CN108334083A - A kind of automated driving system based on farm implements position - Google Patents
A kind of automated driving system based on farm implements position Download PDFInfo
- Publication number
- CN108334083A CN108334083A CN201810053392.6A CN201810053392A CN108334083A CN 108334083 A CN108334083 A CN 108334083A CN 201810053392 A CN201810053392 A CN 201810053392A CN 108334083 A CN108334083 A CN 108334083A
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- farm implements
- agricultural machinery
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- automated driving
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 11
- 230000003993 interaction Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
-
- 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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Include RTK global position systems, control system and interactive system on agricultural machinery the invention discloses a kind of automated driving system based on farm implements position；The RTK global position systems include difference base station, radio station and GPS receiver；The control system includes control module, solenoid valve and the angular transducer on front-wheel；Interactive system, including navigation terminal；Navigation terminal is connected to control module.The automated driving system reasonable design based on farm implements position of the present invention, it is simple and compact for structure；Utilize two antennas, the exact position of an antenna measurement agricultural machinery, the exact position of an antenna measurement farm implements；The data of two antennas are merged with the output information of gyroscope, obtain accurate farm implements position and posture；Using the control algolithm after amendment, the position for farm implements and posture are calculated as control instruction, and control agricultural machinery turns to.
Description
Technical field
The present invention relates to a kind of automated driving system, specifically a kind of automated driving system based on farm implements position.
Background technology
Existing agricultural machinery automated driving system, generally by navigation system, Machinery Control System, man-machine interactive system three parts
It constitutes, navigation system is positioned using RTK high-precisions BD/GPS, and combined high precision gyroscope is combined navigation；Mechanical course
For system according to the information of navigation system, corresponding course changing control is done in control machinery part；Man-machine interactive system is then that agricultural machinery operates
Member provides an interactive interface, and system is made to work according to the requirement of operator.It, usually all can be advance when agricultural machinery automatic Pilot
The track of a traveling is defined, control system controls agricultural machinery traveling on the track so that the lateral error of agricultural machinery and score
XTEt and heading angle deviation Ψ t are 0.Existing agricultural machinery automated driving system is taken the air line as the main purpose with controlling agricultural machinery, needle
This to trifilar suspension hardwired mode reaches preferable effect it is estimated that the central point of farm implements is controlled.But
It is the farm implements for towed, in ground injustice and clinoform, it occur frequently that there are deviations between farm implements and agricultural machinery
Situation so that agricultural machinery is walked on track, but farm implements are but not on line, and actual operation effectiveness is poor.Therefore, this hair
It is bright that a kind of automated driving system based on farm implements position is provided.
Invention content
The purpose of the present invention is to provide a kind of automated driving systems based on farm implements position, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：
A kind of automated driving system based on farm implements position includes RTK global position systems, control system on agricultural machinery
And interactive system；
The RTK global position systems include difference base station, radio station and GPS receiver；Difference base station and GPS receiver pass through electricity
Platform communicates to connect；The GPS receiver is connect with two antennas, and an antenna is set on agricultural machinery, for measuring the accurate of agricultural machinery
Position, another antenna are equipped at the center of farm implements, the exact position for measuring farm implements；RTK global position systems, being used for will
High-precision agricultural machinery is exported with farm implements location information to control system；
The control system includes control module, solenoid valve and the angular transducer on front-wheel；GPS receiver, electromagnetism
Valve and angular transducer are connected to control module；Built-in gyroscope in the control module；
Angular transducer, the corner for detecting front-wheel, and corner information is transferred to control module；
Solenoid valve, for controlling front-wheel steer；
Control module, the corner information of location information and front-wheel for receiving farm implements and agricultural machinery determine farm implements, agricultural machinery
Position information is merged with the output information of gyroscope, obtains accurate farm implements position and posture；Simultaneously by gyroscope with lead
Boat terminal is combined navigation, calculates corresponding control signal, sends a signal to the control of solenoid valve and angular transducer
Backfeed loop, control agricultural machinery turn to；
Interactive system, including navigation terminal；Navigation terminal is connected to control module.
As a further solution of the present invention：The navigation terminal is equipped with 4G modules, by 4G modules and remote platform into
Row interaction, carries out the interaction of job information.
As a further solution of the present invention：The navigation terminal is equipped with operation interface, by current system working condition
It is shown to operator, the input of operator is converted to controllable instruction, is sent to control system.
