CN108934400A - A kind of electrical system control method based on unmanned mowing vehicle - Google Patents
A kind of electrical system control method based on unmanned mowing vehicle Download PDFInfo
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- CN108934400A CN108934400A CN201810734096.2A CN201810734096A CN108934400A CN 108934400 A CN108934400 A CN 108934400A CN 201810734096 A CN201810734096 A CN 201810734096A CN 108934400 A CN108934400 A CN 108934400A
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- personal computer
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to a kind of electrical system control methods based on unmanned mowing vehicle, belong to vehicle electrical system technical field.Electrical system includes main control unit industrial personal computer decision-making subsystem, sensor subsystem, long-range control subsystem, remote manual control subsystem, power drive subsystem and acousto-optic alert sub-system, power supply subsystem in the control method；Wherein, main control unit industrial personal computer decision-making subsystem uses industrial personal computer, by sampling module by sensor subsystem, long-range control subsystem, the signal acquisition of remote manual control subsystem into the industrial personal computer of main control unit, industrial personal computer controls power drive subsystem, sound-light alarm subsystem according to the movement instruction to be executed or functional mapping instruction is obtained after sampled data analysis.The present invention can be realized the application in special equipment of the vehicle by planning path autonomous operation.
Description
Technical field
The present invention relates to a kind of electrical system control methods based on unmanned mowing vehicle, belong to vehicle electrical system
Technical field.
Background technique
Domestic existing large-scale mowing apparatus is the similar tractor-type agricultural machinery mowing apparatus of someone's operation, grass cutting action master
If being equipped by these big machineries of manual control to complete, it is low, at high cost and big etc. to the injury on lawn that there are operating efficiencies
Drawback.It can using the autonomous operation vehicle that the dedicated large-scale grassland of the electrical system production of the vehicle of the invention is mowed
To solve the above problems, the unmanned vehicle high-voltage electric system is quasi- according to making decisions on one's own with remotely controlling the method combined, passes through
Industrial personal computer decision-making subsystem, sensing subsystem, mechanical subsystem, long-range control subsystem, remote manual control subsystem, power drive
The system coordinations such as subsystem work, realizes unmanned mowing in known region.
Summary of the invention
The purpose of the present invention is to provide a kind of electrical system control methods based on unmanned mowing vehicle, realize at nobody
Vehicle is by the application in the special equipment of planning path autonomous operation.
The present invention to achieve the goals above, adopts the following technical scheme that
A kind of electrical system control method based on unmanned mowing vehicle, electrical system includes main control unit work in the control method
Control machine decision-making subsystem, sensor subsystem, long-range control subsystem, remote manual control subsystem, power drive subsystem harmony
Light alert sub-system, power supply subsystem；
Wherein, main control unit industrial personal computer decision-making subsystem uses industrial personal computer, is controlled by sampling module by sensor subsystem, remotely
Subsystem, remote manual control subsystem signal acquisition into the industrial personal computer of main control unit, industrial personal computer according to sampled data analyze
The movement instruction to be executed or functional mapping instruction are obtained afterwards, and power drive subsystem, sound-light alarm subsystem are controlled.
Further, its man-machine interface of long-range control subsystem has following major function: monitoring map interface, camera
Real-time pictures, long-range control, parameter regulation, model selection.
Further, sensor subsystem includes front and back obstacle avoidance sensor, front and back radar obstacle avoidance sensor, infrared obstacle avoidance biography
Sensor, temperature detection sensor, measure voltage & current sensor and Rotating speed measring sensor, are measured in real time system, defeated
Be out of order alerting signal.
Further, remote manual control subsystem is made of Digiplex and remote control receiver, unmanned vehicle manual mode
Under, operator emits wireless control directives by Digiplex and gives unmanned vehicle receiver, and remote-control receiver and industrial personal computer are logical
News, and then control unmanned vehicle movement and various functions movement.
Further, power drive subsystem is made of driver and servo motor, the moving forward and backward of unmanned vehicle, left/right rotation
It is required to control motor drive machinery by industrial personal computer process control by motor servo driver and hold to, ceding of Taiwan up and down motion
Row mechanism, is flexibly moved in all directions.
