CN110262525A - Self-navigation control loop and method for farm machinery - Google Patents

Self-navigation control loop and method for farm machinery Download PDF

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Publication number
CN110262525A
CN110262525A CN201910751631.XA CN201910751631A CN110262525A CN 110262525 A CN110262525 A CN 110262525A CN 201910751631 A CN201910751631 A CN 201910751631A CN 110262525 A CN110262525 A CN 110262525A
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China
Prior art keywords
navigation control
gnss
navigation
self
control unit
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CN201910751631.XA
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CN110262525B (en
Inventor
李金良
王进
高阳
梅国涛
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Weichai Lovol Intelligent Agricultural Technology Co Ltd
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Lovol Heavy Industry Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The invention discloses the self-navigation control loops and method for farm machinery, are related to field of agricultural machinery.The system includes: fixed equipment and mobile device, and fixed equipment includes: steering driving mechanism and GNSS directional aerial;Mobile device includes: input key, GNSS positioning antenna, navigation control unit and positioning signal reception unit;Navigation control unit is connect with positioning signal reception unit, input key and steering driving mechanism respectively, and positioning signal reception unit is connect with GNSS directional aerial and GNSS positioning antenna respectively.The present invention, which can be avoided driver and drive farm machinery sky and run one and enclose, is arranged working path, and reduction rolls the unnecessary of field.Simultaneously as can not need display terminal by inputting record of keys operation starting point and ending point and be shown, composition device can be reduced, therefore cost is relatively low for this system, and have the advantages that easy to operate, practical, applicability is wide, convenient for popularization.

Description

Self-navigation control loop and method for farm machinery
Technical field
The present invention relates to field of agricultural machinery, more particularly, to the self-navigation control loop and method of farm machinery.
Background technique
Farm machinery navigation automated driving system is at home and abroad widely used in agricultural equipment, conduct Precision agriculture basic platform technology all played an important role ploughing the links such as whole, sowing, rice transplanting, field management, harvest.
Currently, the automated driving system of farm machinery is by farm machinery pilot steering in user to behind operating area, By the setting end of automated driving system, after the parameters such as working path are set, starts automatic Pilot, carry out agricultural operation.And it sets The mode for setting working path is mainly that driver drives farm machinery along needing the path of operation to make a journey for nothing, and is run in sky same When manual operation be arranged end, acquire path on coordinate points recorded, complete path setting.
However, driving farm machinery sky runs a circle, the activity duration is not only wasted, is also easy to cause ground unnecessary stone roller Pressure, is unfavorable for plant growth.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide it is a kind of for farm machinery from Dynamic navigation control loop and method.
The technical scheme to solve the above technical problems is that
A kind of self-navigation control loop for farm machinery, comprising: fixed equipment and mobile device, the fixed equipment packet It includes: steering driving mechanism and GNSS directional aerial;The mobile device includes: input key, GNSS positioning antenna, Navigation Control Unit and positioning signal reception unit;The navigation control unit is pressed with the positioning signal reception unit, the input respectively Key is connected with the steering driving mechanism, the positioning signal reception unit respectively with the GNSS directional aerial and the GNSS Position antenna connection;
Wherein, the positioning signal reception unit is for obtaining RTK signal, and positions antenna acquisition GNSS by the GNSS and determine Position signal, positions the mobile device according to the RTK signal and the GNSS positioning signal, generates the first positioning letter Breath;The positioning signal reception unit is also used to obtain GNSS phasing signal by the GNSS directional aerial, and according to described RTK signal, the GNSS positioning signal and the GNSS phasing signal are oriented and position to the farm machinery, and it is fixed to generate To information and the second location information;
The input key for control the navigation control unit according to first location information record operation starting point and Termination of job point, and obtain the working width of user's input;
The navigation control unit is used to be generated certainly according to the operation starting point, termination of job point and the working width Dynamic navigation routine, and the steering is controlled according to the self-navigation route, the directed information and second location information Driving mechanism starts self-navigation and drives.
The beneficial effects of the present invention are: passing through use provided by the present invention for the self-navigation control loop of farm machinery Family handheld mobile device carries out positioning record to the starting point and ending point for needing to carry out agricultural operation field, and operation width is arranged Width, generates self-navigation route, then mobile device is mounted in fixed equipment, and self-navigation control loop according to leading automatically Air route line starts self-navigation and drives, and can be avoided driver and drives one circle setting working path of farm machinery sky race, reduction pair The unnecessary of field rolls.Simultaneously as display can not needed eventually by inputting record of keys operation starting point and ending point End is shown, can reduce composition device, therefore cost is relatively low for this system, and have the advantages that easy to operate, practicability By force, applicability is wide, convenient for promoting.
