CN110285790A - Agricultural machinery terrain detection system and motion control method - Google Patents
Agricultural machinery terrain detection system and motion control method Download PDFInfo
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- CN110285790A CN110285790A CN201811634731.6A CN201811634731A CN110285790A CN 110285790 A CN110285790 A CN 110285790A CN 201811634731 A CN201811634731 A CN 201811634731A CN 110285790 A CN110285790 A CN 110285790A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present invention provides a kind of intelligent agricultural machinery terrain detection and motion control method, for enabling an intelligent agricultural machinery to clamp landform and controlling its movement according to testing result, the terrain detection and motion control method are the following steps are included: obtain the distance between stop place to job site as running section；Acquire the landform on running section；According to the landform and operating range setting travel speed and travel route on running section 20.
Description
Technical field
The present invention relates to intelligent agricultural machinery application field more particularly to the terrain detection systems and movement control of a kind of intelligent agricultural machinery
Method processed, to enable intelligent agricultural machinery that different movement techniques to be arranged according to different landform.
Background technique
Agricultural intelligent system is a set of advanced system that Modernized Informatization Management is applied to agricultural production, gets rid of tradition
Artificial mode, treat positioning of the operation field in farm using network implementations, and can be realized to its timing, quantitative
Real-time operation and management, agricultural intelligent system not only largely transferred the productivity of soil, moreover it is possible to efficient land productivity
With all kinds of agricultural resources.
Currently, the agricultural machinery intelligent level in China realizes unprecedented leap, made by manual drive agricultural machinery before
Industry becomes intelligent driving agricultural machinery and carries out agricultural operation.But still there are many problems not to be resolved.Such as existing
In technology, carried out with moving to target although agricultural machine can be controlled by aptitude manners such as automatic Pilot or remote drivings,
Due to the complicated multiplicity of the concrete condition in farmland, such as paddy field, dry land, such as the factors such as spring sowing, autumn planting, such as Plain, mountainous region, all
Different farmlands even same farmland is affected in the concrete condition of Various Seasonal, and agricultural machine in the prior art is not
It can implement different motion modes according to different farmland situations, but identical motor pattern is used to travel in different farmlands
In, this necessarily leads to very big influence, also, the resistance due to different farmland situations to travel speed to the service life of agricultural machinery
Power is not identical, therefore identical motor pattern is used in different farmlands, also the arrival time etc. to agricultural machinery can generate shadow
It rings, then influences the subsequent job arrangement in farmland.
Summary of the invention
Main advantage of the invention is that it provides a kind of intelligent agricultural machinery terrain detection and motion control method, is used for an intelligence
Energy agricultural machinery, wherein the intelligent agricultural machinery terrain detection and motion control method, which can obtain it, stops place between job site
Distance, consequently facilitating acquiring the landform etc. on section.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein the intelligence
Energy agricultural machinery terrain detection and motion control method can obtain the landform on running section, to enable the intelligent agricultural machinery root
Different driving parameters are set according to different landform.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein the intelligence
The method that energy agricultural machinery terrain detection and motion control method mainly pass through shooting obtains the landform on running section, thus raising pair
The accuracy that landform acquires on running section.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein the intelligence
Energy agricultural machinery terrain detection and motion control method can use the ground that obtain on running section by different sensor combinations
Shape, to further increase the mode that the intelligent agricultural machinery obtains landform.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein the intelligence
The travel route of optimization can be provided in energy agricultural machinery terrain detection and motion control method according to the landform on running section, from
And improve the intelligence degree of the intelligent agricultural machinery.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein the intelligence
Travel speed can be arranged on determining travel route in energy agricultural machinery terrain detection and motion control method, to further increase
The intelligence degree of the intelligent agricultural machinery.
Main advantage of the invention is to provide a kind of intelligent agricultural machinery terrain detection and motion control method, wherein described
It, can be according to the different terrain and the factors such as varying environment on travel route in intelligent agricultural machinery terrain detection and motion control method
Different travel speeds are set, to keep the intelligent agricultural machinery more flexible.
It is a kind of suitable for the intelligent agricultural machinery terrain detection and motion control method that another advantage of the present invention is that it is provided
Intelligent agricultural machinery terrain detection and kinetic control system, wherein including in the intelligent agricultural machinery terrain detection and kinetic control system
One data obtaining module stops the distance between place to job site so as to obtain it.
Another advantage of the present invention is to provide a kind of intelligent agricultural machinery terrain detection and kinetic control system, wherein the intelligence
It include a landform acquisition module in energy agricultural machinery terrain detection and kinetic control system, so that the intelligent agricultural machinery be enable to collect
Landform on its section that will be travelled.
