performance is reduced, manufacturing cost is reduced.Possess it is stronger follow stability, traveling error within 20cm simultaneously
And it remains to that stabilization is kept to follow when agricultural machinery carries out steering operation.
2) present system mechanical structure is simple, and economy is strong.Do not have to be changed on a large scale on existing vehicle, pacify
Fill it is at low cost, can use 12V DC power supply power supply, energy consumption it is low, can guarantee that 24 is small in the case of standard configuration vehicle-mounted 12V storage battery power supplies
When more than continuous work.Equipment is the off-the-shelf hardware that need not individually process mostly needed for simultaneously, and acquisition cost is low.
3) highly reliable.It installs ultrasonic wave module additional, ultrasonic signal is sent out using vehicle, when detecting that it is dangerous that front occurs
When (livestock, child etc.), actively brake evacuation, can adjust safe range in 3.5cm between 80cm, be run for collecting cart
Safety provides excellent guarantee.
The application be based on multisensor (camera, GPS module, ultrasonic wave module) and multiprocessor (image processing module,
Position information process module, control module) be used cooperatively, can be realized using a variety of common coarse sensors more high-precision
The positioning and identification of degree, relatively single or a small amount of high-precision sensor significantly drop under the premise of ensureing raising positioning accuracy
Low cost.
Description of the drawings
The present invention is based on the overall structure diagrams of GPS and the agricultural machinery collecting cart intelligence system for tracking of visual identity by Fig. 1；
The present invention is based on the control moulds of GPS and a kind of embodiment of agricultural machinery collecting cart intelligence system for tracking of visual identity by Fig. 2
Block structure block diagram；
In figure, 1 camera；2 steering-engines；3 image information processing modules；4 control modules；5GPS modules；6 location informations
Processing module；7PWM speed adjusting modules；8 right side drive motors；9 left side drive motors；10 DC power supplies；11 liquid crystal displays；12
Wireless module；13 ultrasonic wave modules；14 bluetooth modules；15 host computers.
Specific implementation mode
Technical solution in the embodiment of the present invention is subjected to clear, complete description below, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
The every other embodiment that art personnel are obtained without making creative work belongs to the model that the present invention protects
It encloses.
The present invention is based on GPS and the agricultural machinery collecting cart intelligence system for tracking (abbreviation system, referring to Fig. 1-2) of visual identity to wrap
Include camera 1, image processing module 3, control module 4, GPS module 5, position information process module 6, PWM speed adjusting modules 7, straight
Galvanic electricity source 10, liquid crystal display 11 and ultrasonic wave module 13；
The camera 1 is mounted on the front of collecting cart, and camera is connect with the input terminal of image processing module 3；Image
The output end of processing module is wirelessly connect with control module 4 and host computer respectively；Pacify on collecting cart and agricultural machinery
Equipped with GPS module 5, two GPS modules are used to acquire the location information of two vehicles, collect positioning signal；GPS module and location information
The output end of processing module 6 connects, and the position information process module 6 is wirelessly connect with host computer 15；Position simultaneously
The output end for setting message processing module 6 is also connected with control module and liquid crystal display 11；The input terminal of the control module also connects
It is connected to the ultrasonic wave module 13 for guarantee driving safety；The output end of control module by be used to control motor direction of rotation with
The PWN speed adjusting modules 7 of rotating speed connect the left side drive motor 9 and right side drive motors 8 of collecting cart, and the output end of control module is same
When connection collecting cart be used for control steering steering-engine 2；The DC power supply 10 is powered for whole system；At above-mentioned image
Manage module 3, control module 4, position information process module 6, PWM speed adjusting modules 7, DC power supply 10, liquid crystal display 11, ultrasound
Wave module 13 is installed on the vehicle frame of collecting cart.Image processing program, location information are loaded in residing image processing module
It is loaded with GPS gathers processing routine in processing module, control collecting cart traveling program is loaded in control module.
Camera 1 is used for acquiring the positioning image information of agricultural machinery, and image processing module 3 for handling camera acquisition in real time
Dynamic image parameter, carry out analysis of image data, analysis of image data result is sent to by host computer by wireless module, lead to
It crosses bluetooth module 14 and analysis of image data result is transferred to control module 4；
The DC power supply 10 is 12V DC power supply, is directly the right side drive motors 8 and left side drive motor of collecting cart
9 power supplies.DC power supply 10 connects Voltage stabilizing module (not marked in figure) simultaneously, and 12V input voltages, which are converted to stable 5V, to be exported
Voltage provides electric energy for steering-engine 2, image processing module 3, control module 4, position information process module 6.