The another technical solution that the present invention solves above-mentioned technical problem is as follows:
A kind of self-navigation drive manner for farm machinery drives system using self-navigation as described in the above technical scheme System carries out automatic Pilot navigation, comprising:
Positioning signal reception unit obtains RTK signal, and positions antenna by GNSS and obtain GNSS positioning signal, according to described RTK signal and the GNSS positioning signal position mobile device, generate the first location information;
When user, which holds the mobile device, successively goes to operation starting point and termination of job point, user presses keying by input Navigation control unit processed records operation starting point and termination of job point according to first location information, and is pressed by the input Navigation control unit described in key control obtains the working width of user's input;
When the mobile device is installed in fixed equipment, the positioning signal reception unit passes through the GNSS directional aerial GNSS phasing signal is obtained, and according to the RTK signal, the GNSS positioning signal and the GNSS phasing signal to the agriculture It is oriented and is positioned with machinery, generate directed information and the second location information;
The navigation control unit is led automatically according to the generation of the operation starting point, termination of job point and the working width Air route line, and steering driving mechanism is controlled according to the self-navigation route, the directed information and second location information, Start self-navigation to drive.
The advantages of additional aspect of the invention, will be set forth in part in the description, and will partially become from the following description It obtains obviously, or practice is recognized through the invention.
Detailed description of the invention
Fig. 1 is the structural framing signal that the present invention is provided for the embodiment of the self-navigation control loop of farm machinery Figure;
Fig. 2 is the structural framing signal that the present invention is provided for the other embodiments of the self-navigation control loop of farm machinery Figure;
Fig. 3 is the flow diagram that the present invention is provided for the embodiment of the self-navigation drive manner of farm machinery.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and illustrated embodiment is served only for explaining the present invention, It is not intended to limit the scope of the present invention.
As shown in Figure 1, the structural frames provided for the present invention for the embodiment of the self-navigation control loop of farm machinery Frame schematic diagram, the self-navigation control loop include: fixed equipment 10 and mobile device 20, and fixed equipment 10 includes: to turn to drive Motivation structure 11 and GNSS directional aerial 12;Mobile device 20 includes: input key 21, GNSS positioning antenna 22, Navigation Control list Member 23 and positioning signal reception unit 24;Navigation control unit 23 respectively with positioning signal reception unit 24, input key 21 and Steering driving mechanism 11 connects, and positioning signal reception unit 24 connects with GNSS directional aerial 12 and GNSS positioning antenna 22 respectively It connects.
It should be understood that the equipment that fixed equipment 10 can be used for agricultural production for seeder, harvester, rice transplanter etc..Except turn It should also include ontology, dynamical system, necessary mechanical structure etc., these categories to outside driving mechanism 11 and GNSS directional aerial 12 In the prior art, details are not described herein.
Mobile device 20 can be connect by interface with steering driving mechanism 11 and GNSS directional aerial 12, for example, turning to The data transmission port of driving mechanism 11 can be connect with the interface of the types such as USB, the data transmission terminal of navigation control unit 23 It mouthful can also be connect with the interface of the types such as identical USB, steering driving mechanism 11 and navigation control unit 23 can pass through USB Interface is attached.
In another example mobile device 20 can also be connect by way of wireless connection with steering driving mechanism 11, for example, moving It is also provided with wireless communication module in dynamic equipment 20, identical and preparatory as its agreement is provided in fixed equipment 10 The wireless communication module matched, when mobile device 20 enters the communication range of wireless communication module, for example, 11 He of steering driving mechanism Navigation control unit 23 module can realize wireless communication connection by wireless communication.Wireless communication module can be with are as follows: bluetooth mould Block, Zigbee module or WiFi module, NFC module etc..
It should be understood that when mobile device 20 is attached by the way of physical interface with fixed equipment 10, fixed equipment 10 should be provided with fixing piece, for fixing mobile device 20, can connect with the physical interface of fixed equipment 10, work as movement When equipment 20 is attached by the way of wireless communication module with fixed equipment 10, as long as user brings mobile device 20 into nothing In the communication range of line communication module, do not need to be fixed in fixed equipment 10.
