CN110243368A - The driving trace of intelligent agricultural machinery establishes system and its application - Google Patents
The driving trace of intelligent agricultural machinery establishes system and its application Download PDFInfo
- Publication number
- CN110243368A CN110243368A CN201910353781.5A CN201910353781A CN110243368A CN 110243368 A CN110243368 A CN 110243368A CN 201910353781 A CN201910353781 A CN 201910353781A CN 110243368 A CN110243368 A CN 110243368A
- Authority
- CN
- China
- Prior art keywords
- driving trace
- module
- operating area
- track
- strategy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
One driving trace establishes system, it is used for an intelligent agricultural machinery in an operating area, including a sensing unit, wherein the sensing unit obtains an at least sensing data, unit is established with a track, the track establishes unit and is communicatively coupled with the sensing unit, and the sensing data that the acquisition of sensing unit described in cell processing is established in the track forms a driving trace based on the mode of a track establishment strategy.
Description
Technical field
System is established the present invention relates to the driving trace that intelligent agricultural machinery field more particularly to one are used for intelligent agricultural machinery and its is answered
With.
Background technique
Electronic map nowadays have become people assist people trip an important tool, people need to only provide starting point and
Endpoint information can establish travel route on the electronic map.Common electronic map is generally by GPS, global positioning system
System (Global Positioning System), which provides other functions such as navigation, positioning and measurement, will be navigated object positioning
Into electronic map, then navigated by establishing travel route.But the precision phase of the location data as provided by GPS
To lower, so electronic map can only provide most basic travel route and can not provide more accurate driving path.
Route provided by electronic map substantially passes through the road route that GPS is navigated to, such as automobile often travels
National highway, these road routes are longer and to travel demand larger.But for agricultural machinery, most traveling is in operation
It is completed in region, so needing more accurate travel route.But obvious GPS and electronic map are unable to satisfy and build for agricultural machinery
The demand of more accurate operation driving path is found, because GPS can not provide more accurate location information, and due to agricultural machinery
Operating area it is more remote and can not accurately show on the electronic map.
It should be noted that since the agricultural of China not yet realizes large-scale plantation, so in small-scale agricultural kind
In implant model, since the planting habit of people is different, the landform that operating area is presented also is had nothing in common with each other, and especially people often press
Ridge plantation, in different operating areas, the width of ridge setting is also different.And due to natural terrain differences, some areas
Rugged state is presented.And driving path of the agricultural machinery in operating area artificially subjectively goes to select often through machine hand,
If machine hand driving experience is insufficient or is unfamiliar with that will lead to operating efficiency low to landform, and may aggravate to operation area
The damage of crop in domain.
And since the growth cycle of some crops is longer, need repeatedly to carry out operation to it, such as irrigate, apply fertilizer, broadcast
Kind and equal operations of spraying insecticide, but if require machine hand and require efforts artificially to establish in same operating area operation every time
Driving path, efficiency are lower.And since the highland of seeding corn and other crops at later stages is higher, thus machine hand with visually sometimes without
Method distinguishes and confirms suitable driving path, does not only result in that operating efficiency is low, and has aggravated the homework burden of machine hand.
Summary of the invention
Main advantage of the invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace, which establishes system, can establish a traveling in a manner of based on a track establishment strategy in an operating area
Track.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace establishes system can be in conjunction with electronic map and sensing data by way of choosing at least two anchor points
Establish a driving trace.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace establishes system and establishes institute to take a tactful mode to choose at least two anchor points based on the time
State driving trace.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace is established system and is established with taking a tactful mode to choose at least two anchor points based on a marker
The driving trace.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace establishes system and can store the driving trace being established.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Energy agricultural machinery driving trace establishes system can be with the driving trace being established in the same operating area of real-time update.
Another advantage of the present invention is that it provides the driving trace of an intelligent agricultural machinery and establishes system and its application, the intelligence
Can agricultural machinery driving trace establish system and can transfer traveling of the driving trace as subjob again in same operating area
Path.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
One aspect under this invention, the present invention that can be realized foregoing purpose and other purposes and advantage include:
One driving trace establishes system, is used for an intelligent agricultural machinery in an operating area, comprising:
One sensing unit, wherein the sensing unit obtains an at least sensing data；With
Unit is established in one track, and the track establishes unit and is communicatively coupled with the sensing unit, and the track is built
The sensing data that sensing unit described in vertical cell processing obtains forms a traveling rail based on the mode of a track establishment strategy
Mark.
According to one embodiment of present invention, wherein the sensing unit includes a data module, for obtaining and storing
The sensing data.
According to one embodiment of present invention, wherein it includes that a reconnaissance module and one draw mould that unit is established in the track
Block, the drafting module are communicatively coupled with the reconnaissance module, the reconnaissance module chosen in the operating area to
Few two anchor points, wherein the anchor point is drawn by the drafting module forms the driving trace.
It according to one embodiment of present invention, further include a storage unit, wherein the storage unit is communicatively coupled
It establishes unit in the track and stores and draw the driving trace formed by the drafting module.
According to one embodiment of present invention, wherein the storage unit further includes a memory module, the driving trace
It is received and stored by the memory module.
According to one embodiment of present invention, wherein the sensing unit further includes a matching module, wherein the matching
Module is communicatively connected in a network in an electronic map and obtains the opposed area position of the operating area.
According to one embodiment of present invention, wherein the storage unit further includes a calling module, wherein the calling
Module is communicatively coupled with the matching module of the memory module and the sensing unit, when the matching module matches
Obtaining the operating area is the operating area for having built up the driving trace, then passes through the institute of the storage unit
It states calling module and calls the operating area driving trace accordingly from the memory module.
Other side under this invention, can be realized foregoing purpose and other purposes and advantage the invention also includes:
One method for establishing driving trace, comprising the following steps:
A. an at least sensing data is obtained；With
B. the sensing data is handled in a manner of based on a track establishment strategy and is chosen at least two anchor points and is built
A vertical driving trace.
