CN108614574B - Centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method - Google Patents
Centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method Download PDFInfo
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Abstract
The invention provides a centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method. The system of the invention comprises: the device comprises a millimeter radar obstacle avoidance module, a camera obstacle avoidance module, an air pressure sensor, a temperature sensor, a liquid state sensor, a three-axis sensor, a first satellite positioning module, a PixHawk flight controller, a propulsion motor driving module, a propulsion motor, an angle motor driving module, an angle motor, a first wireless transmission module, a second wireless transmission module, a remote control center and a second satellite positioning module. The method comprises the steps of calculating the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measured position of the remote control center and the measured position of the unmanned agricultural machine, calculating a PWM signal of a propulsion motor and a PWM signal of an angle motor according to the actual position and the target position of the unmanned agricultural machine, and controlling the propulsion motor and the PWM signal of the angle motor through the PWM signal of the propulsion motor to control the angle motor so that the unmanned agricultural machine moves to the target position. The invention has the advantage of improving the motion precision.
Description
Technical Field
The invention belongs to the field of agricultural intelligence, in particular to a centimeter-level satellite positioning intelligent unmanned agricultural machine control system and method, which are applicable to high-precision intelligent unmanned agricultural machine systems in hills and mountainous areas.
Background
Since ancient times, China is a farming big country and has a deep history in the aspect of planting crops. With the development of science and technology, various agricultural and mechanical technologies come out successively. At present, remote operation control centers of large cooperative agencies and farms in northeast and Xinjiang of China are established, information management personnel can uniformly schedule agricultural machines and manipulators according to operation needs by using a Beidou satellite system, and the position, the state and the operation amount of each agricultural machine can be known in the control centers. However, most of these products are complicated to operate, require a person with driving experience to operate the vehicle, and cause the cost investment of farmers to be increased sharply whether the operator is hired or the agricultural operation is learned by self. In addition, big dipper civil systems plane direction error reaches tens meters, and the altitude error has reached the twice of plane direction error more for agricultural machinery is irregular in these shapes of hills, mountain region, and the possibility that the independently intelligent operation was carried out in the farmland of landform unevenness becomes extremely low.
Disclosure of Invention
The invention provides a centimeter-level high-precision satellite positioning intelligent agricultural control system and method, aiming at overcoming the defects that the existing agricultural machine system is low in positioning precision, complex in operation, high in investment cost and incapable of independently working in scattered land in hilly areas, mountain areas and other areas.
The technical scheme of the system is a centimeter-level satellite positioning intelligent unmanned agricultural machinery control system, which is characterized by comprising the following steps: the system comprises a millimeter radar obstacle avoidance module, a camera obstacle avoidance module, an air pressure sensor, a temperature sensor, a liquid sensor, a three-axis sensor, a first satellite positioning module, a PixHawk flight controller, a propulsion motor driving module, a propulsion motor, an angle motor driving module, an angle motor, a first wireless transmission module, a second wireless transmission module, a remote control center and a second satellite positioning module;
the millimeter radar obstacle avoidance module is connected with the PixHawk flight controller through a lead; the camera obstacle avoidance module is connected with the PixHawk flight controller through a wire; the air pressure sensor is connected with the PixHawk flight controller through a lead; the temperature sensor is connected with the PixHawk flight controller through a lead; the liquid sensor is connected with the PixHawk flight controller through a lead; the three-axis sensor is connected with the PixHawk flight controller through a lead; the first satellite positioning module is connected with the PixHawk flight controller through a lead; the PixHawk flight controller, the propulsion motor driving module and the propulsion motor are sequentially connected in series through a lead; the PixHawk flight controller, the angle motor driving module and the angle motor are sequentially connected in series through a lead; the PixHawk flight controller is connected with the first wireless transmission module through a wire; the first wireless transmission module is connected with the second wireless transmission module in a wireless communication mode; the second wireless transmission module is connected with the remote control center through a lead; the second satellite positioning module is connected with the remote control center through a lead.