Steering driving mechanism 11 may include electric steering wheel, electric proportional hydraulic valve etc., these automatically controlled steering driving machines Structure 11 all has control signal input mouth, and navigation control unit 23 can specifically be believed with the control of these steering driving mechanisms 11 The connection of number input port.
It is appreciated that terminal device should be provided with shell, navigation control unit 23 and positioning signal reception unit 24 can Inside to be fixed on shell in the form of integrated circuit board or chip etc., inputting key 21 and GNSS positioning antenna 22 can be set In the outer surface of shell, physical button can be arranged to according to actual needs by inputting key 21, and touch screen sense also can be set into Answer formula key.
Wherein, positioning signal reception unit 24 is for obtaining RTK signal, and positions the acquisition of antenna 22 GNSS by GNSS and determine Position signal, positions mobile device 20 according to RTK signal and GNSS positioning signal, generates the first location information;Positioning letter Number receiving unit 24 is also used to obtain GNSS phasing signal by GNSS directional aerial 12, and according to RTK signal, GNSS positioning letter Number and GNSS phasing signal farm machinery is oriented and is positioned, generate directed information and the second location information;
Input key 21 records operation starting point and the termination of job according to the first location information for controlling navigation control unit 23 Point, and obtain the working width of user's input;
Navigation control unit 23 is used to generate self-navigation route according to operation starting point, termination of job point and working width, and Steering driving mechanism 11 is controlled according to self-navigation route, directed information and the second location information, starts self-navigation and drives.
It should be noted that RTK signal is issued by RTK base station, positioning signal reception unit 24 is obtaining GNSS positioning After signal, is handled, realized to mobile device 20 in real time according to RTK signal and GNSS positioning signal composition difference observation Centimeter-level positioning.
Optionally, RTK base station obtains GNSS satellite letter by Beidou GNSS satellite first before issuing RTK signal Number, the satellite raw observation and observation station coordinates of the base station RTK are obtained, coarse positioning data are obtained, it then will be in coarse positioning data Preset network RTK platform is passed to, the differential data for then obtaining the coarse positioning data that network RTK platform issues gives the base station RTK, The base station RTK carries out positioning calculation according to satellite raw observation, observation station coordinates and differential data, obtains the high-precision of the base station RTK Position coordinates and differential corrections fixed solution are spent, then using high precision position coordinate and differential corrections fixed solution as RTK signal, hair Give mobile device 20.
Self-navigation control loop provided in this embodiment for farm machinery, it is right by user's handheld mobile device 20 The starting point and ending point for needing to carry out agricultural operation field carries out positioning record, and working width is arranged, and generates self-navigation Then mobile device 20 is mounted in fixed equipment 10 by route, self-navigation control loop starts according to self-navigation route Self-navigation drive, can be avoided driver drive farm machinery sky run one circle setting working path, reduce to field need not It rolls.Simultaneously as operation starting point and ending point can be recorded by input key 21, does not need display terminal and shown Show, composition device can be reduced, therefore cost is relatively low for this system, and has the advantages that easy to operate, practical, applicability Extensively, convenient for popularization.
As shown in Fig. 2, the knot provided for the present invention for the other embodiments of the self-navigation control loop of farm machinery Structure block schematic illustration is illustrated some optional embodiments of the present invention below with reference to Fig. 2.
Optionally, in some embodiments, mobile device 20 can also include: Inertial Measurement Unit 25, inertia measurement list Member 25 is connect with navigation control unit 23, for obtaining the 3-axis acceleration and three axis angular rates of mobile device 20;
Navigation control unit 23 is also used to compensate the first location information according to 3-axis acceleration and three axis angular rates.
It should be understood that navigation control unit 23 calculates bowing for mobile device 20 especially by 3-axis acceleration and three axis angular rates The elevation angle and roll angle calculate offset according to the terrain clearance that pitch angle, roll angle and GNSS position antenna 22, further according to compensation Value compensates.
It should be noted that assuming that height H of the GNSS positioning antenna 22 apart from ground is 200cm, then working as mobile device When 20 tilt angle theta is 1 °, according to triangle relation, it is 200*sin(1 that deviations, which can be calculated)=3.5cm, if Mobile device 20 is not compensated, then will lead to deviation occur.
By compensating to the first location information, measurement accuracy can be improved.
Optionally, in some embodiments, input key 21 may include: the first positioning key, second positioning key and Breadth setting button, the first positioning key, the second positioning key and breadth setting button are connect with navigation control unit 23 respectively;
Wherein, the first positioning key records operation starting point according to the first location information for controlling navigation control unit 23;
Second positioning key records termination of job point according to the first location information for controlling navigation control unit 23;
Breadth setting button is used to obtain the working width of user's input.