According to one embodiment of present invention, further include a step after the step b:
C. the driving trace is stored.
According to one embodiment of present invention, the driving trace can be updated.
According to one embodiment of present invention, wherein the track establishment strategy is the time to take a strategy and a marker
Take a strategy.
According to one embodiment of present invention, wherein the sensing data refers to the environmental data around the intelligent agricultural machinery
And the running data of the intelligent agricultural machinery.
According to one embodiment of present invention, wherein it is to choose the anchor point by setting that the time, which takes a strategy,
Between the mode of time interval choose the anchor point to establishing the driving trace.
According to one embodiment of present invention, wherein it is by the operating area that the marker, which takes a strategy,
An at least marker is chosen as the mode of the anchor point to establish the driving trace.
According to one embodiment of present invention, wherein the data module for taking point module to handle the sensing unit
The sensing data of acquisition obtains the coordinate of the anchor point.
According to one embodiment of present invention, wherein the time interval can be set.
According to one embodiment of present invention, wherein the marker can take point module processing by the number by described
It is chosen automatically according to the sensing data that module obtains.
Other side under this invention, can be realized foregoing purpose and other purposes and advantage the invention also includes:
One method for taking a strategy to establish driving trace based on the time, comprising the following steps:
1001, the time described in Unit selection is established by the track and takes a strategy；
1002, one time of setting takes dot pattern；
1003, multiple anchor points are chosen and the sensing data by handling the sensing unit obtains the anchor point
Coordinate；
1004, the driving trace is drawn by multiple anchor points and its coordinate；And
1005, the driving trace is stored.
Other side under this invention, can be realized foregoing purpose and other purposes and advantage the invention also includes:
One method for taking a strategy to establish driving trace based on the marker, comprising the following steps:
2001, marker described in Unit selection is established by the track and takes a strategy；
2002, one marker of setting takes dot pattern；
2003, by selection marker as the anchor point and the acquisition of the sensing data by handling the sensing unit
The coordinate of the anchor point；
2004, the driving trace is drawn by multiple anchor points and its coordinate；And
2005, the driving trace is stored.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the block diagram representation that system is established according to a driving trace of one embodiment of the present invention.
Fig. 2 is the another block diagram representation that system is established according to the driving trace of above preferred embodiment of the present invention.
Fig. 3 is the driving trace method for building up that system is established according to the driving trace of above preferred embodiment of the present invention
Flow chart.
Fig. 4 is to establish system according to the driving trace of above preferred embodiment of the present invention to take a strategy based on the time
Mode establish a schematic diagram of a scenario of a driving trace.
Fig. 5 is to establish system according to the driving trace of above preferred embodiment of the present invention to take a plan based on the time
Mode slightly establishes a method schematic diagram of the driving trace.
Fig. 6 be heretofore described intelligent agricultural machinery the driving trace establish system to take a plan based on a marker
Mode slightly establishes a schematic diagram of a scenario of the driving trace.
Fig. 7 is that the driving trace of heretofore described intelligent agricultural machinery establishes taking a little to be based on the marker for system
The mode of strategy establishes a method schematic diagram of the driving trace.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
The present invention provides an intelligent agricultural machinery driving trace and establishes system and its application, with reference to attached drawing 1 and attached drawing 2, provides use
System 1000 is established in a driving trace of intelligent agricultural machinery, the driving trace is established system 1000 and is communicatively coupled and an electricity
Sub- ground Figure 10 is for obtaining the geographical location information that GPS positioning obtains.The driving trace establishes system 1000 according to the electricity
Sub- ground Figure 10 obtains the opposed area position of an operating area, and utilizes the intelligent agricultural machinery in operation in the operating area
The sensing data generated in the process establishes the intelligent agricultural machinery in the operation by way of choosing at least two anchor points 100
A driving trace 200 in region is to obtain working path of the intelligent agricultural machinery in the operating area.
According to one preferred embodiment of the present invention, described electronically Figure 10 can be installed in a mobile terminal, such as mobile phone
With the mobile terminal devices such as tablet computer, it can also be directly mounted to the intelligent agricultural machinery, i.e., the described electronic map can also be with
It is read by being stored in a storaging medium and establishing system 1000 by the driving trace by the storaging medium.
It is carried out in a manner of wired connection or wireless connection it is noted that being communicatively coupled and referring in the present invention
Communication connection.
According to one preferred embodiment of the present invention, as shown in Fig. 1, it includes a sensing that the driving trace, which establishes system 1000,
Unit 20, the sensing unit 20 refer to around the intelligent agricultural machinery for obtaining an at least sensing data, the sensing data
Environmental data and the intelligent agricultural machinery running data.The environmental data refers to the terrain information around the intelligent agricultural machinery
And the object to be detected information around the intelligent machine.The running data refers to the traveling in the intelligent agricultural machinery driving process
Speed, the traveling information such as angle and operating range.For it is understood to one skilled in the art that being intended only as above to the environment
Data and the example of the running data are not intended as limitation of the present invention.
It is noted that the sensing unit 20 can be embodied as but be not limited to laser range finder, ultrasonic wave
The equipment that sensor, infrared sensor, radar detedtor and video camera etc. have detection and sensing function, the sensing unit
20 may be implemented as a kind of equipment of any of the above, or both any or both above equipment combined, can be ability
What field technique personnel understood is above to be intended only as not constituting the citing of 20 specific embodiment of sensing unit to this
The limitation of invention.
According to one preferred embodiment of the present invention, with reference to attached drawing 1, it further includes a track that the driving trace, which establishes system 1000,
Unit 30 is established, the track establishes unit 30 and is communicatively coupled with the sensing unit 20.It is single by handling the sensing
The sensing datas that member 20 obtains form a driving trace 300 in a manner of based on a track establishment strategy 200 to get to institute
State working path of the intelligent agricultural machinery in the operating area.
