CN109956020B - Agricultural unmanned aerodynamic ship with laser-assisted navigation system and navigation method - Google Patents
Agricultural unmanned aerodynamic ship with laser-assisted navigation system and navigation method Download PDFInfo
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- CN109956020B CN109956020B CN201711426124.6A CN201711426124A CN109956020B CN 109956020 B CN109956020 B CN 109956020B CN 201711426124 A CN201711426124 A CN 201711426124A CN 109956020 B CN109956020 B CN 109956020B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000575 pesticide Substances 0.000 claims abstract description 28
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000003814 drug Substances 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 4
- 229940079593 drug Drugs 0.000 abstract description 4
- 239000003337 fertilizer Substances 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000002363 herbicidal effect Effects 0.000 abstract description 2
- 239000004009 herbicide Substances 0.000 abstract description 2
- 239000000295 fuel oil Substances 0.000 abstract 1
- 239000003921 oil Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000001802 infusion Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H7/00—Propulsion directly actuated on air
- B63H7/02—Propulsion directly actuated on air using propellers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an agricultural unmanned aerodynamic ship with a laser-assisted navigation system and a navigation method, and belongs to the technical field of agricultural machinery. The agricultural unmanned aerodynamic ship comprises a ship body and shore-based equipment for wirelessly controlling the ship body; the ship body is provided with: the device comprises a power unit, a pesticide applying unit, a laser-assisted navigation system and a ship-mounted controller. The traveling direction of the ship body is controlled through the tail rudder. Liquid medicines such as fertilizer or herbicide in the pesticide box are output through the liquid conveying pipe and flow into the paddy field, a throttling valve is preferably arranged on the liquid conveying pipe and used for controlling the flow of the liquid medicines, and meanwhile, a pesticide box cover is sealed at the opening of the pesticide box to prevent the pesticide box from shaking during the advancing process of the ship body so as to enable the pesticide liquid to be splashed out. In addition, an oil tank for supplying fuel oil to the engine is also arranged on the ship body. The shipborne controller controls the positioner and the laser scanner to work cooperatively, obtains absolute position information, relative position information and course information of the ship body, calculates navigation errors, and changes the turning angle of the tail rudder so as to change the course of the ship body.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an agricultural unmanned aerodynamic ship with a laser-assisted navigation system and a navigation method.
Background
The aerodynamic ship is a hard flat-bottomed ship, and is characterized by no underwater power device and no underwater steering device compared with the traditional ship. The aerodynamic ship is based on the aerodynamic principle, and utilizes an internal combustion engine or an electric motor arranged on the upper part of a ship body to drive an air propeller to generate driving force, and the direction of the driving force is controlled by a tail rudder at the rear part of the ship body. The ship has extremely shallow draft and high maneuverability, is mainly applied to mudflat swamps, wetland shoals, ice and snow lake surfaces and water areas with a plurality of floaters and complicated underwater conditions at present, and is a fresh product applied to the fields of industrial and agricultural production and scientific research.
On the one hand, the unmanned aerodynamic ship applied to the paddy field environment adopts wireless remote control equipment and is controlled by an operator. In order to ensure the smooth operation, long-term professional training needs to be carried out on the operator, and a large amount of manpower and material resources need to be consumed. In addition, in a large-block rice field environment, when the unmanned ship in operation exceeds the sight distance range of an operator, the operator cannot judge the position, the posture and other information of the unmanned ship, and extremely dangerous situations such as uncontrollable operation path, repeated pesticide spraying, repeated fertilizer application, even collision accidents and the like can be caused.
On the other hand, the existing GPS navigation system also has a situation of low navigation stability. The GPS signal is easily interfered by the surrounding environment, weather conditions, and tall shelters (buildings, trees), and the positioning accuracy is reduced, even the positioning is impossible. When the aerodynamic ship runs and encounters positioning drift or GPS signal loss, the navigation precision is reduced, the aerodynamic ship deviates from a flight line, and even collision accidents occur. In addition, when an obstacle exists in front of the vehicle, the function of real-time obstacle avoidance cannot be realized by only depending on GPS navigation.
Disclosure of Invention
The invention aims to provide an agricultural unmanned aerodynamic ship with a laser-assisted navigation system and a navigation method, which can effectively solve the problems of unstable signals, jump or drift of positioning points and even incapability of positioning caused by using a GPS in the prior art.