The GPS signal that position information process module 6 is used to acquire GPS module 5 carries out processing analysis, passes through liquid crystal display
Screen shows handling result, and location information is sent to control module, output parameter, while being tied processing by wireless module 12
Fruit is sent to host computer；Control module 4 receives the image information transmitted from image processing module 3 by bluetooth module 14 simultaneously
Configured transmission.
Image processing module 3 is using STM32 chips as the image processing module of core；Position information process module 6 be with
STC chips are the processing module of core, for handling the GPS signal collected；Control module 4 is using Arduino chips as core
Control module, possess 7 digital quantity output pins, can direct output pwm signal, for controlling right side drive motors 8, left side
The work such as driving motor 9, steering engine；
The host computer is used to integrate path and the relevant parameter that display collecting cart follows agricultural machinery, observes collecting cart in real time
Follow situation.The wireless module is used for shared vehicle and host computer information needed.
The camera 1 is OV7752, and 2.8mm focal length standard camera heads, required precision is high；The steering-engine 2 is
MG 996R steering-engines；For described image processing module 3 using STM32F765VI chips as core, arithmetic speed is high, in input journey
Possess stronger image processing function after sequence；It is ANTENNA active antennas that antenna is used in the GPS module 5, and centre frequency is
1575.42MHZ；The position information process module 6 is using SCT12C5A60S2 chips as core；The PWM speed adjusting modules 7 are
XY-160D two-way direct current drive modules；The right side drive motors 8 and left side drive motor 9 are DS-25RS370 deceleration electricity
Machine；The liquid crystal display 11 is 12864 liquid crystal displays；The wireless module 12 is HLK-RM04 modules；The ultrasonic wave module
For 13RC-RS04 Miniature Sensors；The bluetooth module 14 is HC-05 serial port modules；The Voltage stabilizing module is DM02-5,12V
Turn 5V voltage reduction modules.
Agricultural machinery in the application can be harvester.The application can intend using more collecting carts after a collecting cart is filled
Other collecting carts, which oneself can identify, is collected the position of vehicle to repeatedly be followed, and the application image recognition is using color
Identification, algorithm is relatively easy, not high to the required precision of camera.
Workflow the present invention is based on GPS and the agricultural machinery collecting cart intelligence system for tracking of visual identity is：
Starter, system initialization, liquid crystal display, which enters, welcomes interface, and position information process module 6 is from GPS module
Middle reading current location information is simultaneously shown on liquid crystal display 11；Control module 4 control collecting cart steering-engine 2 into
Row initialization is swung to ensure to turn to normally, is observed whether device works normally convenient for administrative staff, is understood the work of present apparatus
Make environment；
After confirming working environment, position information process module 6 reads the GPS positioning signal of two vehicles, warp by GPS module 5
Signal is shown to liquid crystal display 11 after crossing processing and is transferred to control module 4；Control module 4 controls collecting cart and is calculated by ant colony
Method executes progress path；Camera 1, which recognizes, during advance transfers signals to image processing module 3 after agricultural machinery, at image
Camera will have been recognized signal hair and the control module 4 of agricultural machinery by reason module 3 by bluetooth module 14 after Image Information Processing；
Control module 4 no longer executes GPS signal after recognizing picture signal, preferentially passes through image recognition (image recognition is the prior art)
It is positioned, controls the steering-engine 2 of collecting cart, right side drive motors 8, left side drive motor 9 and work, and then agricultural machinery is carried out
It follows.
Operation principle the present invention is based on GPS and the agricultural machinery collecting cart intelligence system for tracking of visual identity is：
The first step：Judge to whether there is foreign matter around itself by ultrasonic wave module incessantly, whether safe advance；One
There is unsafe signal in denier, and control module 4 controls collecting cart and stops advancing, and constantly judges whether unsafe signal disappears；Such as
Fruit unsafe signal disappears, then continues on；
Second step：The GPS positioning signal of itself is acquired by two GPS modules, and is compared and received by position information process module
The location information for collecting vehicle and agricultural machinery, control module is transmitted to by location information.