Another advantage of the present invention is to provide a kind of intelligent agricultural machinery terrain detection and kinetic control system, wherein the intelligence
Energy agricultural machinery terrain detection and kinetic control system can acquire the ground on the intelligent agricultural machinery running section by way of shooting
Shape, to improve the intelligent agricultural machinery for the collection accuracy of landform.
Another advantage of the present invention is to provide a kind of intelligent agricultural machinery terrain detection and kinetic control system, wherein the intelligence
Energy agricultural machinery terrain detection and kinetic control system can determine the traveling road of the intelligent agricultural machinery according to the landform on running section
Line, so that the intelligent agricultural machinery be made to select optimal travel route.
Another advantage of the present invention is to provide a kind of intelligent agricultural machinery terrain detection and kinetic control system, wherein the intelligence
Energy agricultural machinery terrain detection and kinetic control system can determine a kind of according to the different terrain on the intelligent agricultural machinery running section
The combination of constant travel speed or a variety of different travel speeds, so that the energy consumption of the intelligent agricultural machinery is not only reduced,
And the working efficiency of the intelligent agricultural machinery can also be improved, therefore the intelligent journey of the intelligent agricultural machinery can be further increased
Degree.
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.
According to the present invention, the present invention that can be realized foregoing purpose and other purposes and advantage includes: a kind of intelligent agricultural machinery
Shape detection and motion control method, for so that an intelligent agricultural machinery is detected landform and control according to testing result its into
Row movement, the described method comprises the following steps:
1001: obtaining the running section of the intelligent agricultural machinery；
1002: acquiring the landform on the running section；
1003: according to the landform setting travel speed and travel route on the running section.
In wherein some embodiments, the step 1001 is further included steps of
10011: the intelligent agricultural machinery obtains the positioning of its job site；
10012: the intelligent agricultural machinery obtains its positioning for stopping place；
10013: the intelligent agricultural machinery obtains job site and stops the distance between place as the running section with it.
In wherein some embodiments, in the step 1002, pass through the landform on running section described in shooting, collecting.
In wherein some embodiments, in the step 1002, the traveling is acquired by one or more sensors
Landform on section.
In wherein some embodiments, the step 1002 further comprises step:
10021: opening the camera system of the intelligent agricultural machinery；
10022: setting the running parameter of the camera system；
10023: landform and the storage on the running section are obtained by the camera system.
In wherein some embodiments, in the step 10022, the running parameter of the camera system includes but unlimited
In coverage, shooting angle, shooting time and screening-mode.
In wherein some embodiments, the step 1003 further comprises:
10031: travel route is arranged according to the landform of the running section；
10032: travel speed is determined according to travel route；
10033: controlling the intelligent agricultural machinery and travelled according to the travel route and travel speed of setting to job site.
Correspondingly, the present invention further provides an intelligent agricultural machinery terrain detection and kinetic control system, the intelligent agricultural machineries
Terrain detection and kinetic control system communications setting are in above-mentioned intelligent agricultural machinery and for completing above-mentioned intelligent agricultural machinery landform inspection
It surveys and motion control method, the intelligent agricultural machinery terrain detection and kinetic control system includes an at least data obtaining module, institute
Data obtaining module is stated to be used to make the intelligent agriculture in the intelligent agricultural machinery terrain detection and kinetic control system by communications setting
Machine can obtain information.
It further comprise an at least landform acquisition module in wherein some embodiments, the landform acquisition module is led to
Letter is set to the intelligent agricultural machinery terrain detection and kinetic control system for enabling the intelligent agricultural machinery to acquire landform.
It further comprise at least one traveling setup module in wherein some embodiments, the traveling setup module is led to
Letter be set to the intelligent agricultural machinery terrain detection and kinetic control system for enable the intelligent agricultural machinery to driving parameters into
Row setting.
In wherein some embodiments, wherein the data obtaining module includes an at least MIM message input module, the letter
Breath input module is by communications setting in the data obtaining module so that the intelligent agricultural machinery can receive the input of information.
In wherein some embodiments, the data obtaining module further comprises an at least locating module, the positioning
Module is by communications setting in the data obtaining module for enabling the intelligent agricultural machinery to be determined its present position.
In wherein some embodiments, the data obtaining module further comprises an at least message processing module, described
Message processing module by communications setting in the data obtaining module for enable the intelligent agricultural machinery to obtained information into
Row processing.