Compared with prior art, the beneficial effects of the invention are as follows：
The automated driving system reasonable design based on farm implements position of the present invention, it is simple and compact for structure；Using two antennas, one
The exact position of antenna measurement agricultural machinery, the exact position of an antenna measurement farm implements；By the data of two antennas and gyroscope
Output information is merged, and accurate farm implements position and posture are obtained；Using the control algolithm after amendment, for the position of farm implements
It sets and posture, is calculated as control instruction, control agricultural machinery turns to.
Description of the drawings
Fig. 1 is the assembling structure front view of agricultural machinery, farm implements and automated driving system.
Fig. 2 is the assembling structure right view of agricultural machinery, farm implements and automated driving system.
Fig. 3 is the assembling structure schematic diagram in slope agricultural machinery, farm implements and automated driving system when driving.
Fig. 4 is the structural schematic diagram of the automated driving system based on farm implements position.
Fig. 5 is the schematic diagram of the automated driving system based on farm implements position.
Wherein：1- agricultural machinery；2- control modules；3- difference base stations；The radio station 4-；5-GPS receivers；6- navigation terminals；7- electricity
Magnet valve；8- front-wheels；9- angular transducers；10- farm implements；11- antennas；12- target travel path lines；13- fresh target driving traces
Line.
Specific implementation mode
The technical solution of this patent is described in more detail With reference to embodiment.
- 5 are please referred to Fig.1, a kind of automated driving system based on farm implements position includes the RTK satellites on agricultural machinery 1
Positioning system, control system and interactive system；
The RTK global position systems include difference base station 3, radio station 4 and GPS receiver 5；Difference base station 3 and GPS receiver 5
It is communicated to connect by radio station 4；The GPS receiver 5 is connect with two antennas 11, supports the positioning of two antennas 11, a day
Line 11 is set on agricultural machinery 1, the exact position for measuring agricultural machinery, another antenna 11 is equipped at the center of farm implements 10, for surveying
Measure the exact position of farm implements；RTK global position systems give control system for exporting high-precision agricultural machinery and farm implements location information
System；
The control system includes control module 2, solenoid valve 7 and the angular transducer 9 on front-wheel 8；GPS receiver 5,
Solenoid valve 7 and angular transducer 9 are connected to control module 2；Built-in gyroscope in the control module 2；
Angular transducer 9, the corner for detecting front-wheel 8, and corner information is transferred to control module 2；
Solenoid valve 7, for controlling front-wheel steer；
Control module 2, the corner information of location information and front-wheel 8 for receiving farm implements and agricultural machinery, by farm implements, agricultural machinery
Location information is merged with the output information of gyroscope by Kalman filtering algorithm, and accurate farm implements position and appearance are obtained
State；Pass through 2 goal-selling driving trace line of control module；Navigation is combined by gyroscope and navigation terminal 6 simultaneously, is calculated
Go out corresponding control signal, send a signal to the control backfeed loop of solenoid valve 7 and angular transducer 9, control agricultural machinery turns to；
Antenna on agricultural machinery 1 is walked along target travel path line 12, and control module 2 is measured by farm implements location information on farm implements
Antenna and target travel path line between lateral error XTEi, control module 2 measured by agricultural machinery location information on agricultural machinery
Antenna and target travel path line between lateral error XTEt, the difference of the lateral error between agricultural machinery and farm implements is calculated
Value：ΔXTE=XTEi-XTEt；2 control targe driving trace line 12 of control module is horizontal to the direction opposite with farm implements offset direction
To mobile Δ XTE, fresh target traveling path line 13 is obtained, and control module 2 controls agricultural machinery and turns to tracking target travel track
Line 13 makes farm implements walk in target travel path line；
Interactive system, including navigation terminal 6；Navigation terminal 6 is connected to control module 2；Navigation terminal 6 has 4G modules, can be with
It is interacted with remote platform, carries out the interaction of job information；Navigation terminal 6 provides operation interface, and current system is worked
Situation is shown to operator, and the input of operator is converted to controllable instruction, is sent to control system.
Mainly improved part is the present invention：1）Using two antennas, the exact position of an antenna measurement agricultural machinery, one
The exact position of a antenna measurement farm implements；The data of two antennas are merged with the output information of gyroscope, are obtained accurate
Farm implements position and posture；2）Control algolithm after amendment, the position for farm implements and posture, are calculated as control instruction, control
Agricultural machinery processed turns to.
The better embodiment of this patent is explained in detail above, but this patent is not limited to above-mentioned embodiment party
Formula, one skilled in the relevant art within the scope of knowledge, can also be under the premise of not departing from this patent objective
Various changes can be made.