In order to achieve the aim, the agricultural unmanned aerodynamic ship with the laser-assisted navigation system comprises a ship body and shore-based equipment for wirelessly controlling the ship body; the ship body is provided with:
the power unit comprises an engine, an air propeller connected with an output shaft of the engine and a tail vane used for controlling the navigation direction of the ship body;
the pesticide applying unit comprises a pesticide box and a liquid conveying pipe connected with the pesticide box;
the laser-assisted navigation system comprises a positioner arranged on a ship body, a laser scanner arranged on the ship head and an attitude sensor for monitoring the pitching angle of the laser scanner;
and the ship-mounted controller is used for controlling the positioner and the laser scanner to work cooperatively, acquiring absolute position information, relative position information and course information of the ship body, calculating a navigation error, and changing a tail rudder corner so as to correct the driving direction of the ship.
In the technical scheme, the advancing direction of the ship body is controlled through the tail rudder. Liquid medicines such as fertilizer or herbicide in the pesticide box are output through the liquid conveying pipe and flow into the paddy field, a throttling valve is preferably arranged on the liquid conveying pipe and used for controlling the flow of the liquid medicines, and meanwhile, a pesticide box cover is sealed at the opening of the pesticide box to prevent the pesticide box from shaking during the advancing process of the ship body so as to enable the pesticide liquid to be splashed out. In addition, the ship body is also provided with an oil tank for supplying fuel to the engine.
The locator is a GPS receiver, and the stability and reliability of the original GPS navigation are improved through a laser-assisted navigation system, so that the stable navigation is realized, and the obstacle is safely avoided. The laser scanner can provide a large amount of high-frequency accurate surrounding environment obstacle distance information for the aerodynamic ship, is insensitive to sunlight reflection, has strong environmental adaptability, can work under the condition of ambient light or darkness, and has high measurement precision. The laser scanner is installed on the mount of hull front portion, still is equipped with the cloud platform that is used for making the laser scanner keep the downward sloping of angle of pitch on the mount, and attitude sensor is used for measuring the angle information of this angle of pitch in real time to feed back to the controller.
The specific scheme is that two fan blades of the air propeller are connected to the steering engine through a cam connecting rod mechanism so as to control the inclination angle of the two fan blades. The size of the inclination angle of the fan blades can change the size of wind power under the condition that the rotating speed of the engine is not changed; the direction of the wind force can be changed by the positive and negative inclination angles of the fan blades, so that the forward and backward movement of the ship can be controlled.
The cam link mechanism comprises a first bracket and a second bracket which are respectively connected with two blades of the air propeller, a cam sleeved on a rack of the engine and a bearing arranged on an output shaft of the engine; the first support and the second support are connected to the inner ring of the bearing; a first connecting rod is hinged to the cam, one end of the first connecting rod is hinged to the outer ring of the bearing, and the other end of the first connecting rod is connected with the output end of the steering engine through a second connecting rod hinged to the first connecting rod.
The bearing can move along the axial direction of an output shaft of the engine, one end of the first support and one end of the second support are respectively connected with the two fan blades, the other ends of the first support and the second support are fixed on an inner ring of the bearing, the fan blades rotate under the driving of the engine and drive the inner ring of the bearing to rotate, and an outer ring of the bearing is static relative to a rack of the engine. The steering wheel drives the second connecting rod to move, and then drives the first connecting rod to swing around the middle end of the connecting cam, so that one end hinged on the outer ring of the bearing moves along the axial direction of the output shaft of the engine, the bearing is driven to move, and the inclination angle of the fan blade is changed.
The other concrete scheme is that a magnetic sensor for detecting the rotating speed of the engine is arranged on the engine; the shore-based equipment is provided with a wireless emergency brake and is matched with a wireless emergency brake receiver arranged on the ship body to realize rapid shutdown of the engine; the ship is also provided with a remote controller matched with a remote controller receiver arranged on the ship body, and when necessary, the ship body is manually operated remotely.