According to one preferred embodiment of the present invention, with reference to attached drawing 1 and attached drawing 2, the driving trace is established system 1000 and is also wrapped
A storage unit 40 is included, the storage unit 40 is communicatively coupled with the track and establishes unit 30.When the track is established
Unit 30 is by handling sensing data acquired in the sensing unit 20 with the side based on a track establishment strategy 200
Formula forms a driving trace 300, and the driving trace 300 is established after unit 30 draws formation by the track and is stored in
The storage unit 40.And the driving trace 300 can real-time update be stored in the storage unit 40.
It is noted that the growth cycle of some crops is longer, need repeatedly to carry out operation to it, such as irrigate, apply
Fertilizer the operations such as sows and sprays insecticide, but requires efforts artificially if requiring machine hand in same operating area operation every time
Driving path is established on ground, and efficiency is lower.And since the height of seeding corn and other crops at later stages is higher, so machine hand is with only meat
Eye can not distinguish sometimes and confirm suitable driving path.And system 1000 is established in the track provided by the invention, can pass through
The sensing data that described electronically Figure 10 and the sensing unit 20 obtain determines that the operating area is once to establish
The operating area of the driving trace 300 then can choose the driving trace 300 for calling the operating area.If institute
It states intelligent agricultural machinery and finds that the environmental data in the operating area changes by the sensing unit 20 during operation
Change then re-establishes the driving trace 300 in the operating area and updates storage in the storage unit 40.
It is noted that the operating area due to the intelligent agricultural machinery needs to be positioned to the precision of specific location
It is higher, and described electronically Figure 10 can not obtain the driving path in the operating area by GPS.And institute of the invention
The sensing data can be obtained by the sensing unit 20 in the operating area by stating driving trace and establishing system 1000
To establish the driving trace 300 of the intelligent agricultural machinery in the operating area.And the driving trace 300 needs to lead to
It crosses and chooses multiple anchor points 100 in operating area to form the driving trace 300 to draw.According to the anchor point
100 are selected the difference of mode, and the track establishment strategy 200 can be divided into the time and a strategy 201 and a marker is taken to take a little
Strategy 202.The time take a strategy 201 be with chosen by setting the time-interval system between the anchor point 100 come
The anchor point 100 is chosen to establish the driving trace 300, wherein the time interval can be average time interval
It can be non-flat equal time interval.It is by choosing marker in the operating area that the marker, which takes a strategy 202,
The driving trace 300 is formed as the mode of the anchor point 100, preferably, the marker refers to but unlimited
In the static marks object such as electric pole, mound, puddle and tree.Specifically, the intelligence can be obtained by the sensing unit 20
Can agricultural machinery sensing data described in operating area travel speed when driving, traveling angle and running time etc., pass through processing institute
State the specific coordinate that the anchor point 100 being selected can be then calculated in sensing data.
According to one preferred embodiment of the present invention, pass through the opposite area of the available operating area described electronically Figure 10
Domain position, and can obtain establishing the row by positioning position of the intelligent agricultural machinery before entering the operating area
Sail the coordinate of the starting point of track 300, i.e. first anchor point 100.And under first selection of anchor point 100
One anchor point 100, i.e. second anchor point 100, can obtain the intelligent agricultural machinery by the sensing unit 10 and exist
Travel speed, the traveling sensing such as angle and running time after first anchor point 100 in the operating area
The distance and travel angle to obtain that the intelligent agricultural machinery is travelled from after first anchor point 100 is calculated in data
To the coordinate of second anchor point 100.And the following institute chosen from after described second anchor point 100
State anchor point 100, i.e. the third anchor point 100, the sensing unit 10 obtains the intelligent agricultural machinery described in second
Anchor point 100 is calculated in the travel speed of operating area, the traveling sensing datas such as angle and running time described later
Intelligent agricultural machinery is from operating range after second anchor point 100 and traveling angle to obtain the third anchor point
100 coordinate.And so on until the intelligent agricultural machinery stops operation and leaves the operating area, then obtain the last one institute
State anchor point 100, multiple anchor points 100, which by the track establish the drafting of unit 30 and can establish the intelligent agricultural machinery, to exist
The driving trace 300 in the operating area, and the driving trace 300 can be stored automatically in the storage unit
40.When the intelligent agricultural machinery is needed to the operating area operation again, then it can be transferred and be deposited by the matching operating area
It is stored in the corresponding driving trace 300 of the storage unit 40.If the intelligent agricultural machinery passes through during operation
The sensing unit 20 finds that the environmental data in the operating area changes, and re-establishes in the operating area
The driving trace 300 is simultaneously updated storage in the storage unit 40.
According to one preferred embodiment of the present invention, with reference to attached drawing 1, the sensing unit 20 includes a data module 21, is used for
Obtain and store the running data of the environmental data around the intelligent agricultural machinery and the intelligent agricultural machinery.The i.e. described intelligent agricultural machinery week
Traveling speed in the object to be detected information and the intelligent agricultural machinery driving process around terrain information and the intelligent machine enclosed
Degree, the traveling information such as angle and operating range.
According to one preferred embodiment of the present invention, with reference to attached drawing 1, it includes 31 He of a reconnaissance module that unit 30 is established in the track
One drafting module 32, the drafting module 32 are communicatively coupled with the reconnaissance module 31.Existed by the reconnaissance module 31
Multiple anchor points 100 are chosen in the operating area, described in the anchor point 100 is formed as the drafting module 32 drafting
The driving trace 300 of the intelligent agricultural machinery in the operating area.
According to one preferred embodiment of the present invention, with reference to attached drawing 1, the storage unit 40 includes that a memory module 41 and one is adjusted
With module 42.Wherein the memory module 41 is communicatively coupled with the drafting module 32 that unit 30 is established in the track,
When the drafting module 32 is by forming the intelligent agricultural machinery for the drafting of the anchor point 100 selected by the reconnaissance module 31
After the driving trace 300 in the operating area, the driving trace 300 is received and is deposited by the storage unit 40
It is stored in the memory module 41.