In wherein some embodiments, the landform acquisition module includes an at least shooting module and a starting module, institute
Shooting module and the starting module is stated to be used to enable the intelligent agricultural machinery respectively in the landform acquisition module by communications setting
Enough starts and shoot.
In wherein some embodiments, the landform acquisition module further comprises an at least parameter setting module, described
Parameter setting module acquires mould by the landform of the communications setting in the intelligent agricultural machinery terrain detection and kinetic control system
Block is simultaneously communicated to connect with the shooting module, for enabling the intelligent agricultural machinery to carry out the acquisition parameters of the shooting module
Setting.
In wherein some embodiments, the terrain detection module further comprises an at least data memory module, described
Data memory module acquires mould by the landform of the communications setting in the intelligent agricultural machinery terrain detection and kinetic control system
Block is simultaneously communicated to connect with the shooting module, can store the data of shooting for the intelligent agricultural machinery.
In wherein some embodiments, the traveling setup module includes that an at least route setup module, the route is set
Module is set by the traveling setup module of the communications setting in the intelligent agricultural machinery terrain detection and kinetic control system so that
The intelligent agricultural machinery can be configured its travel route.
In wherein some embodiments, the traveling setup module further comprises an at least speed setup module, described
Mould is arranged by the traveling of the communications setting in the intelligent agricultural machinery terrain detection and kinetic control system in speed setup module
Block is for enabling the intelligent agricultural machinery to be configured its travel speed.
In wherein some embodiments, wherein the traveling setup module further comprises at least one traveling module, it is described
Module is travelled by the traveling setup module of the communications setting in the intelligent agricultural machinery terrain detection and kinetic control system simultaneously
It is communicated to connect respectively with the route setup module and speed setup module, so that the intelligent agricultural machinery can be according to the road of setting
Line and speed are travelled to job site.
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 illustrates for the step of intelligent agricultural machinery terrain detection of the present invention and first embodiment of motion control method
Figure.
Fig. 2 is the block diagram of the first embodiment of intelligent agricultural machinery terrain detection of the present invention and kinetic control system.
Fig. 3 is the application schematic diagram of intelligent agricultural machinery terrain detection of the present invention and motion control method.
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.
As shown in Figure 1 to Figure 3, the present invention provides a kind of intelligent agricultural machinery terrain detection and motion control method, for making one
Intelligent agricultural machinery 10 can be clamped to landform and be controlled according to testing result its movement, the terrain detection and motion control side
Method the following steps are included:
1001: obtaining and stop the distance between place to job site as running section 20；
1002: the landform on acquisition running section 20；
1003: according to the landform and operating range setting travel speed and travel route 30 on running section 20.
Wherein, in the step 1001, the intelligence can be made by obtaining the distance between stop place to job site
Agricultural machinery 10 knows its operating range that will be travelled, so that the determination for travel speed provides basis.
In the first embodiment of the present invention, the landform acquired in the step 1002 on running section 20 is to pass through camera
Shooting is acquired, and as a kind of deformation of the invention, those skilled in the art can know running section by other means
Landform on 20, such as in such a way that sensor is known or sensor is used with camera combination etc..In other words, as long as adopting
It with technical solution identical or approximate with the present invention, solves the technical problem identical or approximate as the present invention, and reaches
Identical or approximate with present invention technical effect, belongs within protection scope of the present invention, specific embodiment party of the invention
Formula is not limited thereto.
In the step 1003, according to the landform of running section 20 and operating range setting travel speed and travel route
30 refer to after running section 20 determines, that is, can determine the landform of running section 20, later further according to the ground of running section 20
Shape is configured intelligent agricultural machinery 10, so that the intelligent agricultural machinery 10 be made to be travelled according to the travel route 30 and travel speed of setting
To job site.
As shown in Fig. 2, in the first embodiment of the present invention, the intelligent agricultural machinery terrain detection and motion control method are
It is completed by an intelligent agricultural machinery terrain detection and kinetic control system 100, the intelligent agricultural machinery terrain detection and motion control system
System 100 include an at least data obtaining module 101, the data obtaining module 101 by communications setting in the intelligent agricultural machinery
Shape detection and kinetic control system 100 are for enabling the intelligent agricultural machinery 10 to obtain information, in the step 1001, institute
It states intelligent agricultural machinery 10 and passes through the data obtaining module 101 in the intelligent agricultural machinery terrain detection and kinetic control system 100
The distance between stop place to job site of the intelligent agricultural machinery 10 is obtained as running section 20.