For example, the first positioning key is pressed after user's handheld mobile device 20 goes to the starting point in operation field, then A control signal will be generated, after navigation control unit 23 receives the control signal, it is current to trigger corresponding program record The location information of position, as operation starting point.
In another example user is after setting up operation starting point and termination of job point, it can be by by breadth setting button Working width is arranged in number, for example, user presses 5 keys, then working width can be 5 decimeters.
Operation starting point, termination of job point and working width are set by physical button, can be improved being applicable in for this system Property, agricultural production operation usually in field because, it is in the prior art by the way of touch screen and impracticable and at high cost It is high.For example, touch screen is easy to splash soil in production, causes touch screen insensitive or accidentally touch, and in agricultural production, it uses The hand at family can also be infected with soil etc., use touch display screen in this case, and it is insensitive or unresponsive reaction usually occur Situation causes practicability very poor.
And operation starting point, termination of job point and working width are configured by the present invention by physical button, are avoided When the agricultural operation of field, using the inconvenience of touch screen, cost is also reduced, and can arbitrarily move, compared to tradition in agriculture It is more flexible and convenient with the mode mechanically used.
Optionally, in some embodiments, input key 21 can also include: start button, and start button and navigation are controlled Unit 23 processed connects, and starts self-navigation for controlling navigation control unit 23.
It should be understood that generating enabled instruction after user presses start button, navigation control unit 23 receives enabled instruction Afterwards, farm machinery automatic Pilot and steering are controlled according to scheduled self-navigation route.
Optionally, in some embodiments, input key 21 can also include: network switching key, network switching key It is connect with positioning signal reception unit 24, for controlling 24 handover network standard of positioning signal reception unit.
It should be understood that RTK signal broadcast mode can by 4G network or radio station network, can also by 5G network, when After user presses network switching key, switching command is generated, after positioning signal reception unit 24 receives switching command, will be communicated Link is converted, and the communication module for switching to another is communicated.
By the way that network switching key is arranged, other communication networks can be switched in the case where present communications network is poor and obtained RTK signal is taken, the robustness of positioning is improved.
Optionally, in some embodiments, input key 21 can also include: correcting key, and correcting key and navigation are controlled Unit 23 processed connects, in the self-navigation driving procedure of farm machinery, controlling navigation control unit 23 for self-navigation The target position of farm machinery is corrected to the current location of farm machinery in route.
It should be noted that being likely encountered rock, irrigating facility etc. no because field is not usually completely the same landform It is suitble to the region of operation, then farm machinery can be got around into the region by driver after farm machinery is driven to the region, By correcting key, the target position in self-navigation route is corrected to the current location of farm machinery.
Optionally, in some embodiments, mobile device 20 can also include: at least two indicator lights, each indicator light It is connect respectively with navigation control unit 23 and/or positioning signal reception unit 24, for showing navigation control unit 23 and/or determining The working condition of position signal receiving unit 24.
For example, indicator light may include: press key lamp, electricity lamp, RTK lamp, status lamp etc., and by taking press key lamp as an example, press key lamp It can be connect with navigation control unit 23, after single user presses input case, navigation control unit 23 receives control instruction, so Control button lamp lights afterwards, to prompt the behavior of user key-press to come into force, provides visual feedback.
Optionally, in some embodiments, the fixing piece for holding movable equipment 20 can be set in fixed equipment 10, Gu Determine to be provided with the first communication interface and the second communication interface on part, positioning signal reception unit 24 is especially by the first communication interface It is connect with GNSS directional aerial 12, navigation control unit 23 is connect especially by the second communication interface with steering driving mechanism 11.
It should be understood that communication interface can be arranged according to actual needs, for example, can be serial ports 232, serial ports 485, Ethernet Interface, gpib interface, USB interface, wireless interface, optical fiber interface etc..
First communication interface and the second communication interface may be the same or different.
For example, fixing piece can be groove identical as 20 shape of mobile device but more bigger than mobile device 20, in groove It is extended with the connector connecting with GNSS directional aerial 12 and steering driving mechanism 11 by data line, is set on 20 shell of mobile device It is equipped with interface identical and matched with the connector communication protocol, when mobile device 20 is placed in a groove, connector can be inserted In incoming interface, the communication connection of mobile device 20 and fixed equipment 10 is realized.