Further, sound-light alarm subsystem it include loudspeaker, tri coloured lantern and headlight composition, each function has industrial personal computer
It is controlled by intermediate module, for the fault alarm of system, the night running of unmanned vehicle.
Further, power supply subsystem is made of 180V, 24V, 12V and 5V voltage platform respectively, is provided for each subsystem
Electric energy.
The operation of unmanned vehicle system divides Three models.Remote manual control mode, remote control mode and remote independent operational mode,
The operation under the complex environments such as the storage outbound of unmanned vehicle can be carried out under remote manual control mode, after outbound to the grassland planned,
Unmanned vehicle communication condition can be tested by remote control mode, not regulating and controlling unmanned vehicle processed to correct path will after ready
System is switched to remote independent operational mode and carries out autonomous operation, and cooperation remote console monitors unmanned vehicle operation in real time
And the operation such as long-range starting stopping.
Beneficial effects of the present invention:
A kind of whole control electrical system method for large-scale mowing vehicle special equipment of the invention, improves mowing
Operating efficiency reduces and mows at high cost and reduce significantly to the injury on lawn, also mitigates the labor intensity of worker, improves operation
Environment.Separately using unmanned mowing, it can be achieved that the fault of manual operation, improves the efficient stable of equipment.It can be applicable to airport grass
Level ground, Football Field Turf, golf course lawn etc. large size grassland in.The present invention has very heavy in large-scale unmanned grass-cutting vehicle field
Big economic benefit and social benefit.
Detailed description of the invention
Fig. 1 is electrical system architecture schematic block diagram of the invention.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings.:
A kind of electrical system control method based on unmanned mowing vehicle, electrical system includes main control unit work in the control method
Control machine decision-making subsystem 1, sensor subsystem 3, long-range control subsystem 2, remote manual control subsystem 4, power drive subsystem
With acousto-optic alert sub-system 6, power supply subsystem 7；
Wherein, main control unit industrial personal computer decision-making subsystem 1 uses industrial personal computer, by sampling module by sensor subsystem 3, long-range
Control subsystem 2, the signal acquisition of remote manual control subsystem 4 are into the industrial personal computer of main control unit, and industrial personal computer is according to sampled data
The movement instruction to be executed or functional mapping instruction are obtained after analysis, and power drive subsystem, sound-light alarm subsystem are carried out
Control.
Long-range its man-machine interface of control subsystem 2 has following major function: monitoring map interface, camera are drawn in real time
Face, long-range control, parameter regulation, model selection.
Sensor subsystem 3 includes front and back obstacle avoidance sensor, front and back radar obstacle avoidance sensor, IR evading obstacle sensors, temperature
Detection sensor, measure voltage & current sensor and Rotating speed measring sensor are spent, system is measured in real time, output failure mentions
Awake signal.
Remote manual control subsystem 4 is made of Digiplex and remote control receiver, under unmanned vehicle manual mode, operator
Member emits wireless control directives by Digiplex and gives unmanned vehicle receiver, remote-control receiver and industrial computer communication, and then controls
Unmanned vehicle movement and various functions movement processed.
Power drive subsystem is made of driver and servo motor 5, the moving forward and backward of unmanned vehicle, left and right turn, the ceding of Taiwan
Up and down motion is required to through industrial personal computer process control, controls motor drive machinery executing agency by motor servo driver,
It is flexibly moved in all directions.
It includes that loudspeaker, tri coloured lantern and headlight form to sound-light alarm subsystem 6, and each function has industrial personal computer to pass through centre
Module control, for the fault alarm of system, the night running of unmanned vehicle.
Power supply subsystem 7 is made of 180V, 24V, 12V and 5V voltage platform respectively, provides electric energy for each subsystem.
The operation of unmanned vehicle system divides Three models.Remote manual control mode, remote control mode and remote independent operational mode,
The operation under the complex environments such as the storage outbound of unmanned vehicle can be carried out under remote manual control mode, after outbound to the grassland planned,
Unmanned vehicle communication condition can be tested by remote control mode, not regulating and controlling unmanned vehicle processed to correct path will after ready
System is switched to remote independent operational mode and carries out autonomous operation, and cooperation remote console monitors unmanned vehicle operation in real time
And the operation such as long-range starting stopping.