The intelligent agricultural machinery terrain detection and kinetic control system 100 further comprise an at least landform acquisition module 102,
The landform acquisition module 102 is by communications setting in the intelligent agricultural machinery terrain detection and kinetic control system 100 for described
Intelligent agricultural machinery 10 is acquired the landform on running section 20, and in the step 1002, the intelligent agricultural machinery 10 passes through institute
The landform acquisition module 102 in intelligent agricultural machinery terrain detection and kinetic control system 100 is stated to the ground on running section 20
What shape was acquired.
The intelligent agricultural machinery terrain detection and kinetic control system 100 further comprise at least one traveling setup module 103,
The traveling setup module 103 is used in the intelligent agricultural machinery terrain detection and kinetic control system 100 to institute by communications setting
The driving parameters for stating intelligent agricultural machinery 10 are configured, and the driving parameters include but is not limited to travel route 30, travel speed etc..
In the step 1003, the intelligent agricultural machinery 10 passes through in the intelligent agricultural machinery terrain detection and kinetic control system 100
Driving parameters are arranged in the traveling setup module 103.
In other words, in the first embodiment of the present invention, the intelligent agricultural machinery 10 is examined by the intelligent agricultural machinery landform
Survey and kinetic control system 100 in the data obtaining module 101 obtain the anchor point of the intelligent agricultural machinery 10 to place of working
The distance between point is used as running section 20, is acquired on running section 20 specifically by the information acquisition module again later
Shape obtains the specific landform on running section 20 and the intelligent agricultural machinery 10 is arranged by the traveling setup module 103 again later
Driving parameters, so that the intelligent agricultural machinery 10 be made to be travelled according to specific driving parameters to job site.
Preferably, in the first embodiment of the present invention, the step 1001 further comprises step:
10011: the intelligent agricultural machinery 10 obtains the positioning of job site；
10012: the intelligent agricultural machinery 10 obtains its positioning for stopping place；
10013: the intelligent agricultural machinery 10 obtains job site and stops the distance between place with it.
In the step 10011, job site refers to that the intelligent agricultural machinery 10 needs to travel the ground of preparation work in the past
Point, the positioning of the job site include the intelligent agricultural machinery 10 actively obtain and it is passive the modes such as receive, actively obtain and refer to institute
It states intelligent agricultural machinery 10 to remember job site according to aptitude manners such as historical records, passive receive refers to the intelligent agricultural machinery
10 obtain the positioning of job site, in the first embodiment of the present invention, the intelligent agricultural machinery by way of receiving or inputting
10 be the positioning that job site is obtained by way of input.In addition to this, those skilled in the art can be according to actual needs
It is configured, as long as using technical solution identical or approximate with the present invention, solves skill identical or approximate with the present invention
Art problem, and reached technical effect identical or approximate with the present invention, it belongs within protection scope of the present invention, this hair
Bright specific embodiment is not limited thereto.
In the step 10012, the acquisition in the stop place of the intelligent agricultural machinery 10 includes actively obtaining and passively connecing
Two ways is received, actively obtains and refers to that the intelligent agricultural machinery 10 obtains it according to the positioning system that itself is carried and stops determining for place
Position, such as positioning systems such as GPS, passive receive refer to and so that the intelligent agricultural machinery 10 is obtained by the modes such as inputting or receiving
Its positioning for stopping place.Preferably, in the first embodiment of the present invention, the side that the intelligent agricultural machinery 10 passes through actively acquisition
Formula obtains its location information for stopping place.
Refer in the step 10013, the intelligent agricultural machinery 10 is after obtaining it and stopping place and job site
It is obtained by modes such as calculating and stops the distance between place and job site, thus for the intelligent agricultural machinery 10 planning traveling road
Line 30 provides the foundation.
Correspondingly, the data obtaining module 101 in the intelligent agricultural machinery terrain detection and kinetic control system 100 into
One step include an at least MIM message input module 1011, the MIM message input module 1011 by communications setting in the intelligent agricultural machinery
The data obtaining module 101 in shape detection and kinetic control system 100 is for enabling the intelligent agricultural machinery 10 to receive letter
The input of breath, in the step 10011, the intelligent agricultural machinery 10 passes through the intelligent agricultural machinery terrain detection and motion control system
The MIM message input module 1011 in system 100 obtains the location information in its place that will be worked.
The data obtaining module 101 in the intelligent agricultural machinery terrain detection and kinetic control system 100 further wraps
An at least locating module 1012 is included, the locating module 1012 is controlled by communications setting in the intelligent agricultural machinery terrain detection and movement
The data obtaining module 101 in system 100 processed is used to that the intelligent agricultural machinery 10 to be enable to be determined its present position,
In the step 10012, the intelligent agricultural machinery 10 by the intelligent agricultural machinery 10 by the intelligent agricultural machinery terrain detection and
The locating module 1012 in kinetic control system 100 obtains it and stops place.