Preferably, buckle has can be set in groove surrounding, can also be recessed for mobile device 20 to be fixed in groove Switchable baffle is arranged in groove top portion, after mobile device 20 is put into groove, shuts baffle, mobile device 20 is made to be fixed on groove It is interior.
It should be understood that the concrete form and structure of fixing piece can be arranged in those skilled in the art according to actual needs.
Optionally, in some embodiments, fixed equipment 10 can also include: angle measuring unit 13, angle measurement list Member 13 is connect with navigation control unit 23, the angle of deflecting roller of the angle measuring unit 13 for acquiring farm machinery in real time;
Navigation control unit 23 is specifically used for being turned according to the control of self-navigation route, directed information, the second location information and angle To driving mechanism 11.
It should be noted that navigation control unit 23 is mainly believed according to self-navigation route, directed information and the second positioning Breath control steering driving mechanism 11 can turn to driving by control after detecting that farm machinery deviates automatic navigation routine Mechanism 11 adjusts the angle of deflecting roller in time, farm machinery is made to return to self-navigation route.
By detecting steered wheel angle, tracking feedback control can be carried out convenient for the travel route of farm machinery, improved certainly The precision of dynamic navigation.
It should be noted that the angle measuring unit 13 of fixed equipment 10 can also be controlled by the second communication interface and navigation Unit 23 processed connects.
It is appreciated that in some embodiments, may include such as implementation optional some or all of in the various embodiments described above Mode.
As shown in figure 3, showing for the process that the present invention is provided for the embodiment of the self-navigation drive manner of farm machinery It is intended to, which carries out automatic Pilot using the self-navigation control loop as described in above-mentioned any embodiment Navigation, comprising:
S1, positioning signal reception unit obtains RTK signal, and positions antenna by GNSS and obtain GNSS positioning signal, according to RTK Signal and GNSS positioning signal position mobile device, generate the first location information;
S2, when user's handheld mobile device successively goes to operation starting point and termination of job point, user presses keying by input Navigation control unit processed records operation starting point and termination of job point according to the first location information, and is led by inputting by key control Control unit of navigating obtains the working width of user's input;
S3, when mobile device is installed in fixed equipment, positioning signal reception unit obtains GNSS by GNSS directional aerial Phasing signal, and farm machinery is oriented and is positioned according to RTK signal, GNSS positioning signal and GNSS phasing signal, it is raw At directed information and the second location information;
S4, navigation control unit according to operation starting point, termination of job point and working width generate self-navigation route, and according to Self-navigation route, directed information and the second location information control steering driving mechanism, start self-navigation and drive.
It should be noted that above-described embodiment is embodiment of the method corresponding with first product embodiments, for method reality The explanation for applying example can be with reference to above-mentioned each product embodiments pair it should be noted that details are not described herein.
Reader should be understood that in the description of this specification reference term " one embodiment ", " is shown " some embodiments " The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure, Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown The statement of meaning property need not be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples Sign is combined.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, embodiment of the method described above is only schematical, for example, the division of step, only A kind of logical function partition, there may be another division manner in actual implementation, such as multiple steps can combine or can be with It is integrated into another step, or some features can be ignored or not executed.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions, These modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be wanted with right Subject to the protection scope asked.

Claims (10)

1. a kind of self-navigation control loop for farm machinery characterized by comprising fixed equipment and mobile device, The fixed equipment includes: steering driving mechanism and GNSS directional aerial;The mobile device includes: input key, GNSS fixed Position antenna, navigation control unit and positioning signal reception unit;The navigation control unit respectively with the positioning signal reception Unit, the input key are connected with the steering driving mechanism, and the positioning signal reception unit is fixed with the GNSS respectively It is connected to antenna with GNSS positioning antenna;
Wherein, the positioning signal reception unit is for obtaining RTK signal, and positions antenna acquisition GNSS by the GNSS and determine Position signal, positions the mobile device according to the RTK signal and the GNSS positioning signal, generates the first positioning letter Breath;The positioning signal reception unit is also used to obtain GNSS phasing signal by the GNSS directional aerial, and according to described RTK signal, the GNSS positioning signal and the GNSS phasing signal are oriented and position to the farm machinery, and it is fixed to generate To information and the second location information;
The input key for control the navigation control unit according to first location information record operation starting point and Termination of job point, and obtain the working width of user's input;
The navigation control unit is used to be generated certainly according to the operation starting point, termination of job point and the working width Dynamic navigation routine, and the steering is controlled according to the self-navigation route, the directed information and second location information Driving mechanism starts self-navigation and drives.