Third walks：Control module is by ant colony algorithm for optimization design and executes close to the path of agricultural machinery position, and during traveling
Uninterruptedly judge whether camera recognizes agricultural machinery.
4th step：Third walk carry out during, camera uninterrupted sampling signal, and will signal transmit with image at
Module is managed, image processing module judges whether to recognize agricultural machinery incessantly, if recognizing agricultural machinery, identification signal is sent out and is controlled
Module, and the location information handled well is sent by prescribed form.
5th step：It after control module receives image information, does not position using location information, is carried out using image information
Positioning, is modified by control module ant group algorithm, ensures to follow the accurate of agricultural machinery.
6th step：It uninterruptedly discriminates whether to receive picture signal, second step is returned if losing picture signal.
GPS gathers processing routine is equipped in position information process module 6 in the present invention, which is：Start, position
Message processing module is set it is first determined whether being communicated with GPS antenna, continues to judge if it is not, returning, if
Communication then acquires this vehicle signal, and whether judgement wirelessly opens, and restarts if not wireless and returns to whether judgement wirelessly opens,
The GPS signal of agricultural machinery is received if opening, if be not received by, waits for, agricultural machinery and collecting cart two is analyzed if receiving
The GPS signal of vehicle carries out operation and obtains the opposite and absolute location information of higher precision.
Image processing program is equipped in image processing module in the present invention, which is：Judge that camera is sent
Signal whether be regulation identification signal (regulation identification signal set in a program in advance, this signal can be known
Do not go out agricultural machinery), if it is not, then returning to judgement, if so, the location information of analysis specified signal, is filtered, improve identification essence
Degree, and the required location information of identification signal is extracted and is sent to control module.
Control collecting cart traveling program is equipped in control module in the present invention, which is：Judge that ultrasonic wave passes
Whether sensor signal is safety signal, if not safety signal then stops, and continues to judge whether signal is safety signal, if
Safety signal then judges whether to receive the location information of position information process module transmission, and position is persistently received if not receiving
Information is calculated by pre-determined route planning algorithm and route and is advanced if receiving, and is transmitted until receiving image information processing module
Pictorial information or ultrasonic wave transmission module send unsafe signal；It, will after receiving the image information that image information processing module transmits
Image information is positioned as highest priority, and according to image analysis position information by ant group algorithm plan new path into
Every trade into.In a program, security information be constantly receive, on the basis of judge safety the acquisition of each signal of ability receipt row with move
The execution of work.Before control module does not receive image information can always with the location information of GPS carry out path planning and with
With, just path planning is not being carried out with image information with GPS information progress path planning after recognizing image information, be exactly
Image information possesses higher priority than GPS information, with GPS when without image information, has image information just to use image, no
With GPS signal.
The present invention selects temperature to be higher than 15 meters of cloudless outwork environment in the daytime in 51 degree or less visibility, herein effectively
It identifies in section, camera can recognize the defined positioning mark installed additional on agricultural machinery, and GPS antenna can receive relatively strong letter
Number, present system be more suitable for it is open it is dustless on visual identity without influence, it is cloudless on environment of the GPS signal without influence.
The present invention does not address place and is suitable for the prior art.
Claims (6)
1. a kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity, it is characterised in that the system includes camera shooting
Head, image processing module, control module, GPS module, position information process module, PWM speed adjusting modules, DC power supply, liquid crystal
Display screen and ultrasonic wave module；
The camera is mounted on the front of collecting cart, the input terminal connection of camera and image processing module；Image procossing mould
The output end of block is wirelessly connect with control module and host computer respectively；It is mounted on GPS on collecting cart and agricultural machinery
Module, two GPS modules are used to acquire the location information of two vehicles, collect positioning signal；GPS module and position information process module
Output end connection, the position information process module wirelessly connect with host computer；Position information process mould simultaneously
The output end of block is also connected with control module and liquid crystal display；The input terminal of the control module is also associated with for ensureing driving
The ultrasonic wave module of safety；The output end of control module passes through the PWN speed adjusting modules for controlling motor direction of rotation and rotating speed
The left side drive motor and right side drive motors of collecting cart are connected, the output end of control module connects collecting cart for controlling simultaneously
The transfer of steering；The DC power supply is powered for whole system；Above-mentioned image processing module, control module, position letter
Breath processing module, PWM speed adjusting modules, DC power supply, liquid crystal display, ultrasonic wave module are installed on the vehicle frame of collecting cart；
It is loaded with image processing program in residing image processing module, GPS gathers processing routine is loaded in position information process module,
Control collecting cart traveling program is loaded in control module.