Claims (7)
1. a kind of electrical system control method based on unmanned mowing vehicle, it is characterised in that: electrical system in the control method
Including main control unit industrial personal computer decision-making subsystem (1), sensor subsystem (3), long-range control subsystem (2), remote manual control
System (4), power drive subsystem and acousto-optic alert sub-system (6), power supply subsystem (7)；
Wherein, main control unit industrial personal computer decision-making subsystem (1) use industrial personal computer, by sampling module by sensor subsystem (3),
Long-range control subsystem (2), the signal acquisition of remote manual control subsystem (4) are into the industrial personal computer of main control unit, industrial personal computer foundation
The movement instruction to be executed or functional mapping instruction are obtained after sampled data analysis, to power drive subsystem, sound-light alarm
System is controlled.
2. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: long-range control
Subsystem (2) its man-machine interface has following major function: monitoring map interface, camera real-time pictures, long-range control, ginseng
Number adjusting, model selection.
3. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: sensor
Subsystem (3) include front and back obstacle avoidance sensor, front and back radar obstacle avoidance sensor, IR evading obstacle sensors, temperature detection sensor,
Measure voltage & current sensor and Rotating speed measring sensor, are measured in real time system, export failure alerting signal.
4. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: distant manually
Control subsystem (4) is made of Digiplex and remote control receiver, and under unmanned vehicle manual mode, operator passes through wireless remote
Control device transmitting wireless control directives give unmanned vehicle receiver, remote-control receiver and industrial computer communication, and then control unmanned vehicle movement
And various functions movement.
5. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: power drives
Subsystem is made of driver and servo motor (5), and the moving forward and backward of unmanned vehicle, left and right turn, ceding of Taiwan up and down motion are both needed to
Motor drive machinery executing agency is controlled by motor servo driver, in all directions by industrial personal computer process control
Flexibly moved.
6. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: acousto-optic report
Alert subsystem (6) it includes that loudspeaker, tri coloured lantern and headlight composition, each function have industrial personal computer to control by intermediate module, is used
In the fault alarm of system, the night running of unmanned vehicle.
7. the electrical system control method according to claim 1 based on unmanned mowing vehicle, it is characterised in that: supplied for electronic
System (7) is made of 180V, 24V, 12V and 5V voltage platform respectively, provides electric energy for each subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810734096.2A CN108934400A (en) | 2018-07-06 | 2018-07-06 | A kind of electrical system control method based on unmanned mowing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810734096.2A CN108934400A (en) | 2018-07-06 | 2018-07-06 | A kind of electrical system control method based on unmanned mowing vehicle |
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| CN108934400A true CN108934400A (en) | 2018-12-07 |
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| CN201810734096.2A Pending CN108934400A (en) | 2018-07-06 | 2018-07-06 | A kind of electrical system control method based on unmanned mowing vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653832A (en) * | 2019-09-29 | 2020-01-07 | 河海大学常州校区 | Man-machine cooperation football robot decision-making subsystem and working method thereof |
| CN111201880A (en) * | 2020-01-15 | 2020-05-29 | 广州大学 | Multifunctional weeding machine |
| CN114167878A (en) * | 2021-12-17 | 2022-03-11 | 江西洪都航空工业集团有限责任公司 | Unmanned vehicle motion control method based on multiple threads |
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| CN107567802A (en) * | 2017-10-11 | 2018-01-12 | 河海大学常州校区 | A kind of solar energy intelligent drawing grass-removing robot |
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| US20030144774A1 (en) * | 2002-01-29 | 2003-07-31 | Trissel Ronald L. | Kit and method for converting conventional lawnmower to a robotic lawnmower |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110653832A (en) * | 2019-09-29 | 2020-01-07 | 河海大学常州校区 | Man-machine cooperation football robot decision-making subsystem and working method thereof |
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Application publication date: 20181207 |
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