Preferably, the millimeter radar obstacle avoidance module is used for acquiring radar signals of the obstacle; the camera obstacle avoidance module is used for acquiring obstacle image signals; the air pressure sensor is used for acquiring the altitude; the temperature sensor is used for acquiring the ambient temperature; the liquid sensor is used for collecting the oil mass of the unmanned agricultural machinery; the three-axis sensor is used for acquiring the attitude of the unmanned agricultural machine; the first satellite positioning module is used for measuring the unmanned agricultural machinery measuring position; the PixHawk flight controller is used for obtaining the distance between an obstacle and the unmanned agricultural machinery according to the obstacle radar signal, and identifying the obstacle by combining the obstacle image signal, so as to avoid the obstacle; the second satellite positioning module is used for measuring the measurement position of the remote control center; the remote control center transmits the actual position of the remote control center, the measured position of the remote control center and the target position of the unmanned agricultural machine to the first wireless communication module, and transmits the actual position, the measured position and the target position of the unmanned agricultural machine to the PixHawk flight controller in a wireless communication mode through the first wireless communication module; the PixHawk flight controller transmits an obstacle radar signal, an obstacle image signal, an unmanned agricultural machine altitude, an ambient temperature, an unmanned agricultural machine oil quantity, an unmanned agricultural machine attitude and an unmanned agricultural machine measuring position to the second wireless communication module through the first wireless transmission module in a wireless communication mode, and the second wireless communication module transmits the obstacle radar signal, the obstacle image signal, the unmanned agricultural machine altitude, the ambient temperature, the unmanned agricultural machine oil quantity, the unmanned agricultural machine attitude and the unmanned agricultural machine measuring position to the remote control center; the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of a remote control center, the measured position of the remote control center and the measured position of the unmanned agricultural machine, calculates a PWM signal of a propulsion motor and a PWM signal of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine, amplifies current through the propulsion motor driving module according to the PWM signal of the propulsion motor to control the propulsion motor, amplifies current through the angle motor driving module according to the PWM signal of the angle motor to control the angle motor, and enables the unmanned agricultural machine to move to the target position of the unmanned agricultural machine.
The technical scheme of the method is a centimeter-level satellite positioning intelligent unmanned agricultural machinery control method, which is characterized by comprising the following steps:
step 1: the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measurement position of the remote control center and the measurement position of the unmanned agricultural machine;
step 2: calculating the PWM signal duty ratio of a propulsion motor and the PWM signal duty ratio of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine;
and step 3: the propulsion motor is controlled by the PWM signal duty ratio of the propulsion motor, and the angle motor is controlled by the PWM signal duty ratio of the angle motor;
preferably, the actual position of the remote control center in the step 1 is an actual calibration position of the remote control center on the unmanned agricultural machinery movement plane:
(X0,Y0)
wherein, X0Is the coordinate of the actual position of the remote control center on the X axis on the motion plane of the unmanned agricultural machine, Y0The coordinate of the actual position of the remote control center on the Y axis on the unmanned agricultural machinery movement plane is obtained;
in step 1, the actual position of the remote control center is a position measured by the remote control center through a second satellite positioning module:
(X,Y)
wherein X is a coordinate of a remote control center measuring position on an X axis on the unmanned agricultural machine moving plane, and Y is a coordinate of a remote control center measuring position on a Y axis on the unmanned agricultural machine moving plane;
the unmanned agricultural machinery measurement position in the step 1 is a position obtained by measurement of a first satellite positioning module:
(X'p,Y′p)
wherein, X'pMeasuring position coordinates, Y ', for the unmanned agricultural machine on the X-axis on the plane of motion of the unmanned agricultural machine'pFor unmanned agricultural machinery on Y-axis on motion planeMeasuring position coordinates by a machine;
the actual positions of the unmanned agricultural machinery in the step 1 are as follows:
(Xp,Yp)
wherein, XpIs the coordinate of the actual position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YpThe coordinate of the actual position of the unmanned agricultural machine on the Y axis on the motion plane of the unmanned agricultural machine is obtained;
preferably, the actual position of the unmanned agricultural machine in the step 2 is calculated according to the (X) in the step 1p,Yp)；
In the step 2, the target positions of the unmanned agricultural machinery are as follows:
(XT,YT)
wherein, XTIs the coordinate of the target position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YTCoordinates of the target position of the unmanned agricultural machine on the Y axis on the movement plane of the unmanned agricultural machine are obtained;
in the step 1, the duty ratio of the PWM signal of the propulsion motor is as follows:
wherein k is1Controlling a coefficient for a PWM signal of a propulsion motor;
in the step 1, the PWM signal duty ratio of the angle motor is as follows:
wherein k is2The angle motor PWM signal control coefficient is adopted, and theta is the unmanned agricultural machine attitude, namely the unmanned agricultural machine movement angle, acquired according to the three-axis sensor;
preferably, said control propulsion motor in step 3 is a PixHawk flight controller according to step 2PWM signal duty ratio D of propulsion motor1Generating a propulsion motor PWM control signal, and carrying out current amplification on the propulsion motor PWM control signal through a propulsion motor driving module to control a propulsion motor;
in the step 3, the angle motor is controlled by a PixHawk flight controller according to the duty ratio D of the PWM signal of the angle motor in the step 22And generating an angle motor PWM control signal, and carrying out current amplification on the angle motor PWM signal through the angle motor driving module to control the angle motor, so that the unmanned agricultural machine moves to an unmanned agricultural machine target position.