The ship-mounted controller receives the rotating speed information measured by the magnetic sensor so as to control the rotating speed of the engine. The onboard controller contains a battery which can provide electric energy for each onboard electronic device. The wireless communication system is a 3G/4G module, and sends the real-time state of the ship body, including ship speed, navigation error and task completion condition, to a computer of the shore-based equipment for remote monitoring of operators. The remote controller of the shore-based equipment is matched with the shipborne remote controller receiver for use, and the aerodynamic ship can be manually remotely controlled to sail. When an emergency occurs, the wireless emergency brake on the shore side is matched with the shipborne wireless emergency brake receiver for use, so that the engine can be rapidly shut down, and dangerous accidents such as collision and the like are avoided.
The invention provides a navigation method of an agricultural unmanned aerodynamic ship with a laser-assisted navigation system, which comprises the following steps:
a first judgment step of judging whether the locator works well;
when the working state of the positioner is judged to be poor in the first judging step, laser-assisted navigation is adopted, and laser scanner is used for acquiring shoreside laser information from the ship body to the paddy field boundary and front laser information of the ship body;
a shore advancing step, namely controlling the ship body to travel at a given distance along a shore base line according to the obtained shore laser information;
a second judgment step of judging whether an obstacle exists in front of the ship body according to the acquired front laser information;
recording the attribute of the barrier when the barrier is judged to exist in front of the ship body in the second judging step;
a third judgment step of judging whether the obstacle is larger than a set threshold value according to the attribute of the obstacle;
and when the obstacle is judged to be larger than the set threshold value in the third judgment step, controlling the ship body to turn and enter the next navigation path.
Preferably, the conventional navigation mode is adopted when the locator is judged to work well in the first judgment step.
Preferably, the hull is controlled to continue to advance when it is determined in the second determination step that there is no obstacle in front of the hull.
Preferably, when the obstacle is judged to be smaller than the set threshold value in the third judging step, the ship body is controlled to stop and wait for the obstacle to move away, and the second judging step is repeated.
Preferably, the method for acquiring the shoreside laser information from the hull to the paddy field boundary in the first judgment step comprises the following steps:
dividing the laser data string into paddy field data and shore-based data by using an Otsu method classifier;
let the boundary point of paddy field data and shore-based data be P (x) in rectangular coordinate system with laser sensor as originedge,yedge)；
Setting the course of the ship body relative to the boundary between the paddy field data class and the shore-based data class as
The vertical distance from the ship body to the shore base is expressed as
Wherein d isedgeThe distance from the ship body to the shore base;
calculating navigation error for navigation by using the position relation between the expected path and the boundary line, wherein the formula is
Wherein delta is the tail rudder rotating angle, delta d is the vertical error of the current position of the ship body and the expected path,
for hull heading angle deviation, α and β are control scale factors based on experimental experience.
Preferably, the recording of the attribute of the obstacle in the third judging step includes:
and storing information including size, height, distance and position by using an array form according to the acquired forward laser continuous reflection point information. If the obstacle is larger than the set threshold value, the front is considered to be a shore base, and the vehicle turns to enter the next navigation path; if the obstacle is smaller than the set threshold value, the ship is judged to be a human or other animals, the aerodynamic ship is controlled to stop rapidly, and the operation is continued after the obstacle is removed.
The navigation method is realized based on the agricultural unmanned aerodynamic ship with the laser-assisted navigation system.
Compared with the prior art, the invention has the beneficial effects that:
the invention enhances the stability and safety of navigation through laser-assisted navigation, and avoids the problems of unstable signals, jump or drift of positioning points, even incapability of positioning and the like in the use process of the GPS.
Drawings
FIG. 1 is a schematic view of an agricultural unmanned aerodynamic vessel according to an embodiment of the present invention;
FIG. 2 is a connecting structure diagram of an air propeller and a steering engine of the agricultural unmanned air powered boat of the embodiment of the invention;
FIG. 3 is a schematic diagram of a hardware support of a laser-assisted navigation system of an agricultural unmanned aerodynamic vessel according to an embodiment of the invention;
FIG. 4 is a navigation flow chart of an agricultural unmanned aerodynamic vessel according to an embodiment of the present invention;
fig. 5 is a navigation simulation diagram of the agricultural unmanned aerodynamic vessel according to the embodiment of the present invention.