The data obtaining module 101 in the intelligent agricultural machinery terrain detection and kinetic control system 100 further wraps
An at least message processing module 1013 is included, the message processing module 1013 is by communications setting in the intelligent agricultural machinery terrain detection
And the data obtaining module 101 in kinetic control system 100 is for enabling the intelligent agricultural machinery 10 to obtained information
Processing is carried out to the information that obtains that treated, in the step 10013, the intelligent agricultural machinery 10 passes through the intelligent agricultural machinery
The message processing module 1013 in the data obtaining module 101 in terrain detection and kinetic control system 100 obtains
The distance between stop place to the job site of the intelligent agricultural machinery 10.
That is, the intelligent agricultural machinery 10 passes through the intelligent agricultural machinery terrain detection and fortune in the step 1001
The MIM message input module 1011 in autocontrol system 100 obtain the intelligent agricultural machinery 10 will operation location information, then
The location of its own information is obtained by the locating module 1012, finally passes through the message processing module 1013 again
By the location information of the intelligent agricultural machinery 10 itself and its will the location information on operation ground handle, to obtain its work
The distance between place and stop place.
Preferably, in the first embodiment of the present invention, the step 1002 further comprises step:
10021: opening the camera system of the intelligent agricultural machinery 10；
10022: setting the running parameter of the camera system；
10023: landform and the storage on running section 20 are obtained by the camera system.
In the step 10021, refers to and be provided with camera system on the intelligent agricultural machinery 10, but the camera system is simultaneously
It is not in normally open, needs to manually start and is just able to achieve unlatching, this can not only reduce the intelligent agriculture to a certain extent
The energy dissipation of machine 10, such as electric energy or oil can wait, and can also avoid the lasting shooting by the camera system and occupy institute
A large amount of memories of 10 system of intelligent agricultural machinery are stated, to reduce the memory usage of the camera system of the intelligent agricultural machinery 10.
In the step 10022, the running parameter for setting the camera system refers to the bat for setting the camera system
Parameter is taken the photograph, the running parameter of the camera system includes the institutes such as coverage, shooting angle, shooting time and screening-mode
There is parameter relevant to the landform obtained on the running section 20, and shot in the step 10023, to obtain row
Sail the landform on section 20.
Correspondingly, in the intelligent agricultural machinery terrain detection in 10 system of intelligent agricultural machinery and kinetic control system 100
The landform acquisition module 102 further comprise a shooting module 1021, the shooting module 1021 is by communications setting in institute
State the intelligent agricultural machinery terrain detection in intelligent agricultural machinery 10 and the landform acquisition module 102 in kinetic control system 100
For enabling the intelligent agricultural machinery 10 that there is shooting function, in the intelligent agricultural machinery terrain detection and kinetic control system 100
The landform acquisition module 102 further comprise an at least starting module 1022, the starting module 1022 is by communications setting
The landform acquisition module 102 in the intelligent agricultural machinery terrain detection and kinetic control system 100 and with the shooting mould
Block 1021 communicates to connect, for enabling the intelligent agricultural machinery 10 to open the shooting module 1021, in the step 10021
In, by opening the institute in the landform acquisition module 102 in the intelligent agricultural machinery terrain detection and kinetic control system 100
Starting module 1022 is stated to open the camera system of the intelligent agricultural machinery 10 and be shot by the shooting module 1021
The landform of running section 20.
The landform acquisition module 102 in the intelligent agricultural machinery terrain detection and kinetic control system 100 further wraps
An at least parameter setting module 1023 is included, the parameter setting module 1023 is by communication setting in the intelligent agricultural machinery terrain detection
And the landform acquisition module 102 in kinetic control system 100 and communicated to connect with the shooting module 1021, for making
The acquisition parameters of the shooting module 1021 can be set by stating intelligent agricultural machinery 10, described in the step 10022
Intelligent agricultural machinery 10 is set by the parameter setting module 1023 in the intelligent agricultural machinery terrain detection and kinetic control system 100
The acquisition parameters of the fixed shooting module 1021.