The invention has the beneficial effects that: after carrying on this device on current agricultural machinery basis, corresponding action can be made to the small area farmland circumstances that these geomorphology are uneven, the shape is inconsistent to hills, mountain region intelligence under remote control center's dispatch to agricultural machinery. The invention makes up the defects of high operation requirement and large positioning error of the existing agricultural machinery, and particularly plays a certain role in reducing the cost of farmers. Can realize intelligent operation on unmanned basis, can also provide the safety guarantee when carrying out the operation to agricultural machinery at hills, mountain region on high accuracy satellite positioning's basis, realize steadily traveling, accurate operation.
Drawings
FIG. 1: the invention is a system structure block diagram;
FIG. 2: a method flow diagram of the invention;
FIG. 3: the drift route of the unmanned agricultural machinery is positioned by a conventional satellite;
FIG. 4: the invention locates the drift route of the unmanned agricultural machinery;
FIG. 5: a circuit diagram of a 400 m circular playground test.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
A block diagram of the system architecture of a real-time embodiment of the present invention is shown in fig. 1. The technical scheme of the real-time mode system is a centimeter-level satellite positioning intelligent unmanned agricultural machinery control system, which is characterized by comprising the following steps: the system comprises a millimeter radar obstacle avoidance module, a camera obstacle avoidance module, an air pressure sensor, a temperature sensor, a liquid sensor, a three-axis sensor, a first satellite positioning module, a PixHawk flight controller, a propulsion motor driving module, a propulsion motor, an angle motor driving module, an angle motor, a first wireless transmission module, a second wireless transmission module, a remote control center and a second satellite positioning module;
the millimeter radar obstacle avoidance module is connected with the PixHawk flight controller through a lead; the camera obstacle avoidance module is connected with the PixHawk flight controller through a wire; the air pressure sensor is connected with the PixHawk flight controller through a lead; the temperature sensor is connected with the PixHawk flight controller through a lead; the liquid sensor is connected with the PixHawk flight controller through a lead; the three-axis sensor is connected with the PixHawk flight controller through a lead; the first satellite positioning module is connected with the PixHawk flight controller through a lead; the PixHawk flight controller, the propulsion motor driving module and the propulsion motor are sequentially connected in series through a lead; the PixHawk flight controller, the angle motor driving module and the angle motor are sequentially connected in series through a lead; the PixHawk flight controller is connected with the first wireless transmission module through a wire; the first wireless transmission module is connected with the second wireless transmission module in a wireless communication mode; the second wireless transmission module is connected with the remote control center through a lead; the second satellite positioning module is connected with the remote control center through a lead.
The millimeter radar obstacle avoidance module is used for acquiring radar signals of obstacles; the camera obstacle avoidance module is used for acquiring obstacle image signals; the air pressure sensor is used for acquiring the altitude; the temperature sensor is used for acquiring the ambient temperature; the liquid sensor is used for collecting the oil mass of the unmanned agricultural machinery; the three-axis sensor is used for acquiring the attitude of the unmanned agricultural machine; the first satellite positioning module is used for measuring the unmanned agricultural machinery measuring position; the PixHawk flight controller is used for obtaining the distance between an obstacle and the unmanned agricultural machinery according to the obstacle radar signal, and identifying the obstacle by combining the obstacle image signal, so as to avoid the obstacle; the second satellite positioning module is used for measuring the measurement position of the remote control center; the remote control center transmits the actual position of the remote control center, the measured position of the remote control center and the target position of the unmanned agricultural machine to the first wireless communication module, and transmits the actual position, the measured position and the target position of the unmanned agricultural machine to the PixHawk flight controller in a wireless communication mode through the first wireless communication module; the PixHawk flight controller transmits an obstacle radar signal, an obstacle image signal, an unmanned agricultural machine altitude, an ambient temperature, an unmanned agricultural machine oil quantity, an unmanned agricultural machine attitude and an unmanned agricultural machine measuring position to the second wireless communication module through the first wireless transmission module in a wireless communication mode, and the second wireless communication module transmits the obstacle radar signal, the obstacle image signal, the unmanned agricultural machine altitude, the ambient temperature, the unmanned agricultural machine oil quantity, the unmanned agricultural machine attitude and the unmanned agricultural machine measuring position to the remote control center; the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of a remote control center, the measured position of the remote control center and the measured position of the unmanned agricultural machine, calculates a PWM signal of a propulsion motor and a PWM signal of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine, amplifies current through the propulsion motor driving module according to the PWM signal of the propulsion motor to control the propulsion motor, amplifies current through the angle motor driving module according to the PWM signal of the angle motor to control the angle motor, and enables the unmanned agricultural machine to move to the target position of the unmanned agricultural machine.