According to one preferred embodiment of the present invention, the sensing unit 20 further includes a matching module 22, the matching module
22 are communicatively coupled with electronically Figure 10, the memory module 41 of the storage unit 40 and the calling module 42.When
The intelligent agricultural machinery enters before an operating area, and the opposed area position of the operating area is obtained by the electronic map
Set, and the matching module 22 of the sensing unit 20 identifies the opposed area position of the operating area, if can with
It is the operating area for having built up the driving trace 300 with the operating area is obtained, then passes through the storage unit 40
The calling module 42 operating area driving trace 300 accordingly is called from the memory module 41.It is described
Intelligent agricultural machinery can carry out operation to the operating area as working path according to the driving trace 300.If the intelligence
Energy agricultural machinery is found in the operating area during operation by the sensing data that the sensing unit 20 obtains
Environmental data changes, and re-establishes the driving trace 300 in the operating area and updates storage in the storage
The memory module 41 of unit 40.
The present invention provides one and is used for the method that intelligent agricultural machinery establishes driving trace, comprising the following steps:
A. an at least sensing data is obtained；With
B. the sensing data is handled in a manner of based on a track establishment strategy 200 and chooses at least two anchor points
100 and establish a driving trace 300.
According to one preferred embodiment of the present invention, in the step a, the sensing data is obtained by the sensing unit 20
It takes.
According to one preferred embodiment of the present invention, in the step a, the sensing data refers to around the intelligent agricultural machinery
Environmental data and the intelligent agricultural machinery running data.The environmental data refers to the terrain information around the intelligent agricultural machinery
And the object to be detected information around the intelligent machine.The running data refers to the traveling in the intelligent agricultural machinery driving process
Speed, the traveling information such as angle and operating range.
According to one preferred embodiment of the present invention, in the step b, the track establishment strategy 200 includes the time
A strategy 201 and the marker is taken to take a strategy 202.It is to choose institute by setting that wherein the time, which takes a strategy 201,
The time-interval system between anchor point 100 is stated to choose the anchor point 100 to establish the driving trace 300.Wherein
The time interval can may be non-average time interval for average time interval.The marker takes the strategy 202 to be
By choosing in the operating area marker as forming the driving trace 300 in a manner of the anchor point 100.
According to one preferred embodiment of the present invention, in the step b, multiple anchor points 100 are by based on described in one
The mode of track establishment strategy 200 draws by the drawing unit 32 that unit 30 is established in the track after being selected and establishes institute
State the driving trace 300 of the intelligent agricultural machinery in the operating area.
According to one preferred embodiment of the present invention, further include a step after the step b:
C. the driving trace is stored.
According to one preferred embodiment of the present invention, in the step c, the driving trace 300 is by the storage unit 40
It receives and stores in the memory module 41.
With reference to attached drawing 4 and attached drawing 5, the driving trace will be specifically described using example by two below and establish system
1000 to establish the process of the driving trace 300 based on the different track establishment strategies 200.
With reference to attached drawing 4, shows and take a strategy 201 to establish the row with the time of the track establishment strategy 200
Sail the process of track 300.The driving trace is established after system 1000 is actuated to, and is established unit 30 by the track and is selected
Take a wherein track establishment strategy 200.After the time strategy 201 being taken to be chosen so as to, then the setting time is taken a little
Mode, that is, choose the time interval between the anchor point 100, and the time interval can be selected as average time interval
It can be non-flat equal time interval, the time of the time interval can be configured.In the application example shown in attached drawing 4,
The time interval is selected to be set as average time interval, and interval time is 30 seconds.
With reference to attached drawing 4, the intelligent agricultural machinery obtains the opposed area position of the operating area by described electronically Figure 10
It sets, and arrives into a position A1 before the operation of operating area, then A1 is just used as the starting point of the driving trace 300, i.e.,
The anchor point 100 of the first of the driving trace 300.And the position coordinates of A1 can be positioned to by described electronically Figure 10
It arrives.The intelligent agricultural machinery enters progress operation traveling in operating area at this time, from 30 after the first anchor point 100 i.e. A1
Second, the position where taking point module 31 to choose the intelligent agricultural machinery described in the intelligent agricultural machinery is from first anchor point
The 100 next anchor points 100 chosen, i.e. second anchor point 100, A2.Pass through the number of the sensing unit 10
Travel speed, traveling angle and running time of the intelligent agricultural machinery after A1 in the operating area are obtained according to module 21
Equal sensing datas be calculated the intelligent agricultural machinery from the distance travelled in 30 seconds after first anchor point 100 and
Traveling angle is to obtain second anchor point 100, the coordinate of A2.And from after described second anchor point 100, A2
Choose following one anchor point 100, i.e. the third anchor point 100, A3.Similarly, pass through the sensing unit
10 data module 21 obtains travel speed, traveling angle of the intelligent agricultural machinery after A2 in the operating area
The intelligent agricultural machinery is calculated from travelling in 30 seconds after second anchor point 100 with sensing datas such as running times
Distance and traveling angle to obtain the third anchor point 100, the coordinate of A3.And so on until the intelligent agriculture
Machine stops operation and leaves the operating area, then obtains the last one described anchor point 100, the coordinate of An and An.Multiple institutes
The intelligent agricultural machinery can be established in the operation by the drafting module 32 drafting by stating anchor point 100 i.e. A1, A2, A3 to An
The driving trace 300 in region.And the driving trace 300 can be received and stored by the storage unit 40 in described
Memory module 41.
It, then can be by described in matching when the intelligent agricultural machinery is needed to the operating area operation again with reference to attached drawing 4
Transfer the corresponding driving trace 300 in the memory module 41 for being stored in the storage unit 40 in operating area.More
Body is said, i.e., the opposed area position of the operating area is obtained by the electronic map, and the sensing unit 20 is described
Matching module 22 identifies the opposed area position of the operating area.If can match to obtain the operating area to be to have built
The operating area of the driving trace 300 was stood, then by the calling module 42 of the storage unit 40 from the storage
The operating area driving trace 300 accordingly is called in module 41.The intelligent agricultural machinery can be according to the traveling rail
Mark 300 carries out operation to the operating area as working path.If the intelligent agricultural machinery passes through institute during operation
The sensing data for stating the acquisition of sensing unit 20 finds that the environmental data in the operating area changes, and re-establishes
The driving trace 300 in the operating area is simultaneously updated storage in the storage unit 40.