2. self-navigation control loop according to claim 1, which is characterized in that the mobile device further include: inertia Measuring unit, the Inertial Measurement Unit are connect with the navigation control unit, and three axis for obtaining the mobile device add Speed and three axis angular rates;
The navigation control unit is also used to believe first positioning according to the 3-axis acceleration and three axis angular rate Breath compensates.
3. self-navigation control loop according to claim 1 or 2, which is characterized in that the input key includes: first Position key, the second positioning key and breadth setting button, the first positioning key, the second positioning key and the width Wide setting button is connect with the navigation control unit respectively;
Wherein, the first positioning key records operation according to first location information for controlling the navigation control unit Starting point;
The second positioning key records the termination of job according to first location information for controlling the navigation control unit Point;
The breadth setting button is used to obtain the working width of user's input.
4. self-navigation control loop according to claim 3, which is characterized in that the input key further include: starting Key, the start button are connect with the navigation control unit, start self-navigation for controlling the navigation control unit.
5. self-navigation control loop according to claim 3, which is characterized in that the input key further include: network Switching key, the network switching key is connect with the positioning signal reception unit, for controlling the positioning signal reception Unit handover network standard.
6. self-navigation control loop according to claim 3, which is characterized in that the input key further include: correction Key, the correcting key are connect with the navigation control unit, for the self-navigation driving procedure in the farm machinery In, the navigation control unit, which is controlled, by the target position of farm machinery described in the self-navigation route is corrected to the agriculture With mechanical current location.
7. self-navigation control loop according to claim 1, which is characterized in that the mobile device further include: at least Two indicator lights, each indicator light are connect with the navigation control unit and/or the positioning signal reception unit respectively, For showing the working condition of the navigation control unit and/or the positioning signal reception unit.
8. self-navigation control loop according to claim 1, which is characterized in that the fixed equipment is provided with for putting The fixing piece of the mobile device is set, the first communication interface and the second communication interface, the positioning are provided on the fixing piece Signal receiving unit is connect especially by first communication interface with the GNSS directional aerial, the navigation control unit tool Body is connect by second communication interface with the steering driving mechanism.
9. self-navigation control loop according to claim 1, which is characterized in that the fixed equipment further include: angle Measuring unit, the angle measuring unit are connect with the navigation control unit, and the angle measuring unit for acquiring in real time The angle of the deflecting roller of the farm machinery;
The navigation control unit is specifically used for being believed according to the self-navigation route, the directed information, second positioning Breath and the angle control the steering driving mechanism.
10. a kind of self-navigation drive manner for farm machinery, which is characterized in that using any in such as claim 1 to 9 Self-navigation control loop described in carries out automatic Pilot navigation, comprising:
Positioning signal reception unit obtains RTK signal, and positions antenna by GNSS and obtain GNSS positioning signal, according to described RTK signal and the GNSS positioning signal position mobile device, generate the first location information;
When user, which holds the mobile device, successively goes to operation starting point and termination of job point, user presses keying by input Navigation control unit processed records operation starting point and termination of job point according to first location information, and is pressed by the input Navigation control unit described in key control obtains the working width of user's input;
When the mobile device is installed in fixed equipment, the positioning signal reception unit passes through the GNSS directional aerial GNSS phasing signal is obtained, and according to the RTK signal, the GNSS positioning signal and the GNSS phasing signal to the agriculture It is oriented and is positioned with machinery, generate directed information and the second location information;
The navigation control unit is led automatically according to the generation of the operation starting point, termination of job point and the working width Air route line, and steering driving mechanism is controlled according to the self-navigation route, the directed information and second location information, Start self-navigation to drive.
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CN112740878A (en) * 2020-12-29 2021-05-04 黑龙江惠达科技发展有限公司 Control system and method for single-person operated rice transplanter
CN113120068A (en) * 2021-05-17 2021-07-16 上海联适导航技术股份有限公司 Automatic drive agricultural machinery and have steering wheel of button control function
CN113899363A (en) * 2021-09-29 2022-01-07 北京百度网讯科技有限公司 Vehicle positioning method and device and automatic driving vehicle
CN114475768A (en) * 2020-10-28 2022-05-13 西安合众思壮导航技术有限公司 Automatic driving system and method and electric steering wheel
CN114482133A (en) * 2022-03-04 2022-05-13 东莞市冀桥建材有限公司 Automatic construction and assembly method for well cover in area

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