The millimeter radar obstacle avoidance module is selected to be STRADA 431; the type of the camera obstacle avoidance module is Robert C270; the air pressure sensor is selected as MS 5611; the temperature sensor is selected to be DS18B 20; the liquid state sensor is selected to be XKC-Y25-V; the type of the three-axis sensor is PU 6000; the first satellite positioning module is selected to be NEO-M8P (Rover end); the type of the PixHawk flight controller is PixHawk2.4.8; the type of the propulsion motor driving module is 320A air-cooled brushed electric regulation; the type of the propulsion motor is a JGB37550 direct current motor; the type of the angle motor driving module is PCA 9685; the angle motor is selected to be SG 90; the type selection of the first wireless transmission module is CUAV-3DR data transmission; the type selection of the second wireless transmission module is CUAV-3DR data transmission; the second satellite positioning module NEO-M8P.
The following describes specific method steps of the embodiment of the present invention with reference to fig. 1 and 2. The implementation mode of the invention comprises the following steps:
step 1: the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measurement position of the remote control center and the measurement position of the unmanned agricultural machine;
in the step 1, the actual position of the remote control center is the actual calibration position of the remote control center on the unmanned agricultural machinery movement plane:
(X0,Y0)
wherein, X0Is the coordinate of the actual position of the remote control center on the X axis on the motion plane of the unmanned agricultural machine, Y0The coordinate of the actual position of the remote control center on the Y axis on the unmanned agricultural machinery movement plane is obtained;
in step 1, the actual position of the remote control center is a position measured by the remote control center through a second satellite positioning module:
(X,Y)
wherein X is a coordinate of a remote control center measuring position on an X axis on the unmanned agricultural machine moving plane, and Y is a coordinate of a remote control center measuring position on a Y axis on the unmanned agricultural machine moving plane;
the unmanned agricultural machinery measurement position in the step 1 is a position obtained by measurement of a first satellite positioning module:
(X'p,Y′p)
wherein, X'pMeasuring position coordinates, Y ', for the unmanned agricultural machine on the X-axis on the plane of motion of the unmanned agricultural machine'pMeasuring a position coordinate for the unmanned agricultural machine on the Y axis on the unmanned agricultural machine movement plane;
the actual positions of the unmanned agricultural machinery in the step 1 are as follows:
(Xp,Yp)
wherein, XpIs the coordinate of the actual position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YpThe coordinate of the actual position of the unmanned agricultural machine on the Y axis on the motion plane of the unmanned agricultural machine is obtained;
step 2: calculating the PWM signal duty ratio of a propulsion motor and the PWM signal duty ratio of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine;
the actual position of the unmanned agricultural machinery in the step 2 is calculated according to the step 1 (X)p,Yp)；
In the step 2, the target positions of the unmanned agricultural machinery are as follows:
(XT,YT)
wherein, XTIs the coordinate of the target position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YTCoordinates of the target position of the unmanned agricultural machine on the Y axis on the movement plane of the unmanned agricultural machine are obtained;
in the step 1, the duty ratio of the PWM signal of the propulsion motor is as follows:
wherein k is1Controlling a coefficient for a PWM signal of a propulsion motor;
in the step 1, the PWM signal duty ratio of the angle motor is as follows:
wherein k is2The angle motor PWM signal control coefficient is adopted, and theta is the unmanned agricultural machine attitude, namely the unmanned agricultural machine movement angle, acquired according to the three-axis sensor;
and step 3: the propulsion motor is controlled by the PWM signal duty ratio of the propulsion motor, and the angle motor is controlled by the PWM signal duty ratio of the angle motor;
in the step 3, the propulsion motor is controlled by a PixHawk flight controller according to the duty ratio D of the PWM signal of the propulsion motor in the step 21Generating a propulsion motor PWM control signal, and carrying out current amplification on the propulsion motor PWM control signal through a propulsion motor driving module to control a propulsion motor;
in the step 3, the angle motor is controlled by a PixHawk flight controller according to the duty ratio D of the PWM signal of the angle motor in the step 22And generating an angle motor PWM control signal, and carrying out current amplification on the angle motor PWM signal through the angle motor driving module to control the angle motor, so that the unmanned agricultural machine moves to an unmanned agricultural machine target position.