A strategy 201 is taken to establish the row with reference to the attached time illustrated in fig. 4 with the track establishment strategy 200
The process for sailing track 300 provides a method for taking a strategy to establish driving trace based on the time, comprising the following steps:
1001, establishing unit 20 by the track selects the time to take a strategy 201；
1002, the setting time takes dot pattern；
1003, it chooses described in multiple anchor points 300 and the acquisition of the sensing data by handling the sensing unit 20
It is fixed
The coordinate in site 300；
1004, the driving trace 300 is drawn by multiple anchor points 300 and its coordinate；And
1005, the driving trace 300 is stored.
With reference to attached drawing 5, show that take a strategy 202 to establish with the marker of the track establishment strategy 200 described
The process of driving trace 300.The driving trace is established after system 1000 is actuated to, and establishes unit 20 by the track
Wherein a track establishment strategy 200, the marker take a strategy 202 to be selected for selection.The marker takes a strategy
After 202 are chosen so as to, marker is then set and takes dot pattern, i.e., selection marker can be with as the mode of the anchor point 100
For the mode for automatically selecting marker, or manually select the mode of selection marker.In the example shown in attached drawing 6,
The marker take the marker of a strategy 202 take dot pattern be arranged to choose in a manner of automatically selecting marker it is described fixed
Site 100.
With reference to attached drawing 6, the intelligent agricultural machinery obtains the opposed area position of the operating area by described electronically Figure 10
It sets, and arrives into a position B1 before the operation of operating area, then B1 is just used as the starting point of the driving trace 300, i.e.,
The anchor point 100 of the first of the driving trace 300.And the position coordinates of B1 can be positioned to by described electronically Figure 10
It arrives.The intelligent agricultural machinery enters progress operation traveling, the data module 21 of the sensing unit 20 in operating area at this time
Obtain the running data of the environmental data and the intelligent agricultural machinery around the intelligent agricultural machinery.It is described to take point module 31 by obtaining
Take the object to be detected information around the terrain information and the intelligent machine around the intelligent agricultural machinery of the data module 21
It is automatic to choose a tree as marker and as next anchor point 100 from first anchor point 100, i.e. second institute
State anchor point 100, B2.The intelligent agricultural machinery is obtained after B1 in institute by the data module 21 of the sensing unit 10
It states sensing data described in the travel speed in operating area, traveling angle and running time etc. and the intelligent agricultural machinery is calculated
Second obtained from after first anchor point 100 the anchor point 100, the coordinate of B2.And from second institute
Anchor point 100 is stated, following one anchor point 100, i.e. the third anchor point 100, A3 are chosen after B2.Similarly,
The data module 21 of the sensing unit 20 obtains environmental data around the intelligent agricultural machinery and the intelligent agricultural machinery
Running data.Terrain information and institute around the intelligent agricultural machinery that point module 31 is taken by obtaining the data module 21
Stating the object to be detected information around intelligent machine and choosing a mound automatically is marker as from second anchor point 100
Next anchor point 100, i.e. the third anchor point 100, B3.Pass through the data module of the sensing unit 10
21 obtain travel speed, the traveling sensing such as angle and running time of the intelligent agricultural machinery after B2 in the operating area
The third anchor point that the intelligent agricultural machinery is obtained from after second anchor point 100 is calculated in data
100, B3 coordinate.And so on until the intelligent agricultural machinery stops operation and leaves the operating area, then obtain last
A anchor point 100, the coordinate of Bn and the Bn.Multiple anchor points 100 i.e. B1, B2, B3 to Bn passes through the drafting
The drafting of module 32 can establish the driving trace 300 of the intelligent agricultural machinery in the operating area.And the traveling
Track 300 can be received and stored by the storage unit 40 in the memory module 41.
It, then can be by described in matching when the intelligent agricultural machinery is needed to the operating area operation again with reference to attached drawing 6
Transfer the corresponding driving trace 300 in the memory module 41 for being stored in the storage unit 40 in operating area.More
Body is said, i.e., the opposed area position of the operating area is obtained by the electronic map, and the sensing unit 20 is described
Matching module 22 identifies the opposed area position of the operating area.If can match to obtain the operating area to be to have built
The operating area of the driving trace 300 was stood, then by the calling module 42 of the storage unit 40 from the storage
The operating area driving trace 300 accordingly is called in module 41.The intelligent agricultural machinery can be according to the traveling rail
Mark 300 carries out operation to the operating area as working path.If the intelligent agricultural machinery passes through institute during operation
The sensing data for stating the acquisition of sensing unit 20 finds that the environmental data in the operating area changes, and re-establishes
The driving trace 300 in the operating area is simultaneously updated storage in the memory module 41 of the storage unit 40.
It is noted that marker takes dot pattern also to can be set after the marker takes a strategy 202 to be chosen so as to
Choose the time interval between the anchor point 100.Marker or manually choosing can be automatically selected by the time interval
The mode for selecting selection marker chooses marker as the anchor point 100.And the time interval can be arranged by selection
For average time interval or non-average time interval.
It is taken described in a strategy 202 establishes with reference to the attached marker illustrated in fig. 5 with the track establishment strategy 200
The process of driving trace 300 provides a method for taking a strategy to establish driving trace based on the marker, including following step
It is rapid:
2001, establishing unit 20 by the track selects the marker to take a strategy 202；
2002, setting marker takes dot pattern；
2003, by selection marker as the anchor point 300 and the sensing number by handling the sensing unit 20
According to
Obtain the coordinate of the anchor point 300；
2004, the driving trace 300 is drawn by multiple anchor points 300 and its coordinate；And
2005, the driving trace 300 is stored.
