CN110262525B - Self-navigation control loop and method for farm machinery - Google Patents
Self-navigation control loop and method for farm machinery Download PDFInfo
- Publication number
- CN110262525B CN110262525B CN201910751631.XA CN201910751631A CN110262525B CN 110262525 B CN110262525 B CN 110262525B CN 201910751631 A CN201910751631 A CN 201910751631A CN 110262525 B CN110262525 B CN 110262525B
- Authority
- CN
- China
- Prior art keywords
- navigation control
- gnss
- self
- navigation
- control unit
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 27
- 238000005259 measurement Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000012271 agricultural production Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001504664 Crossocheilus latius Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control 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
Landscapes
- 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
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 fixation are set
Standby 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 respectively with the positioning signal reception unit, described defeated
Enter key to connect with the steering driving mechanism, the positioning signal reception unit respectively with the GNSS directional aerial and described
GNSS positions antenna connection；
Wherein, the positioning signal reception unit is for obtaining RTK signal, and positions antenna by the GNSS and obtain
GNSS positioning signal positions the mobile device according to the RTK signal and the GNSS positioning signal, generates first
Location information；The positioning signal reception unit is also used to obtain GNSS phasing signal, and root by the GNSS directional aerial
The farm machinery is oriented and is positioned according to the RTK signal, the GNSS positioning signal and the GNSS phasing signal,
Generate directed information and the second location information；
The input key records operation starting according to first location information for controlling the navigation control unit
Point and termination of job point, and obtain the working width of user's input；
The navigation control unit is used for raw according to the operation starting point, termination of job point and the working width
At self-navigation route, and according to the control of the self-navigation route, the directed information and second location information
Steering 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, is driven using self-navigation as described in the above technical scheme
It sails system and 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 institute
It states RTK signal and the GNSS positioning signal positions 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 is pressed by input
Key control navigation control unit records operation starting point and termination of job point according to first location information, and by described defeated
Enter the working width that user's input is obtained by navigation control unit described in key control；
When the mobile device is installed in fixed equipment, the positioning signal reception unit is oriented by the GNSS
Antenna obtains GNSS phasing signal, and according to the RTK signal, the GNSS positioning signal and the GNSS phasing signal to institute
It states farm machinery to be oriented and position, generates directed information and the second location information；
The navigation control unit generates certainly according to the operation starting point, termination of job point and the working width
Dynamic navigation routine, and controlled according to the self-navigation route, the directed information and second location information and turn to driving
Mechanism starts self-navigation and drives.
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 that the structural framing that the present invention is provided for the other embodiments of the self-navigation control loop of farm machinery shows
It is intended to；
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 operation according to the first location information for controlling navigation control unit 23
Terminating point, and obtain the working width of user's input；
Navigation control unit 23 is used to generate self-navigation road according to operation starting point, termination of job point and working width
Line, and steering driving mechanism 11 is controlled according to self-navigation route, directed information and the second location information, start self-navigation and drives
It sails.
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 according to the first location information for controlling navigation control unit 23
Point；
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 according to self-navigation route, directed information, the second location information and angle control
Steering driving mechanism 11 processed.
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, root
Mobile device is positioned according to RTK signal and GNSS positioning signal, generates the first location information；
S2, when user's handheld mobile device successively goes to operation starting point and termination of job point, user is pressed by input
Key control navigation control unit records operation starting point and termination of job point according to the first location information, and presses keying by input
Navigation control unit processed obtains the working width of user's input；
S3, when mobile device is installed in fixed equipment, positioning signal reception unit is obtained by GNSS directional aerial
GNSS phasing signal, and farm machinery is oriented and is determined according to RTK signal, GNSS positioning signal and GNSS phasing signal
Position generates directed information and the second location information；
S4, navigation control unit generate self-navigation route according to operation starting point, termination of job point and working width, and
Steering driving mechanism is controlled according to self-navigation route, directed information and the second location information, starts self-navigation and drives.