The effect of the invention is illustrated by the following comparison of positioning drift experiments of unmanned agricultural machinery. FIG. 3 is a diagram of a conventional satellite positioning vehicle drifting path when stationary, with a drift length of about 2.5 meters; fig. 4 shows the drift path of the car when stationary after positioning according to the invention, the position of which is always fixed. As can be seen from a comparison of fig. 3 and 4, the drift is negligible compared to the drift using satellite positioning using the control system and method of the present invention. FIG. 4 also allows for the remote control center to be observed when high precision positioning is used; fig. 5 is a circuit diagram of a 400 m circular playground test, 12 working points are arranged, a white arrow points to a line segment which is an optimal operation line intelligently configured by a remote control center according to the working points, a black line is a line for the unmanned agricultural machinery to autonomously travel according to a set optimal working line, and it can be seen from the diagram that the autonomous travel line of the unmanned agricultural machinery is basically overlapped with the set working line.
Although terms such as millimeter radar obstacle avoidance module, camera obstacle avoidance module, barometric pressure sensor, temperature sensor, liquid state sensor, three-axis sensor, first satellite positioning module, PixHawk flight controller, propulsion motor drive module, propulsion motor, angle motor drive module, angle motor, first wireless transmission module, second wireless transmission module, remote control center, second satellite positioning module are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe the nature of the invention and they are to be construed as any additional limitation which is not in accordance with the spirit of the invention.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A control method based on a centimeter-level satellite positioning intelligent unmanned agricultural machinery control system is characterized by comprising the following steps: the system comprises a millimeter radar obstacle avoidance module, a camera obstacle avoidance module, an air pressure sensor, a temperature sensor, a liquid sensor, a three-axis sensor, a first satellite positioning module, a PixHawk flight controller, a propulsion motor driving module, a propulsion motor, an angle motor driving module, an angle motor, a first wireless transmission module, a second wireless transmission module, a remote control center and a second satellite positioning module; the millimeter radar obstacle avoidance module is connected with the PixHawk flight controller through a lead; the camera obstacle avoidance module is connected with the PixHawk flight controller through a wire; the air pressure sensor is connected with the PixHawk flight controller through a lead; the temperature sensor is connected with the PixHawk flight controller through a lead; the liquid sensor is connected with the PixHawk flight controller through a lead; the three-axis sensor is connected with the PixHawk flight controller through a lead; the first satellite positioning module is connected with the PixHawk flight controller through a lead; the PixHawk flight controller, the propulsion motor driving module and the propulsion motor are sequentially connected in series through a lead; the PixHawk flight controller, the angle motor driving module and the angle motor are sequentially connected in series through a lead; the PixHawk flight controller is connected with the first wireless transmission module through a wire; the first wireless transmission module is connected with the second wireless transmission module in a wireless communication mode; the second wireless transmission module is connected with the remote control center through a lead; the second satellite positioning module is connected with the remote control center through a wire;
the millimeter radar obstacle avoidance module is used for acquiring obstacle radar signals; the camera obstacle avoidance module is used for acquiring obstacle image signals; the air pressure sensor is used for acquiring the altitude; the temperature sensor is used for acquiring the ambient temperature; the liquid sensor is used for collecting the oil mass of the unmanned agricultural machinery; the three-axis sensor is used for acquiring the attitude of the unmanned agricultural machine; the first satellite positioning module is used for measuring the unmanned agricultural machinery measuring position; the PixHawk flight controller is used for obtaining the distance between an obstacle and the unmanned agricultural machinery according to the obstacle radar signal, and identifying the obstacle by combining the obstacle image signal, so as to avoid the obstacle; the second satellite positioning module is used for measuring the measurement position of the remote control center; the remote control center transmits the actual position of the remote control center, the measured position of the remote control center and the target position of the unmanned agricultural machine to the first wireless transmission module, and transmits the actual position, the measured position and the target position of the unmanned agricultural machine to the PixHawk flight controller in a wireless communication mode through the first wireless transmission module; the PixHawk flight controller transmits an obstacle radar signal, an obstacle image signal, an unmanned agricultural machine altitude, an ambient temperature, an