2. the agricultural machinery collecting cart intelligence system for tracking according to claim 1 based on GPS and visual identity, feature exist
In the DC power supply is 12V DC power supply, is directly right side drive motors and the left side drive motor power supply of collecting cart；Together
When DC power supply connect Voltage stabilizing module, 12V input voltages are converted to stable 5V output voltages, are transfer, at image
It manages module, control module, position information process module and electric energy is provided.
3. the agricultural machinery collecting cart intelligence system for tracking according to claim 1 based on GPS and visual identity, feature exist
In image processing module is using STM32 chips as the image processing module of core；Position information process module is with STC chips
For the processing module of core；Control module is to possess 7 digital quantity efferent ducts using Arduino chips as the control module of core
Foot, the direct output pwm signal of energy, for controlling right side drive motors, left side drive motor, transfer work.
4. the agricultural machinery collecting cart intelligence system for tracking according to claim 1 based on GPS and visual identity, feature exist
In the camera is OV7752,2.8mm focal length standard camera heads；Described image processing module 3 is with STM32F765VI chips
For core；It is ANTENNA active antennas, centre frequency 1575.42MHZ that antenna is used in the GPS module；The position letter
Processing module is ceased using SCT12C5A60S2 chips as core；The PWM speed adjusting modules 7 are XY-160D two-way direct current drive modules；
The right side drive motors and left side drive motor are DS-25RS370 decelerating motors；The ultrasonic wave module is 13RC-
RS04 Miniature Sensors.
5. the agricultural machinery collecting cart intelligence system for tracking according to claim 1 based on GPS and visual identity, feature exist
In the program circuit of the control collecting cart traveling program is：Judge whether ultrasonic sensor signal is safety signal, if not
Then stop for safety signal, and continue to judge whether signal is safety signal, then judges whether to receive position if safety signal
The location information that message processing module is sent, persistently receives location information if not receiving, if receiving, is advised by pre-determined route
Cost-effective method calculates route and advances, until receiving the pictorial information or the transmission of ultrasonic wave transmission module that image information processing module transmits
Unsafe signal；After receiving the image information that image information processing module transmits, carried out image information as highest priority
Positioning, and plan that new path is advanced by ant group algorithm according to image analysis position information；In a program, security information is
It constantly receives, the execution of the acquisition and action of each signal of ability receipt row on the basis of judging safety.
6. the agricultural machinery collecting cart intelligence system for tracking according to claim 1 based on GPS and visual identity, feature exist
In the program circuit of the GPS gathers processing routine is：Start, position information process module is it is first determined whether and GPS antenna
It is communicated, continues to judge if it is not, returning, if communicated, acquire this vehicle signal, whether judgement wirelessly opens
It opens, restart if not wireless and returns to whether judgement wirelessly opens, if the GPS signal for receiving agricultural machinery is opened, if do not had
It receives, then waits for, the GPS signal progress operation that two vehicle of agricultural machinery and collecting cart is analyzed if receiving obtains the phase of higher precision
Pair and absolute location information.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109051321A (en) * | 2018-09-14 | 2018-12-21 | 山东上拓教育咨询有限公司 | A kind of fresh commodities circulating cases of the low temperature that intelligence follows automatically |
| CN110209156A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The driving path planning system and its method of automatic harvester |
| CN110427024A (en) * | 2019-07-15 | 2019-11-08 | 沈阳航空航天大学 | A kind of unpiloted personnel's Material Transportation vehicle |
| CN113059576A (en) * | 2021-03-31 | 2021-07-02 | 上海应用技术大学 | Medical transportation robot based on fish school effect and self-adaptive cruise following method |
| CN113525553A (en) * | 2021-06-03 | 2021-10-22 | 韦淑庄 | Intelligent following vehicle and control method thereof |
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| CN113059576A (en) * | 2021-03-31 | 2021-07-02 | 上海应用技术大学 | Medical transportation robot based on fish school effect and self-adaptive cruise following method |
| CN113525553A (en) * | 2021-06-03 | 2021-10-22 | 韦淑庄 | Intelligent following vehicle and control method thereof |
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