Wherein, 1, fixing frame; 2. a holder; 3. a laser scanner; 4. an attitude sensor; 5. a hull; 6. a medicine chest; 7. a medicine box cover; 8. a transfusion tube; 9. a throttle valve; 10. a positioner; 11. an onboard controller; 12. an oil tank; 13. a frame; 14. an engine; 15. an air propeller; 151. a first bracket; 152. a second bracket; 153. a bearing; 154. a first link; 155. a cam; 156. a second link; 157. a steering engine; 16. and a tail rudder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings.
Embodiment of agricultural unmanned aerodynamic ship
Referring to fig. 1 to 3, the agricultural unmanned aerodynamic vessel of the present embodiment includes a hull 5 and a shore-based device that wirelessly controls the hull 5. The ship body 5 is provided with a power unit, a pesticide applying unit, a laser auxiliary navigation system and an onboard controller 11.
The power unit includes an engine 14 mounted at the rear of the hull 5, an air propeller 15 connected to an output shaft of the engine 14, and a tail rudder 16 provided at the rear of the hull. The hull 5 is provided with a frame 13 for mounting an engine 14, fuel of the engine 14 is supplied through a fuel tank 12, and the engine 14 is provided with a magnetic sensor for detecting the rotating speed of the engine 14. The engine 14 provides output power to drive the air propeller 15 to rotate to generate thrust, and the sailing direction of the ship body is controlled by the tail rudder 16.
The air propeller 15 comprises two blades with changeable inclination angles, and the two blades are connected to the steering engine 157 through a cam link mechanism. The cam link mechanism of the present embodiment includes a first bracket 151 and a second bracket 152 connected to two blades of the air screw 15, respectively, a cam 155 fitted over a frame of the engine 14, and a bearing 153 mounted on an output shaft of the engine 14. The first bracket 151 and the second bracket 152 are connected to the inner ring of the bearing 153, the cam 155 is hinged to a first connecting rod 154, one end of the first connecting rod 154 is hinged to the outer ring of the bearing 153, and the other end is connected to the output end of the steering engine 157 through a second connecting rod 156 hinged to the first connecting rod 154.
The bearing 153 can move along the axial direction of the output shaft of the engine 14, one end of the first bracket 151 and one end of the second bracket 152 are respectively connected with two fan blades, the other ends of the first bracket 151 and the second bracket 152 are fixed on the inner ring of the bearing 153, the fan blades rotate under the driving of the engine 14 and drive the inner ring of the bearing 153 to rotate, and the outer ring of the bearing is static relative to the frame of the engine 14. The steering engine 157 drives the second connecting rod 156 to move, and further drives the first connecting rod 154 to swing around the middle end of the connecting cam 155, so that one end hinged to the outer ring of the bearing 153 moves along the axial direction of the output shaft of the engine 14, and the bearing 153 is driven to move, and the inclination angle of the fan blades is changed. The size of the inclination angle can change the size of wind power under the condition that the rotating speed of the engine 14 is not changed; the direction of the wind force can be changed by the positive and negative inclination angles, so that the advancing and retreating of the ship body 5 are controlled.
The pesticide applying unit comprises a pesticide box 6 and a liquid conveying pipe 8, the pesticide box 6 is located in the middle of the ship body, a proper amount of pesticide liquid for applying fertilizer or weeding is filled in the pesticide box 6, and the upper portion of the pesticide box is sealed by a pesticide box cover 7 so as to prevent the pesticide liquid from splashing out of the pesticide box 6 in the shaking process. The infusion tube 8 is connected with the medicine box 6, a throttle valve 9 is arranged at the outlet of the infusion tube, the liquid medicine can flow into the paddy field through the infusion tube 8, and the throttle valve 9 is used for controlling the flow of the liquid medicine.
The laser assist system comprises a locator 10 provided on the hull of the vessel and a laser scanner 3 mounted on the bow of the vessel. The locator 10 provides a position signal and heading information for the aerodynamic vessel. The bow is equipped with mount 1, and is fixed with cloud platform 2 on this mount 1, and laser scanner 3 installs on this cloud platform 2, makes laser scanner 3 keep the downward sloping of angle of pitch. The laser scanner 3 is provided with an attitude sensor 4 for measuring angle information of a pitch angle of the laser scanner 3 in real time.