The landform acquisition module 102 in the intelligent agricultural machinery terrain detection and kinetic control system 100 further wraps
An at least data memory module 1024 is included, the data memory module 1024 is by communications setting in the intelligent agricultural machinery terrain detection
And the landform acquisition module 102 in kinetic control system 100 and communicated to connect with the shooting module 1021, for making
State intelligent agricultural machinery 10 can storing data, in the step 10023, the intelligent agricultural machinery 10 passes through the intelligent agricultural machinery landform
The data that the data memory module 1024 in detection and kinetic control system 100 shoots the shooting module 1021 carry out
Storage.
That is, the intelligent agricultural machinery 10 passes through the intelligent agricultural machinery terrain detection and fortune in the step 1002
The starting module 1022 in autocontrol system 100 opens the camera system, then passes through the parameter setting module 1023
The acquisition parameters of the camera system are set, the parameter that the camera system is set according to the parameter setting module 1023 later
Landform on running section 20 is shot, and the data after shooting are deposited by the data memory module 1024
Storage.
Further, in the first embodiment of the present invention, the step 1003 further comprises step:
10031: specific travel route 30 is arranged according to the landform of the running section 20；
10032: travel speed is determined according to travel route 30；
10033: controlling the intelligent agricultural machinery 10 and travelled according to the travel route 30 and travel speed of setting to job site.
Refer to the farming different and different due to the crops of different field growths in the step 10031
The division of object be different area growth district, therefore from the intelligent agricultural machinery 10 to the running section between its job site
On 20, may not be able to straight-line travelling, but to open crops, and due between certain different crop growing regions
Closely spaced, the impassable intelligent agricultural machinery 10, therefore it is necessary to this is write all pairs of crops for the intelligent agricultural machinery 10
Influential factor is all taken into account, and under the premise of this, considers further that the traveling of nearest travel route 30 or most convenient
Route 30.
Further, since the multiplicity with a varied topography in farmland, have paddy field, dry land, Qiu Di, mountainous region, hillside fields even in two kinds or
The combination etc. of a variety of landform, and the farmland of different terrain be for driving demand it is different, therefore, be in the intelligent agricultural machinery
Its travel route 30 is configured according to the landform of its running section 20 before 10 travelings.
In the step 10032, determine that travel speed refers to when optimal 30 quilt of travel route according to travel route 30
After determination, which may include different landform, and therefore, the travel speed of the intelligent agricultural machinery 10 must
It need be suitble to different landform, because some landform are suitble to high speed, such as the landform of level land or surrounding without crops, some landform
Be suitble to low speed, for example, hillside fields, mound or surrounding be all the landform such as crops, therefore after travel route 30 is determined, just
It needs to can adapt to the speed of all landform on the travel route 30 according to the landform selection on the travel route 30 to travel
State intelligent agricultural machinery 10.
As a further improvement of the present invention, those skilled in the art are also included within set row to the setting of travel speed
It sails on route 30, different travel speeds is set according to different landform.That is, allowing the intelligent agricultural machinery 10 according to difference
Landform travel different speed, to further increase the intelligence degree of the intelligent agricultural machinery 10.In addition to this, this field
Technical staff can also according to the actual situation, for example the composite factors such as electricity, oil mass determine the traveling speed of the intelligent agricultural machinery 10
Degree solves the technical problem identical or approximate as the present invention as long as using technical solution identical or approximate with the present invention,
And technical effect identical or approximate with the present invention is reached, has belonged within protection scope of the present invention, tool of the invention
Body embodiment is not limited thereto.
The step 10033 refers to after setting the travel route 30 and travel speed of the intelligent agricultural machinery 10, institute
Stating intelligent agricultural machinery 10 can travel according to the travel route 30 and travel speed of setting to job site, and wherein travel speed includes
Constant travel speed and different travel speeds is set in different sections.
Correspondingly, the traveling setup module 103 in the intelligent agricultural machinery terrain detection and kinetic control system 100 into
One step include an at least route setup module 1031, the route setup module 1031 by communications setting in the intelligent agricultural machinery
The traveling setup module 103 in shape detection and kinetic control system 100 is so that the intelligent agricultural machinery 10 can travel it
Route 30 is configured.In the step 10031, by the intelligent agricultural machinery terrain detection and kinetic control system 100
The route setup module 1031 be the intelligent agricultural machinery 10 be arranged travel route 30.
The intelligent agricultural machinery terrain detection in the intelligent agricultural machinery 10 and the traveling in kinetic control system 100 are set
Setting module 103 further comprises an at least speed setup module 1032, and the speed setup module 1032 is by communications setting in institute
The traveling setup module 103 in intelligent agricultural machinery terrain detection and kinetic control system 100 is stated for making the intelligent agricultural machinery
10 can be configured its travel speed.In the step 10032, the intelligent agricultural machinery 10 is by the intelligent agricultural machinery
The speed setup module 1032 in shape detection and kinetic control system 100 carries out unification or is segmented to set to its travel speed
It sets.