unmanned agricultural machine oil quantity, an unmanned agricultural machine attitude and an unmanned agricultural machine measuring position to the second wireless transmission module through the first wireless transmission module in a wireless communication mode, and the second wireless transmission module transmits the obstacle radar signal, the obstacle image signal, the unmanned agricultural machine altitude, the ambient temperature, the unmanned agricultural machine oil quantity, the unmanned agricultural machine attitude and the unmanned agricultural machine measuring position to the remote control center; the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of a remote control center, the measured position of the remote control center and the measured position of the unmanned agricultural machine, calculates a PWM signal of a propulsion motor and a PWM signal of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine, performs current amplification through the propulsion motor driving module according to the PWM signal of the propulsion motor to control the propulsion motor, performs current amplification through the angle motor driving module according to the PWM signal of the angle motor to control the angle motor, and enables the unmanned agricultural machine to move to the target position of the unmanned agricultural machine;
the control method comprises the following steps:
step 1: the PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measurement position of the remote control center and the measurement position of the unmanned agricultural machine;
step 2: calculating the PWM signal duty ratio of a propulsion motor and the PWM signal duty ratio of an angle motor according to the actual position of the unmanned agricultural machine and the target position of the unmanned agricultural machine;
and step 3: the propulsion motor is controlled by the PWM signal duty ratio of the propulsion motor, and the angle motor is controlled by the PWM signal duty ratio of the angle motor;
in the step 1, the actual position of the remote control center is the actual calibration position of the remote control center on the unmanned agricultural machinery movement plane:
(X0,Y0)
wherein, X0Is the coordinate of the actual position of the remote control center on the X axis on the motion plane of the unmanned agricultural machine, Y0The coordinate of the actual position of the remote control center on the Y axis on the unmanned agricultural machinery movement plane is obtained;
in step 1, the actual position of the remote control center is a position measured by the remote control center through a second satellite positioning module:
(X,Y)
wherein X is a coordinate of a remote control center measuring position on an X axis on the unmanned agricultural machine moving plane, and Y is a coordinate of a remote control center measuring position on a Y axis on the unmanned agricultural machine moving plane;
the unmanned agricultural machinery measurement position in the step 1 is a position obtained by measurement of a first satellite positioning module:
(X'p,Y'p)
wherein, X'pMeasuring position coordinates, Y ', for the unmanned agricultural machine on the X-axis on the plane of motion of the unmanned agricultural machine'pMeasuring a position coordinate for the unmanned agricultural machine on the Y axis on the unmanned agricultural machine movement plane;
the actual positions of the unmanned agricultural machinery in the step 1 are as follows:
(Xp,Yp)
wherein, XpIs the coordinate of the actual position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YpThe coordinate of the actual position of the unmanned agricultural machine on the Y axis on the motion plane of the unmanned agricultural machine is obtained;
the actual position of the unmanned agricultural machinery in the step 2 is calculated according to the step 1 (X)p,Yp)；
In the step 2, the target positions of the unmanned agricultural machinery are as follows:
(XT,YT)
wherein, XTIs the coordinate of the target position of the unmanned agricultural machine on the X axis on the movement plane of the unmanned agricultural machine, YTCoordinates of the target position of the unmanned agricultural machine on the Y axis on the movement plane of the unmanned agricultural machine are obtained;
in the step 2, the duty ratio of the PWM signal of the propulsion motor is as follows:
wherein k is1Controlling a coefficient for a PWM signal of a propulsion motor;
in the step 2, the PWM signal duty ratio of the angle motor is as follows:
wherein k is2The angle motor PWM signal control coefficient is adopted, and theta is the unmanned agricultural machine attitude, namely the unmanned agricultural machine movement angle, acquired according to the three-axis sensor;
in the step 3, the propulsion motor is controlled by a PixHawk flight controller according to the duty ratio D of the PWM signal of the propulsion motor in the step 21Generating a propulsion motor PWM control signal, and carrying out current amplification on the propulsion motor PWM control signal through a propulsion motor driving module to control a propulsion motor;
in the step 3, the angle motor is controlled by a PixHawk flight controller according to the duty ratio D of the PWM signal of the angle motor in the step 22And generating an angle motor PWM control signal, and carrying out current amplification on the angle motor PWM signal through the angle motor driving module to control the angle motor, so that the unmanned agricultural machine moves to an unmanned agricultural machine target position.
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