The onboard controller 11 controls the locator 10 and the laser scanner 3 to cooperatively work, acquires absolute position information, relative position information, and heading information of the hull 5, calculates a navigation error, and changes a rudder turning angle to change the heading of the hull. In the memory unit of the onboard controller 11 a computer program is stored which, when executed by the processing unit, enables the steps shown in fig. 4 to be implemented:
1) a first judgment step of judging whether the locator works well;
when the working state of the positioner is judged to be poor in the first judging step, laser-assisted navigation is adopted, and laser scanner is used for acquiring shoreside laser information from the ship body to the paddy field boundary and front laser information of the ship body;
the method for acquiring the shoreside laser information from the ship body to the boundary of the paddy field comprises the following steps:
dividing the laser data string into paddy field data and shore-based data by using an Otsu method classifier;
let the boundary point of paddy field data and shore-based data be P (x) in rectangular coordinate system with laser sensor as originedge,yedge)；
Setting the course of the ship body relative to the boundary between the paddy field data class and the shore-based data class as
The vertical distance from the ship body to the shore base is expressed as
Wherein d isedgeThe distance from the ship body to the shore base;
calculating navigation error for navigation by using the position relation between the expected path and the boundary line, wherein the formula is
Wherein delta is the tail rudder rotating angle, delta d is the vertical error of the current position of the ship body and the expected path,
for hull heading angle deviation, α and β are based on trueEmpirical control scale factors.
2) And a shore advancing step of controlling the ship body to travel at a given distance along a shore base line according to the acquired shore laser information.
3) A second judgment step of judging whether an obstacle exists in front of the ship body according to the acquired front laser information;
recording the attribute of the obstacle when it is determined in the second determination step that the obstacle exists in front of the hull, the recording the attribute of the obstacle including:
and storing information including size, height, distance and position by using an array form according to the acquired forward laser continuous reflection point information. If the obstacle is larger than the set threshold value, the front is considered to be a shore base, and the vehicle turns to enter the next navigation path; if the obstacle is smaller than the set threshold value, the ship is judged to be a human or other animals, the aerodynamic ship is controlled to stop rapidly, and the operation is continued after the obstacle is removed.
4) A third judgment step of judging whether the obstacle is larger than a set threshold value according to the attribute of the obstacle;
and when the obstacle is judged to be larger than the set threshold value in the third judgment step, controlling the ship body to turn and enter the next navigation path.
And when the locator works well in the first judgment step, adopting a conventional navigation mode.
And controlling the ship body to continue to advance when the second judging step judges that no obstacle exists in front of the ship body.
And when the obstacle is judged to be smaller than the set threshold value in the third judgment step, controlling the ship body to stop and waiting for the obstacle to move away, and repeating the second judgment step.
And the ship-mounted controller receives the rotating speed information of the magnetic sensor so as to control the rotating speed of the engine. The onboard controller contains a battery which can provide electric energy for each onboard electronic device. The wireless communication system is a 3G/4G module, and sends the real-time state of the ship body, including ship speed, navigation error and task completion condition, to a computer of the shore-based equipment for remote monitoring of operators. The remote controller of the shore-based equipment is matched with the shipborne remote controller receiver for use, and the aerodynamic ship can be manually remotely controlled to sail. When an emergency occurs, the wireless emergency brake on the shore side is matched with the shipborne wireless emergency brake receiver for use, so that the engine can be rapidly shut down, and dangerous accidents such as collision and the like are avoided.
An experimental test chart for performing navigation control on the agricultural unmanned aerodynamic vessel in the above manner is shown in fig. 5.
Navigation method embodiment
The navigation method of the embodiment is already included in the embodiment of the agricultural unmanned aerodynamic ship, and is not described herein again.