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 self-navigation driving, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751631.XA CN110262525B (en) | 2019-08-15 | 2019-08-15 | Self-navigation control loop and method for farm machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910751631.XA CN110262525B (en) | 2019-08-15 | 2019-08-15 | Self-navigation control loop and method for farm machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110262525A CN110262525A (en) | 2019-09-20 |
| CN110262525B true CN110262525B (en) | 2019-11-22 |
Family
ID=67912049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910751631.XA Active CN110262525B (en) | 2019-08-15 | 2019-08-15 | Self-navigation control loop and method for farm machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110262525B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN113899363B (en) | 2021-09-29 | 2022-10-21 | 北京百度网讯科技有限公司 | Vehicle positioning method and device and automatic driving vehicle |
| CN114482133B (en) * | 2022-03-04 | 2023-10-17 | 东莞市冀桥建材有限公司 | Automatic construction and assembly method for manhole cover in area |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7256388B2 (en) * | 2005-02-04 | 2007-08-14 | Novariant, Inc. | System and method for interactive selection of agricultural vehicle guide paths through a graphical user interface other than moving the vehicle |
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN208819049U (en) * | 2018-09-10 | 2019-05-03 | 青岛农业大学 | Automatic steering control of farm mechanism positioning and orienting device |
| CN109670719A (en) * | 2018-12-25 | 2019-04-23 | 雷沃重工股份有限公司 | A kind of the work planning method, apparatus and electronic equipment of agricultural equipment |
| CN109521778A (en) * | 2019-01-21 | 2019-03-26 | 雷沃重工股份有限公司 | A kind of agricultural machinery automatic driving vehicle intelligent management method and system |
| CN109724613A (en) * | 2019-01-21 | 2019-05-07 | 雷沃重工股份有限公司 | A kind of mobile terminal and control method containing navigation auxiliary automated driving system |
-
2019
- 2019-08-15 CN CN201910751631.XA patent/CN110262525B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110262525A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110262525B (en) | Self-navigation control loop and method for farm machinery | |
| US9002566B2 (en) | Visual, GNSS and gyro autosteering control | |
| US20220269263A1 (en) | Wireless Communication Terminal Device | |
| WO2019096264A1 (en) | Smart lawn mowing system | |
| EP3219184B1 (en) | Agricultural work vehicle | |
| CN105700533B (en) | Automatic driving of agricultural machinery control system and method based on Beidou navigation | |
| US6865465B2 (en) | Method and system for implement steering for agricultural vehicles | |
| CN105799776B (en) | Automatic driving of agricultural machinery farming control system and method based on Beidou navigation | |
| US20070198185A1 (en) | GNSS control system and method | |
| WO2015146778A1 (en) | Operation vehicle cooperation system | |
| CN108345299A (en) | Operation Van's wireless management system | |
| CN108958260A (en) | A kind of agricultural machinery automated driving system based on farm implements position | |
| CN108334083A (en) | A kind of automated driving system based on farm implements position | |
| JP7250849B2 (en) | Remote control system and autonomous working system | |
| WO2006062769A3 (en) | A self surveying laser transmitter | |
| CN109618886B (en) | Multi-tower vehicle synchronous walking control device and method | |
| JP2021040654A (en) | Autonomous traveling system of farm work vehicle | |
| CN114089650B (en) | Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things | |
| CN103196441A (en) | Spraying machine integrated navigation method and system of | |
| JP7387809B2 (en) | Automatic driving support device, work vehicle, and automatic driving method for work vehicle | |
| JPH09154308A (en) | Posture controlling device in working machine | |
| CN216930903U (en) | Safflower picking robot fuses navigation control system | |
| CN106546253B (en) | Farmland operation machinery path tracking device and tracking method thereof | |
| CN206388069U (en) | The fixed high system of Insecticide sprayer based on Big Dipper double antenna technology | |
| CN203163740U (en) | Integrated navigation system of spraying machine |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 261206 No. 192 South Beihai Road, Fangzi District, Shandong, Weifang Patentee after: Weichai leiwo Heavy Industry Co.,Ltd. Address before: 261206 No. 192 South Beihai Road, Fangzi District, Shandong, Weifang Patentee before: LOVOL HEAVY INDUSTRY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 261206 No. 192 South Beihai Road, Fangzi District, Shandong, Weifang Patentee after: Weichai Lovol Intelligent Agricultural Technology Co.,Ltd. Address before: 261206 No. 192 South Beihai Road, Fangzi District, Shandong, Weifang Patentee before: Weichai leiwo Heavy Industry Co.,Ltd. |