Claims (3)
1. a kind of automated driving system based on farm implements position, which is characterized in that including being mounted on agricultural machinery（1）On RTK satellites
Positioning system, control system and interactive system；
The RTK global position systems include difference base station（3）, radio station（4）And GPS receiver（5）；Difference base station（3）And GPS
Receiver（5）Pass through radio station（4）Communication connection；The GPS receiver（5）It is connect with two antennas, an antenna is set to agricultural machinery
（1）On, the exact position for measuring agricultural machinery, another antenna is equipped at the center of farm implements, the accurate position for measuring farm implements
It sets；RTK global position systems, for exporting high-precision agricultural machinery and farm implements location information to control system；
The control system includes control module（2）, solenoid valve（7）With mounted on front-wheel（8）On angular transducer（9）；GPS
Receiver（5）, solenoid valve（7）And angular transducer（9）It is connected to control module（2）；The control module（2）In built-in top
Spiral shell instrument；
Angular transducer（9）, for detecting front-wheel（8）Corner, and corner information is transferred to control module（2）；
Solenoid valve（7）, for controlling front-wheel steer；
Control module（2）, the location information for receiving farm implements and agricultural machinery and front-wheel（8）Corner information, by farm implements, agriculture
The location information of machine is merged with the output information of gyroscope, obtains accurate farm implements position and posture；Pass through gyro simultaneously
Instrument and navigation terminal（6）It is combined navigation, corresponding control signal is calculated, sends a signal to solenoid valve（7）And angle
Sensor（9）Control backfeed loop, control agricultural machinery turn to；
Interactive system, including navigation terminal（6）；Navigation terminal（6）It is connected to control module（2）.
2. the automated driving system according to claim 1 based on farm implements position, which is characterized in that the navigation terminal
（6）Equipped with 4G modules, is interacted with remote platform by 4G modules, carry out the interaction of job information.
3. the automated driving system according to claim 1 based on farm implements position, which is characterized in that the navigation terminal
（6）Equipped with operation interface, current system working condition is shown to operator, the input of operator is converted to controllable finger
It enables, is sent to control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810053392.6A CN108334083A (en) | 2018-01-19 | 2018-01-19 | A kind of automated driving system based on farm implements position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810053392.6A CN108334083A (en) | 2018-01-19 | 2018-01-19 | A kind of automated driving system based on farm implements position |
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| CN108334083A true CN108334083A (en) | 2018-07-27 |
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| CN201810053392.6A Pending CN108334083A (en) | 2018-01-19 | 2018-01-19 | A kind of automated driving system based on farm implements position |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN109540535A (en) * | 2018-12-11 | 2019-03-29 | 安徽江淮汽车集团股份有限公司 | A kind of APS test macro |
| CN111058447A (en) * | 2019-12-27 | 2020-04-24 | 福建建中建设科技有限责任公司 | Automatic position finding method and system for pile press |
| CN111412886A (en) * | 2020-03-12 | 2020-07-14 | 深圳冰河导航科技有限公司 | Detection method and detection system |
| CN112114342A (en) * | 2019-06-19 | 2020-12-22 | 丰疆智能科技研究院(常州)有限公司 | Monitoring system and monitoring method for agricultural machinery |
| CN112213116A (en) * | 2020-09-30 | 2021-01-12 | 江苏艾威机械制造有限公司 | Agricultural machine test bed and control method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN109540535A (en) * | 2018-12-11 | 2019-03-29 | 安徽江淮汽车集团股份有限公司 | A kind of APS test macro |
| CN112114342A (en) * | 2019-06-19 | 2020-12-22 | 丰疆智能科技研究院(常州)有限公司 | Monitoring system and monitoring method for agricultural machinery |
| CN111058447A (en) * | 2019-12-27 | 2020-04-24 | 福建建中建设科技有限责任公司 | Automatic position finding method and system for pile press |
| CN111412886A (en) * | 2020-03-12 | 2020-07-14 | 深圳冰河导航科技有限公司 | Detection method and detection system |
| CN111412886B (en) * | 2020-03-12 | 2022-05-27 | 深圳冰河导航科技有限公司 | Detection method and detection system |
| CN112213116A (en) * | 2020-09-30 | 2021-01-12 | 江苏艾威机械制造有限公司 | Agricultural machine test bed and control method thereof |
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Effective date of registration: 20181116 Address after: 150000 room 1209, 1210, Northeast Asia building, 170 GUI Xin Street, Nangang District, Harbin, Heilongjiang. Applicant after: Heilongjiang Huida Technology Development Co., Ltd. Address before: 201913 room 1922, No. 152 Pan Yuan Road, Changxin Town, Chongming District, Shanghai (Shanghai Taihe Economic Development Zone) Applicant before: Shanghai wantin Information Technology Center |
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Application publication date: 20180727 |