The traveling setup module 103 in the intelligent agricultural machinery terrain detection and kinetic control system 100 is further wrapped
Include at least one traveling module 1033, the intelligent agriculture of the traveling module 1033 by communications setting in the intelligent agricultural machinery 10
The traveling setup module 103 in machine terrain detection and kinetic control system 100 and with the route setup module 1031 and
Speed setup module 1032 communicates to connect, so that the intelligent agricultural machinery 10 can be travelled according to the route and speed of setting to work
Place.In the step 10033, the intelligent agricultural machinery 10 is according to the intelligent agricultural machinery terrain detection and kinetic control system
The traveling module 1033 in 100 is travelled to job site.
In other words, in the step 1003, the intelligent agricultural machinery 10 is according to the intelligent agricultural machinery terrain detection and fortune
The route that the intelligent agricultural machinery 10 will travel is arranged in the route setup module 1031 in autocontrol system 100, described
The travel route 30 of intelligent agricultural machinery 10 determines and then by the speed setup module 1032 according on the route that will be travelled
Different terrain constant or different travel speed is set, finally, the intelligent agricultural machinery 10 is further according to determining travel route 30
It is travelled by the traveling module 1033 to job site with travel speed.
It is emphasized that in intelligent agricultural machinery terrain detection of the present invention and motion control method and its system,
Those skilled in the art can adopt the determination of running section 20, the landform of running section 20 according to the technical solution of above-mentioned exposure
The parameters such as the travel route 30 and travel speed of collection and running section 20 are determined in other way, as long as
On the basis of the above-mentioned exposure of the present invention, rear approximate technical solution identical as the present invention is used, is solved identical as the present invention
Or approximate technical problem, and reached technical effect identical or approximate with the present invention, belong to protection model of the invention
Within enclosing, a specific embodiment of the invention is not limited thereto.
As shown in figure 3, for intelligent agricultural machinery terrain detection of the present invention and motion control method and its systematic difference
Schematic diagram.Stop as shown, an intelligent agricultural machinery 10 obtains it by the intelligent agricultural machinery terrain detection and kinetic control system 100
It is running section 20 by the distance between place to job site 40, then passes through the intelligent agricultural machinery terrain detection and motion control
It includes level land, water that system 100, which acquires the landform on running section 20 due to the multiplicity with a varied topography on the running section 20,
The pool and hillside fields, and a variety of different crops have been planted on the running section 20, therefore according to the landform on running section 20
Determine that travel route is 30 with concrete condition, the last intelligent agricultural machinery 10 is according to the travel route 30 of setting and corresponding
Travel speed is travelled to job site 40.
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 kind of intelligent agricultural machinery terrain detection and motion control method, which is characterized in that for enabling an intelligent agricultural machinery over the ground
Shape detect and control it according to testing result being moved, and the described method comprises the following steps:
1001: obtaining the running section of the intelligent agricultural machinery；
1002: acquiring the landform on the running section；
1003: according to the landform setting travel speed and travel route on the running section.
2. intelligent agricultural machinery terrain detection according to claim 1 and motion control method, wherein the step 1001 is into one
Step the following steps are included:
10011: the intelligent agricultural machinery obtains the positioning of its job site；
10012: the intelligent agricultural machinery obtains its positioning for stopping place；
10013: the intelligent agricultural machinery obtains job site and stops the distance between place as the running section with it.
3. intelligent agricultural machinery terrain detection according to claim 1 or 2 and motion control method, wherein in the step 1002
In, pass through the landform on running section described in shooting, collecting.
4. intelligent agricultural machinery terrain detection according to claim 1 or 2 and motion control method, wherein in the step 1002
In, the landform on the running section is acquired by one or more sensors.
5. intelligent agricultural machinery terrain detection according to claim 3 and motion control method, wherein the step 1002 is into one
Step comprising steps of
10021: opening the camera system of the intelligent agricultural machinery；
10022: setting the running parameter of the camera system；
10023: landform and the storage on the running section are obtained by the camera system.
6. intelligent agricultural machinery terrain detection according to claim 5 and motion control method, wherein in the step 10022
In, the running parameter of the camera system includes but is not limited to coverage, shooting angle, shooting time and screening-mode.