It should be noted that since the agricultural of China not yet realizes large-scale plantation, so in small-scale agricultural kind
In implant model, since the planting habit of people is different, the landform that operating area is presented also is had nothing in common with each other, and especially people often press
Ridge plantation, in different operating areas, the width of ridge setting is also different.And due to natural terrain differences, some areas
Rugged state is presented.If machine hand driving experience is insufficient or is unfamiliar with that will lead to operating efficiency low to landform, and
And damage to crop in operating area may be aggravated.And system 1000 is established in the track provided by the invention, can pass through
The sensing data that described electronically Figure 10 and the sensing unit 20 obtain determines that the operating area is once to establish
The operating area of the driving trace 300 then can choose and call described in the conduct of the driving trace 300 of the operating area
The working path of intelligent agricultural machinery greatly alleviates the homework burden of machine hand.And also accordingly reduce machine hand to go to recognize again
Working path and damage to crop in the operating area.
It is to this hair that those skilled in the art, which would appreciate that the embodiment of the present invention shown in the drawings and described above only,
Bright example rather than limit.
It can thus be seen that the object of the invention can be efficiently accomplished sufficiently.It is used to explain the present invention function and structure principle
The embodiment is absolutely proved and is described, and the present invention is not limited by based on the change on these embodiment basis.
Therefore, the present invention includes all modifications covered within appended claims claimed range and spirit.
Claims (19)
1. a driving trace establishes system, it is used for an intelligent agricultural machinery in an operating area characterized by comprising
One sensing unit, wherein the sensing unit obtains an at least sensing data；With
Unit is established in one track, and the track establishes unit and is communicatively coupled with the sensing unit, and the track is established single
Member handles the sensing data that the sensing unit obtains and forms a driving trace based on the mode of a track establishment strategy.
2. driving trace according to claim 1 establishes system, wherein the sensing unit includes a data module, it is used for
It obtains and stores the sensing data.
3. driving trace according to claim 1 establishes system, wherein it includes a reconnaissance module that unit is established in the track
With a drafting module, the drafting module is communicatively coupled with the reconnaissance module, and the reconnaissance module is in the operation area
At least two anchor points are chosen in domain, wherein the anchor point is drawn by the drafting module forms the driving trace.
It further include a storage unit 4. driving trace according to claim 3 establishes system, wherein the storage unit can
Be communicatively coupled to the track establish unit and store the driving trace formed is drawn by the drafting module.
5. driving trace according to claim 4 establishes system, wherein the storage unit further includes a memory module, institute
Driving trace is stated to be received and stored by the memory module.
6. driving trace according to claim 5 establishes system, wherein the sensing unit further includes a matching module,
Described in matching module be communicatively connected in a network in an electronic map and obtain the opposed area position of the operating area.
7. driving trace according to claim 6 establishes system, wherein the storage unit further includes a calling module,
Described in calling module be communicatively coupled with the matching module of the memory module and the sensing unit, when described
It matches to obtain the operating area to be the operating area for having built up the driving trace with module, is then deposited by described
The calling module of storage unit calls the operating area driving trace accordingly from the memory module.
8. the method for establishing driving trace, which comprises the following steps:
A. an at least sensing data is obtained；With
B. the sensing data is handled in a manner of based on a track establishment strategy and is chosen at least two anchor points and is established one
Driving trace.
9. the method according to claim 8 for establishing driving trace further includes a step after the step b:
C. the driving trace is stored.
10. the method according to claim 9 for establishing driving trace, the driving trace can be updated.
11. driving trace according to claims 1 to 10 establishes system, wherein the track establishment strategy is to take the time
Point strategy and a marker take a strategy.
12. driving trace according to claims 1 to 10 establishes system, wherein the sensing data refers to the intelligent agriculture
The running data of environmental data and the intelligent agricultural machinery around machine.
13. driving trace according to claim 11 establishes system, wherein it is to pass through setting that the time, which takes a strategy,
The mode of time interval between the anchor point is chosen to choose the anchor point to establish the driving trace.
14. driving trace according to claim 12 establishes system, wherein the marker take a strategy be with by
An at least marker is chosen in the operating area as the mode of the anchor point to establish the driving trace.
15. driving trace described in 3 to 14 establishes system according to claim 1, wherein described take point module to handle the sensing
The sensing data that the data module of unit obtains obtains the coordinate of the anchor point.
16. driving trace according to claim 13 establishes system, wherein the time interval can be set.
17. driving trace according to claim 14 establishes system, wherein the marker can take a mould by described
The sensing data that block processing is obtained by the data module is chosen automatically.
18. the method for taking a strategy to establish driving trace based on the time, which comprises the following steps:
1001, the time described in Unit selection is established by the track and takes a strategy；
1002, one time of setting takes dot pattern；
1003, multiple anchor points are chosen and the sensing data by handling the sensing unit obtains the seat of the anchor point
Mark；
1004, the driving trace is drawn by multiple anchor points and its coordinate；And
1005, the driving trace is stored.