Claims (7)
1. An agricultural unmanned aerodynamic ship with a laser-assisted navigation system comprises a ship body and is characterized by also comprising shore-based equipment for wirelessly controlling the ship body;
the ship body is provided with:
the power unit comprises an engine, an air propeller connected with an output shaft of the engine and a tail vane used for controlling the navigation direction of the ship body;
the pesticide applying unit comprises a pesticide box and a liquid conveying pipe connected with the pesticide box;
the laser-assisted navigation system comprises a positioner arranged on a ship body, a laser scanner arranged on the ship head and an attitude sensor used for monitoring the pitching angle of the laser scanner;
the ship-mounted controller is used for controlling the positioner and the laser scanner to work cooperatively, acquiring absolute position information, relative position information and course information of a ship body, calculating a navigation error, and changing a tail rudder corner so as to correct the driving direction of the ship;
the two blades of the air propeller are connected to the steering engine through a cam connecting rod mechanism so as to control the inclination angles of the two blades;
the cam link mechanism comprises a first support and a second support which are respectively connected with two fan blades of the air propeller, a cam sleeved on the rack of the engine and a bearing installed on an output shaft of the engine;
the first bracket and the second bracket are connected to the inner ring of the bearing;
a first connecting rod is hinged to the cam, one end of the first connecting rod is hinged to the outer ring of the bearing, and the other end of the first connecting rod is connected with the output end of the steering engine through a second connecting rod hinged to the first connecting rod.
2. An agricultural unmanned aerodynamic boat of claim 1, wherein:
the engine is provided with a magnetic sensor for detecting the rotating speed of the engine;
the shore-based equipment is provided with a wireless emergency brake and is matched with a wireless emergency brake receiver arranged on the ship body to realize rapid shutdown of the engine; the ship body remote control device is also provided with a remote controller matched with a remote controller receiver arranged on the ship body, so that the ship body can be manually and remotely operated.
3. A navigation method of an agricultural unmanned aerodynamic vessel with a laser-assisted navigation system, which is realized based on the agricultural unmanned aerodynamic vessel of claim 1 or 2, and is characterized by comprising the following steps:
a first judgment step of judging whether the locator works well;
when the working state of the positioner is judged to be poor in the first judging step, laser-assisted navigation is adopted, and laser scanner is used for acquiring shoreside laser information from the ship body to the paddy field boundary and front laser information of the ship body;
a shore advancing step, namely controlling the ship body to travel at a given distance along a shore base line according to the obtained shore laser information;
a second judgment step of judging whether an obstacle exists in front of the ship body according to the acquired front laser information;
when the obstacle is judged to exist in front of the ship body in the second judging step, recording the attribute of the obstacle, including storing information including the size, the height, the distance and the position in an array form according to the obtained front laser information;
a third judgment step of judging whether the obstacle is larger than a set threshold value according to the attribute of the obstacle;
and when the obstacle is judged to be larger than the set threshold value in the third judgment step, controlling the ship body to turn and enter the next navigation path.
4. The navigation method of claim 3, further comprising:
and when the locator works well in the first judgment step, adopting a conventional navigation mode.
5. The navigation method according to claim 3, characterized in that:
and controlling the ship body to continue to advance when the second judging step judges that no obstacle exists in front of the ship body.
6. The navigation method according to claim 3, characterized in that:
and when the obstacle is judged to be smaller than the set threshold value in the third judgment step, controlling the ship body to stop and waiting for the obstacle to move away, and repeating the second judgment step.
7. The navigation method according to claim 3, wherein the method for acquiring the shoreside laser information from the hull to the paddy field boundary in the first judgment step comprises the following steps:
dividing the laser data string into paddy field data and shore-based data by using an Otsu method classifier;
let the boundary point of paddy field data and shore-based data be P (x) in rectangular coordinate system with laser sensor as originedge,yedge)；
Setting the course of the ship body relative to the boundary between the paddy field data class and the shore-based data class as
The vertical distance from the ship body to the shore base is expressed as
Wherein d isedgeThe distance from the ship body to the shore base;
calculating navigation error for navigation by using the position relation between the expected path and the boundary line, wherein the formula is
Wherein delta is the tail rudder rotating angle, delta d is the vertical error of the current position of the ship body and the expected path,
for hull heading angle deviation, α and β are control scale factors based on experimental experience.
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| CN111830968B (en) * | 2020-06-12 | 2024-02-06 | 江苏大学 | Multifunctional water shield unmanned operation ship and navigation control method thereof |
| CN113433933B (en) * | 2021-04-16 | 2022-05-10 | 安徽中科合鼎科技发展有限公司 | Autonomous cruising method of intelligent water surface cleaning unmanned ship |
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