7. intelligent agricultural machinery terrain detection according to claim 5 and motion control method, wherein the step 1003 is into one
Step includes:
10031: travel route is arranged according to the landform of the running section；
10032: travel speed is determined according to travel route；
10033: controlling the intelligent agricultural machinery and travelled according to the travel route and travel speed of setting to job site.
8. an intelligent agricultural machinery terrain detection and kinetic control system, which is characterized in that the intelligent agricultural machinery terrain detection and movement
Control system communications setting intelligent agricultural machinery described in claim 1-7 simultaneously is used to complete intelligence described in claim 1-7
Agricultural machinery terrain detection and motion control method, the intelligent agricultural machinery terrain detection and kinetic control system include that an at least information obtains
Modulus block, the data obtaining module is by communications setting in the intelligent agricultural machinery terrain detection and kinetic control system for making institute
Information can be obtained by stating intelligent agricultural machinery.
9. intelligent agricultural machinery terrain detection according to claim 8 and kinetic control system further comprise an at least landform
Acquisition module, the landform acquisition module is by communications setting in the intelligent agricultural machinery terrain detection and kinetic control system for making
The intelligent agricultural machinery can acquire landform.
10. intelligent agricultural machinery terrain detection according to claim 9 and kinetic control system further comprise at least one traveling
Setup module, the traveling setup module is by communications setting in the intelligent agricultural machinery terrain detection and kinetic control system for making
The intelligent agricultural machinery can be configured driving parameters.
11. intelligent agricultural machinery terrain detection and kinetic control system according to any one of claim 8-10, wherein described
Data obtaining module includes an at least MIM message input module, and the MIM message input module is by communications setting in the acquisition of information mould
Block is so that the intelligent agricultural machinery can receive the input of information.
12. intelligent agricultural machinery terrain detection according to claim 11 and kinetic control system, wherein the acquisition of information mould
Block further comprises an at least locating module, and the locating module is described for making in the data obtaining module by communications setting
Intelligent agricultural machinery can be determined its present position.
13. intelligent agricultural machinery terrain detection according to claim 12 and kinetic control system, wherein the acquisition of information mould
Block further comprises an at least message processing module, and the message processing module is used by communications setting in the data obtaining module
In enabling the intelligent agricultural machinery to handle obtained information.
14. intelligent agricultural machinery terrain detection according to claim 12 and kinetic control system, wherein the landform acquires mould
Block includes an at least shooting module and a starting module, and the shooting module and the starting module are respectively by communications setting in institute
Landform acquisition module is stated for enabling the intelligent agricultural machinery to start and shooting.
15. intelligent agricultural machinery terrain detection according to claim 14 and kinetic control system, wherein the landform acquires mould
Block further comprises an at least parameter setting module, and the parameter setting module is examined by communications setting in the intelligent agricultural machinery landform
Survey and the landform acquisition module in kinetic control system are simultaneously communicated to connect with the shooting module, for making the intelligent agriculture
Machine can set the acquisition parameters of the shooting module.
16. intelligent agricultural machinery terrain detection according to claim 15 and kinetic control system, wherein the terrain detection mould
Block further comprises an at least data memory module, and the data memory module is examined by communications setting in the intelligent agricultural machinery landform
Survey and the landform acquisition module in kinetic control system are simultaneously communicated to connect with the shooting module, are used for the intelligent agricultural machinery
The data of shooting can be stored.
17. intelligent agricultural machinery terrain detection and kinetic control system described in 0 or 16 according to claim 1, wherein the traveling is set
Setting module includes an at least route setup module, and the route setup module is by communications setting in the intelligent agricultural machinery terrain detection
And the traveling setup module in kinetic control system is so that the intelligent agricultural machinery can be configured its travel route.
18. intelligent agricultural machinery terrain detection according to claim 17 and kinetic control system, wherein mould is arranged in the traveling
Block further comprises an at least speed setup module, and the speed setup module is examined by communications setting in the intelligent agricultural machinery landform
The traveling setup module in survey and kinetic control system is for enabling the intelligent agricultural machinery to set its travel speed
It sets.
19. intelligent agricultural machinery terrain detection according to claim 18 and kinetic control system, wherein mould is arranged in the traveling
Block further comprises at least one traveling module, and the traveling module is by communications setting in the intelligent agricultural machinery terrain detection and movement
The traveling setup module in control system is simultaneously communicated to connect with the route setup module and speed setup module respectively, with
The intelligent agricultural machinery is set to be travelled according to the route and speed of setting to job site.
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| CN201811634731.6A CN110285790A (en) | 2018-12-29 | 2018-12-29 | Agricultural machinery terrain detection system and motion control method |
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