19. the method for taking a strategy to establish driving trace based on the marker, which comprises the following steps:
2001, marker described in Unit selection is established by the track and takes a strategy；
2002, one marker of setting takes dot pattern；
2003, by selection marker as described in the anchor point and the acquisition of the sensing data by handling the sensing unit
The coordinate of anchor point；
2004, the driving trace is drawn by multiple anchor points and its coordinate；And
2005, the driving trace is stored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910353781.5A CN110243368A (en) | 2019-04-29 | 2019-04-29 | The driving trace of intelligent agricultural machinery establishes system and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910353781.5A CN110243368A (en) | 2019-04-29 | 2019-04-29 | The driving trace of intelligent agricultural machinery establishes system and its application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110243368A true CN110243368A (en) | 2019-09-17 |
Family
ID=67883473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910353781.5A Pending CN110243368A (en) | 2019-04-29 | 2019-04-29 | The driving trace of intelligent agricultural machinery establishes system and its application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110243368A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120076A (en) * | 2020-09-25 | 2021-07-16 | 丰疆智能(深圳)有限公司 | Automatic turning method of agricultural machine, automatic turning system of agricultural machine and application |
Citations (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01155208A (en) * | 1987-12-11 | 1989-06-19 | Mazda Motor Corp | Navigation apparatus for vehicle |
| JP2005241303A (en) * | 2004-02-24 | 2005-09-08 | Clarion Co Ltd | Navigation system, navigation method, and navigation program |
| EP1769662A1 (en) * | 2005-09-30 | 2007-04-04 | Claas Saulgau Gmbh | Agricultural working unit with a working device for creating a row of objects |
| CN101122466A (en) * | 2006-08-09 | 2008-02-13 | 高德软件有限公司 | Electronic map track and its video data memory and inquiring method |
| CN101487711A (en) * | 2008-01-18 | 2009-07-22 | 华晶科技股份有限公司 | Devices and methods with image track record displaying, browsing and navigating function |
| US20100286896A1 (en) * | 2005-10-12 | 2010-11-11 | Denso Corporation | Vehicle control system and method using navigation data |
| CN102128626A (en) * | 2010-01-13 | 2011-07-20 | 华为技术有限公司 | Track display method and system and map server |
| CN102646070A (en) * | 2012-02-29 | 2012-08-22 | 武汉大学 | Space-time trajectory data storage method based on area |
| TW201303699A (en) * | 2011-07-14 | 2013-01-16 | Huan-Chi Chang | Computer readable instruction, graphic user interface and system for relating track and multimedia |
| CN102910167A (en) * | 2011-08-04 | 2013-02-06 | 通用汽车环球科技运作有限责任公司 | Driving assistance apparatus for assistance with driving along narrow roadways |
| CN105607103A (en) * | 2015-12-23 | 2016-05-25 | 木牙（天津）科技有限公司 | Children location real-time positioning system and method |
| CN106017462A (en) * | 2016-05-20 | 2016-10-12 | 成都景博信息技术有限公司 | Positioning analysis method for internet of vehicles |
| US20170083024A1 (en) * | 2014-03-20 | 2017-03-23 | Lely Patent N.V. | Method and system for navigating an agricultural vehicle on a land area |
| CN107014391A (en) * | 2017-03-28 | 2017-08-04 | 驭势（上海）汽车科技有限公司 | Travel paths planing method, device and electronic equipment |
| CN107289925A (en) * | 2017-05-25 | 2017-10-24 | 北京奇鱼时代科技有限公司 | A kind of method and apparatus for drawing user trajectory |
| CN107782316A (en) * | 2017-11-01 | 2018-03-09 | 北京旷视科技有限公司 | The track of destination object determines method, apparatus and system |
| CN107948932A (en) * | 2017-11-03 | 2018-04-20 | 温州鞋都网络科技有限公司 | Anti-lost monitoring system and method based on location data |
| CN108398701A (en) * | 2017-10-20 | 2018-08-14 | 蔚来汽车有限公司 | Vehicle positioning method and device |
| CN108475055A (en) * | 2016-01-08 | 2018-08-31 | 伟摩有限责任公司 | Spare Trajectory System for autonomous vehicle |
| CN108492564A (en) * | 2018-04-18 | 2018-09-04 | 山东省交通规划设计院 | The method and system of express-road vehicle running speed are measured based on road network |
| CN108846333A (en) * | 2018-05-30 | 2018-11-20 | 厦门大学 | Sign board landmark data collection generates and vehicle positioning method |
| CN108885106A (en) * | 2016-01-08 | 2018-11-23 | 国际智能技术公司 | It is controlled using the vehicle part of map |
| CN108981702A (en) * | 2018-07-03 | 2018-12-11 | 浙江大学 | A kind of vehicle positioning method of multiposition joint particle filter |
| CN108981722A (en) * | 2017-05-31 | 2018-12-11 | 通用汽车环球科技运作有限责任公司 | The trajectory planning device using Bezier for autonomous driving |
| CN109240284A (en) * | 2018-08-10 | 2019-01-18 | 江苏大学 | A kind of autonomous paths planning method and device of unmanned agricultural machinery |
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN109508007A (en) * | 2018-12-11 | 2019-03-22 | 东南大学 | A kind of agricultural machinery track following, obstacle avoidance system and method based on Multi-source Information Fusion |
| CN109507700A (en) * | 2018-11-20 | 2019-03-22 | 南京华苏科技有限公司 | A method of vehicle is searched in specified region |
| CN109641622A (en) * | 2016-08-29 | 2019-04-16 | 奥迪股份公司 | Method for running motor vehicle |
| CN109634270A (en) * | 2018-10-25 | 2019-04-16 | 丰疆智慧农业股份有限公司 | Operation-control system and job control method for unmanned agricultural machinery |
| CN109635692A (en) * | 2018-11-30 | 2019-04-16 | 禾多科技（北京）有限公司 | Scene based on ultrasonic sensor recognizer again |
-
2019
- 2019-04-29 CN CN201910353781.5A patent/CN110243368A/en active Pending
Patent Citations (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01155208A (en) * | 1987-12-11 | 1989-06-19 | Mazda Motor Corp | Navigation apparatus for vehicle |
| JP2005241303A (en) * | 2004-02-24 | 2005-09-08 | Clarion Co Ltd | Navigation system, navigation method, and navigation program |
| EP1769662A1 (en) * | 2005-09-30 | 2007-04-04 | Claas Saulgau Gmbh | Agricultural working unit with a working device for creating a row of objects |
| US20100286896A1 (en) * | 2005-10-12 | 2010-11-11 | Denso Corporation | Vehicle control system and method using navigation data |
| CN101122466A (en) * | 2006-08-09 | 2008-02-13 | 高德软件有限公司 | Electronic map track and its video data memory and inquiring method |
| CN101487711A (en) * | 2008-01-18 | 2009-07-22 | 华晶科技股份有限公司 | Devices and methods with image track record displaying, browsing and navigating function |
| CN102128626A (en) * | 2010-01-13 | 2011-07-20 | 华为技术有限公司 | Track display method and system and map server |
| TW201303699A (en) * | 2011-07-14 | 2013-01-16 | Huan-Chi Chang | Computer readable instruction, graphic user interface and system for relating track and multimedia |
| CN102910167A (en) * | 2011-08-04 | 2013-02-06 | 通用汽车环球科技运作有限责任公司 | Driving assistance apparatus for assistance with driving along narrow roadways |
| CN102646070A (en) * | 2012-02-29 | 2012-08-22 | 武汉大学 | Space-time trajectory data storage method based on area |
| US20170083024A1 (en) * | 2014-03-20 | 2017-03-23 | Lely Patent N.V. | Method and system for navigating an agricultural vehicle on a land area |
| CN105607103A (en) * | 2015-12-23 | 2016-05-25 | 木牙（天津）科技有限公司 | Children location real-time positioning system and method |
| CN108885106A (en) * | 2016-01-08 | 2018-11-23 | 国际智能技术公司 | It is controlled using the vehicle part of map |
| CN108475055A (en) * | 2016-01-08 | 2018-08-31 | 伟摩有限责任公司 | Spare Trajectory System for autonomous vehicle |
| CN106017462A (en) * | 2016-05-20 | 2016-10-12 | 成都景博信息技术有限公司 | Positioning analysis method for internet of vehicles |
| CN109641622A (en) * | 2016-08-29 | 2019-04-16 | 奥迪股份公司 | Method for running motor vehicle |
| CN107014391A (en) * | 2017-03-28 | 2017-08-04 | 驭势（上海）汽车科技有限公司 | Travel paths planing method, device and electronic equipment |
| CN107289925A (en) * | 2017-05-25 | 2017-10-24 | 北京奇鱼时代科技有限公司 | A kind of method and apparatus for drawing user trajectory |
| CN108981722A (en) * | 2017-05-31 | 2018-12-11 | 通用汽车环球科技运作有限责任公司 | The trajectory planning device using Bezier for autonomous driving |
| CN109491374A (en) * | 2017-09-12 | 2019-03-19 | 杭州海康机器人技术有限公司 | The track adjusting method and device of automatic guided vehicle |
| CN108398701A (en) * | 2017-10-20 | 2018-08-14 | 蔚来汽车有限公司 | Vehicle positioning method and device |
| CN107782316A (en) * | 2017-11-01 | 2018-03-09 | 北京旷视科技有限公司 | The track of destination object determines method, apparatus and system |
| CN107948932A (en) * | 2017-11-03 | 2018-04-20 | 温州鞋都网络科技有限公司 | Anti-lost monitoring system and method based on location data |
| CN108492564A (en) * | 2018-04-18 | 2018-09-04 | 山东省交通规划设计院 | The method and system of express-road vehicle running speed are measured based on road network |
| CN108846333A (en) * | 2018-05-30 | 2018-11-20 | 厦门大学 | Sign board landmark data collection generates and vehicle positioning method |
| CN108981702A (en) * | 2018-07-03 | 2018-12-11 | 浙江大学 | A kind of vehicle positioning method of multiposition joint particle filter |
| CN109240284A (en) * | 2018-08-10 | 2019-01-18 | 江苏大学 | A kind of autonomous paths planning method and device of unmanned agricultural machinery |
| CN109634270A (en) * | 2018-10-25 | 2019-04-16 | 丰疆智慧农业股份有限公司 | Operation-control system and job control method for unmanned agricultural machinery |
| CN109507700A (en) * | 2018-11-20 | 2019-03-22 | 南京华苏科技有限公司 | A method of vehicle is searched in specified region |
| CN109635692A (en) * | 2018-11-30 | 2019-04-16 | 禾多科技（北京）有限公司 | Scene based on ultrasonic sensor recognizer again |
| CN109508007A (en) * | 2018-12-11 | 2019-03-22 | 东南大学 | A kind of agricultural machinery track following, obstacle avoidance system and method based on Multi-source Information Fusion |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120076A (en) * | 2020-09-25 | 2021-07-16 | 丰疆智能(深圳)有限公司 | Automatic turning method of agricultural machine, automatic turning system of agricultural machine and application |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109154513B (en) | System and method for scout vehicle mapping | |
| NL2012485B1 (en) | Method and system for navigating an agricultural vehicle on a land area. | |
| US20190208695A1 (en) | Path Planning for Area Coverage | |
| CN109717175B (en) | Intelligent self-walking type spraying system for orchard and control method thereof | |
| CN108664543B (en) | Agricultural work support system | |
| US5974348A (en) | System and method for performing mobile robotic work operations | |
| EP3794919B1 (en) | Method and system for planning a path of a vehicle | |
| JP6332896B2 (en) | Work information extraction system and operation method of work information extraction system | |
| US20120271489A1 (en) | System and method of data sharing | |
| CN107544548A (en) | Control the method, apparatus and unmanned plane of unmanned machine operation | |
| CN107003675A (en) | The method that processing surface is surveyed and drawn for autonomous robot vehicle | |
| CN109035871A (en) | Unmanned aerial vehicle flight route planning method, device and system and intelligent terminal | |
| JP2003514268A (en) | Computer assisted agricultural system and method | |
| CN205455559U (en) | Automatic spray formula agricultural unmanned aerial vehicle | |
| WO1998021929A1 (en) | Scouting system for an agricultural field | |
| TWI765993B (en) | Device for supporting farm works | |
| JP2016095813A (en) | Work vehicle transfer system | |
| CN108801269A (en) | A kind of interior cloud Algorithms of Robots Navigation System and method | |
| CN107084737A (en) | Drainage pipeline networks inspection system and method based on AR outdoor scenes and Voice Navigation | |
| CN113608551A (en) | Unmanned agricultural machinery group cooperation system and application method thereof | |
| CN110243368A (en) | The driving trace of intelligent agricultural machinery establishes system and its application | |
| JP2019088217A (en) | Farm field work support terminal, farm field work machine and farm field work support program | |
| CN209749570U (en) | Orchard intelligence is from walking water-spraying system | |
| WO2023119871A1 (en) | Route-planning system and route-planning method for automatically traveling farm machine | |
| KR102423114B1 (en) | Unmanned vehicle autonomous driving system and method using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |