CN110531764A - A kind of driverless tractor control system and control method - Google Patents
A kind of driverless tractor control system and control method Download PDFInfo
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- CN110531764A CN110531764A CN201910793599.1A CN201910793599A CN110531764A CN 110531764 A CN110531764 A CN 110531764A CN 201910793599 A CN201910793599 A CN 201910793599A CN 110531764 A CN110531764 A CN 110531764A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 23
- 230000008447 perception Effects 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims description 12
- 230000007935 neutral effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
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- 235000001674 Agaricus brunnescens Nutrition 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000916 dilatatory effect Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
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- 230000008901 benefit Effects 0.000 description 1
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A kind of driverless tractor control system and control method, comprising: satellite positioning module, environmental perception module, remote control intervention module, cloud platform module, path planning module, Decision Control module and security module；Satellite positioning module, environmental perception module, remote control intervention module, cloud platform module and path planning module are connect with Decision Control module respectively；Satellite positioning module, environmental perception module, remote control intervention module and cloud platform module are connect with security module respectively；Satellite positioning module is connected with path planning module.Due to using the multisensor of laser radar, millimetre-wave radar, machine vision camera, high reliablity, the more acurrate type and distance for rapidly identifying barrier.There are remote control intervention module, cloud platform module, greatly improves the safety and ease for use of driverless tractor.Set two kinds of path planning modes of row mode and shuttle row mode are developed, it is convenient, flexible, it improves efficiency, is able to satisfy multi-machine collaborative job requirements.
Description
Technical field
The invention belongs to tractor field, it is related to a kind of driverless tractor control system and control method.
Background technique
Currently, controlling system to tractor with the continuous improvement that market requires Tractor Products quality, intelligence degree
The technical requirements of system are also higher and higher, and especially large-scale farm and agricultural machinery cooperation are stronger to the intelligent demand of tractor.
Since tractor work operating condition is complicated, operating environment is severe, and existing tractor is largely manual operation, and manual operation is not
Only operating efficiency is low, and operation quality is poor, and also be easy to cause threat to the health of machine hand.Driverless tractor is answered
It transports and gives birth to, provide important support for the intelligence and meticulous process of large-scale farm and agricultural machinery cooperation.Control system is then
It is the key technology position of driverless tractor.
On August 31st, the 2016 application for a patent for invention " agricultural machinery based on Beidou navigation announced of State Intellectual Property Office
Automatic Pilot control device ", number of patent application: 2016102528622, patent application day: on April 22nd, 2016, notification number
Are as follows: CN105911985A.This application is closer to present patent application content.The patent application is actually a kind of agriculture machine
Tool assists driving technology, is only capable of the steering of automatic control of tractor, tractor is enable to travel as the crow flies.But in tractor
When encountering barrier, edge of a field u-turn, the control operating conditions such as farm implements in traveling, changed in the power gear that needs to change tractor, front and back
To, brake, throttle etc. state when, there is still a need for enter in tractor driving room to operate by driver, it is difficult to meet and liberate artificial labor
Power improves the needs of operating efficiency.
The application for a patent for invention " a kind of agricultural machinery automated driving system " that State Intellectual Property Office's on July 31st, 2018 announces,
Number of patent application: 2018102956802, patent application day: on April 4th, 2018, notification number are as follows: CN108345310A.The Shen
Please it is closer to present patent application content.Avoidance and automatic reversing may be implemented in the patent application, but needs to mention in avoidance
Preceding acquisition barrier coordinate points, and in this, as the foundation of avoidance.But in dynamic barriers such as someone, vehicle, animals,
Tractor will be unable to identification and be easy to happen danger.When static-obstacle thing happens variation in farmland, it is also necessary to resurvey
Barrier coordinate points, do not simply fail to the avoidance for carrying out dynamic barrier, and safety is poor, it is also necessary to acquisition obstacle article coordinate in advance
Point increases the work load of user.Though the automatic reversing of the patent application is able to satisfy primary demand, tractor turning radius
It is excessive, if only control turns to when u-turn, does not slow down, do not move backward, the effect of u-turn will be very poor, can not quick alignment second
Ridge.And tractor, in actual job, rear portion hangs with farm implements, needs to lift farm implements by suspension arrangement in u-turn, then
It is reversed end for end again.Single u-turn function is not able to satisfy tractor and produces actual needs.In other words, which still needs to
Driver is wanted to operate in driver's cabin, it is difficult to meet liberation manual labor, improve the needs of operating efficiency.
" a kind of agricultural machinery based on Beidou is automatic for the utility model patent of State Intellectual Property Office's authorization on August 18th, 2017
Steering control device ", number of patent application 2017200804416, patent application day are as follows: on January 22nd, 2017, notification number are as follows:
CN206421229U is closer to present patent application content.The utility model exports positioning result by satellite positioning module
And it is sent to navigation control module, agricultural machinery is incuded by the environmental perception module being made of millimetre-wave radar and machine vision camera
The environmental information in front and surrounding, and recognition result is sent to navigation control module, navigation control module is according to receiving
Agricultural machinery location information and ambient condition information cook up the agricultural machinery movement to be executed, and agricultural machinery action command is sent to agricultural machinery master
End is controlled, agricultural machinery main control end controls the lifting of commutation, the brake and mounted equipment of agricultural machinery.Although the utility model meets nobody and drives
Sail a part of demand of tractor, still, the millimetre-wave radar in the environmental perception module of the utility model due to wavelength,
Detection range is limited, can not realize accurate modeling to all barriers in periphery, machine vision camera by such environmental effects compared with
Greatly, night reliability is not high, is unable to satisfy the needs of all weather operations.Most of all, all control function of the utility model
It can finally be realized by the way that action command to be issued to the agricultural machinery main control end of main engine plants, greatly rely on main engine plants' agricultural machinery master control
The performance and control logic at end, it is difficult to meet the most basic performance of automatic driving vehicle --- safety.Also, it can only control and change
To, brake, suspension lifting, exist compared with big limitation, it is difficult to meet driverless tractor operation actual needs.
To sum up, tractor intelligent driving solution in the prior art, is more that one kind drives from dynamic auxiliary,
The working strength for alleviating agricultural machineries' driver to a certain extent, during real tractor actual job, it is still necessary to drive
The person of sailing carries out in driver's cabin compared with multioperation.
Summary of the invention
For the defect of current tractor intelligent driving solution, the present invention realizes a kind of unmanned dilatory
Machine control system.By the system, tractor can long-range one-key start, long-range key emergency stop, it is the left and right turn of tractor, preceding
The states such as commutation, power gear, brake, engine speed, suspension lifting, rear power output, hydraulic output, differential, 4 wheel driven afterwards
It can be automatically controled, and can be with multi-machine collaborative operation.
Meanwhile in driverless tractor operation process, can remotely it be watched around tractor on mobile phone or computer
Real-time status, monitoring tractor work work in every parameter, and can the work in every state at any time to tractor intervene
Adjustment, can also carry out long-range emergency stop, the safety of comprehensive guarantee driverless tractor if necessary.
In order to realize goal of the invention of the present invention, using following technical scheme: a kind of driverless tractor control
System, comprising: satellite positioning module, environmental perception module, remote control intervention module, cloud platform module, path planning module, decision
Control module and security module；Satellite positioning module, environmental perception module, remote control intervention module, cloud platform module and path rule
Module is drawn to connect with Decision Control module respectively；Meanwhile satellite positioning module, environmental perception module, remote control intervention module and cloud
Console module is connect with security module respectively；Satellite positioning module is connected with path planning module.
The satellite positioning module, comprising: satellite navigation case, radio antenna, satellite navigation aerial, Vehicular display device and difference
Divide base station；Satellite navigation case passes through wired connection, radio station day with radio antenna, satellite navigation aerial and Vehicular display device respectively
Line and differential reference station pass through wireless connection.
The environmental perception module, comprising: radar camera data computation processor, laser radar, millimetre-wave radar and machine
Device vision camera；Laser radar, millimetre-wave radar, machine vision camera are respectively with radar camera data computation processor by having
Line connection.
The remote control intervention module, comprising: by remote control transmitter and vehicle-mounted remote-control receiver；Remote control transmitter with it is vehicle-mounted distant
Control receiver passes through wireless connection.
The cloud platform module, comprising: camera, on-vehicle information control terminal for data acquisition, server and client side；Eight are taken the photograph
Picture head and on-vehicle information control terminal for data acquisition are by wired connection, and on-vehicle information control terminal for data acquisition is with server by wirelessly connecting
It connects, server and client pass through wireless connection.
The path planning module, comprising: path planning algorithm module and Vehicular display device；Path planning algorithm module and
Vehicular display device passes through wired connection.
The security module, comprising: anti-sunken vehicle module, anticollision module and emergency stop module；It is connectionless between three modules
Relationship.
The control method of driverless tractor control system is as follows:
[1] operator sets up differential reference station in away from tractor 20km, selects a certain channel, phase is selected on Vehicular display device
Same channel after waiting 10 seconds, communicates successfully indicator light display green on Vehicular display device；
[2] operator enters driver's cabin, closes the unmanned switch on instrument desk, manual drive tractor is to operation plot
Typing is clicked at four angles, every angle on Vehicular display device, and satellite positioning module completes the record of current plot location information
Enter, repeat the step, satellite positioning module can store the location information in multiple plot；
[3] operator selects the plot to operation on Vehicular display device, inputs the working width L of farm implements, while the agriculture of operation
Machine quantity N and agricultural machinery minimum turning radius R, and select path planning mode: shuttle row mode or set row mode；
[4] operator opens the unmanned switch on instrument desk and then gets off, and on remote control transmitter or client, clicks remote
Journey one-key start button, Decision Control module control tractor remotely start；
[5] operator opens corresponding farm implements switch, opens unmanned switch, decision on remote control transmitter or client
Control module controls tractor and enters unmanned mode, and tractor mounts gear automatically, puts down farm implements, engine speed liter
Height starts operation along planning path；
[6] in the unmanned mode process of tractor, operator can monitor the video information around tractor on the client, and
Every operating parameter, if nothing else, for operator without doing any operation, tractor will carry out edge of a field u-turn, avoidance, control automatically
The operation such as farm implements；
[7] in the unmanned mode process of tractor, such as because of the wet and slippery soft reason in ground, tractor original place, which is skidded, falls into vehicle, peace
The anti-sunken vehicle module of full module will control the automatic neutral gear of tractor, prevent unmanned tractor original place from the more digging the more deep and occur to fall into vehicle；
[8] in the unmanned mode process of tractor, such as because of unknown cause, Decision Control Module Fail can not avoidance, safe mould
The anticollision module of block will control tractor in barrier front brake；
[9] in the unmanned mode process of tractor, occur if any dangerous situation, operator can be in remote control transmitter or client
On, scram button is pressed, tractor engine is flame-out.
Due to use the above-mentioned technical solution, the present invention can reach it is following the utility model has the advantages that
1, the present invention is due to the Multi-sensor Fusion environment sensing side using laser radar, millimetre-wave radar, machine vision camera
Case, three kinds of sensor superiority and inferiority are complementary, high reliablity, can the more acurrate type for rapidly identifying barrier and barrier away from
From.
2, the present invention greatly improves the peace of driverless tractor due to having remote control intervention module, cloud platform module
Full property and ease for use.
3, the present invention develops set two kinds of path planning modes of row mode and shuttle row mode, convenient, flexible, improves efficiency, and
It is able to satisfy the requirement of multi-machine collaborative operation.
4, the present invention easily skids for paddy field, sand ground etc. and falls into the operating environment of vehicle, develops anti-slip function.
5, the present invention has independent security module, high reliablity, high safety.
6, power output is provided with suspension height operation interval after the present invention, protects power output shaft and the agriculture of tractor
Tool.
7, for the present invention when no dangerous situation occurs, operation process whole process is not necessarily to manual intervention, has really liberated artificial labor
Power improves operating efficiency.
Detailed description of the invention
Fig. 1 is a kind of overall architecture schematic diagram of driverless tractor control system of the present invention；
Fig. 2 is a kind of satellite positioning module configuration diagram of driverless tractor control system of the present invention；
Fig. 3 is a kind of environmental perception module configuration diagram of driverless tractor control system of the present invention；
Fig. 4 is a kind of remote control intervention module configuration diagram of driverless tractor control system of the present invention；
Fig. 5 is a kind of cloud platform module architectures schematic diagram of driverless tractor control system of the present invention；
Fig. 6 is a kind of path planning module configuration diagram of driverless tractor control system of the present invention；
Fig. 7 is a kind of security module configuration diagram of driverless tractor control system of the present invention；
Fig. 8 is a kind of tractor shuttle walking along the street diameter schematic diagram of driverless tractor control system of the present invention；
Fig. 9 is that unmanned set walking along the street diameter is minimum simultaneously for a kind of two tractors of driverless tractor control system of the present invention
Unit figure；
Figure 10 is that unmanned set walking along the street diameter is most simultaneously for a kind of four tractors of driverless tractor control system of the present invention
Junior unit figure.
In attached drawing: 1, satellite positioning module；2, environmental perception module；3, it is remotely controlled intervention module；4, cloud platform module；5, road
Diameter planning module；6, Decision Control module；7, security module；1.1, satellite navigation case；1.2, radio antenna；1.3, satellite navigation
Antenna；1.4, Vehicular display device；1.5, differential reference station；2.1, radar camera data computation processor；2.2, laser radar；
2.3, millimetre-wave radar；2.4, machine vision camera；3.1, remote control transmitter；3.2, vehicle-mounted remote-control receiver；4.1, camera；
4.2, on-vehicle information control terminal for data acquisition；4.3, server；4.4, client；5.1, path planning algorithm module；7.1, anti-sunken
Vehicle module；7.2, anticollision module；7.3, emergency stop module.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.As Figure 1-10 shows, a kind of unmanned
Dilatory machine control system, comprising: satellite positioning module 1, environmental perception module 2, remote control intervention module 3, cloud platform module 4, road
Diameter planning module 5, Decision Control module 6 and security module 7；Position, speed and the posture of the output tractor of satellite positioning module 1
Information；Environmental perception module 2 exports obstacle identity and range information；It is remotely controlled intervention module 3 and 4 output action of cloud platform module
Intervention instruction；The routing information of the output planning of path planning module 5；Decision Control module 6 receives above- mentioned information, carries out comprehensive point
Unmanned operation is realized in analysis, the movement of automatic control of tractor；The tractor that security module 7 is exported according to satellite positioning module 1
The stop command of obstacle distance information, the remote control output of intervention module 3 that velocity information, environmental perception module 2 export carries out comprehensive
Analysis is closed, control tractor stops in time, guarantees that tractor can be stopped under various extreme cases.Meanwhile Yun Ping
Platform module 4 also receives the police in danger that each status information of tractor exported by Decision Control module 6 and security module 7 export
Show.
Satellite positioning module 1 includes: satellite navigation case 1.1, radio antenna 1.2, satellite navigation aerial 1.3, car-mounted display
Device 1.4 and differential reference station 1.5.Satellite navigation case 1.1 receives GNSS(global navigational satellite system by satellite navigation aerial 1.3
System) it signal and is handled, communicate acquisition differential reference data, progress RTK with differential reference station 1.5 by radio antenna 1.2
(real time dynamic differential) resolves, and utilizes the data and GNSS(Global Navigation Satellite System of inertial navigation module in satellite navigation case 1.1)
Data are combined navigation, obtain high-precision, low noise, the position of high stability, speed and posture information, and finally by position
Set, speed and posture information by CAN bus are transferred to Decision Control module 6, velocity information is transferred to peace by CAN bus
Full module 7.
Environmental perception module 2 includes: radar camera data computation processor 2.1, laser radar 2.2, millimetre-wave radar 2.3
With machine vision camera 2.4.Laser radar 2.2 obtains point cloud data, by radar camera data to being scanned around tractor
2.1 pairs of computation processor different point cloud datas carry out feature extraction and classification, realize and hinder to the sound state such as people, animal, trees
Hinder the identification of object.Millimetre-wave radar 2.3 launches outward millimeter wave, receives target echo, detects the barrier around tractor
Hinder object.The barrier that machine vision camera 2.4 simultaneously detects above-mentioned millimetre-wave radar 2.3 confirms, through radar camera
The processing of data computation processor 2.1 obtains more accurate obstacle distance information.Environmental perception module 2 is finally by the class of barrier
Type and range information are transferred to Decision Control module 6 by CAN bus, and obstacle distance information is transferred to by CAN bus
Security module 7.
Being remotely controlled intervention module 3 includes: remote control transmitter 3.1 and vehicle-mounted remote-control receiver 3.2.Remote control transmitter 3.1 is just
There are unmanned switch, farm implements selection switch rotary cultivator and machine of working soil, rear power take-off valve, commutation driving lever, suspension on panel
It is promoted and declines button, brake button, grip, turns to rocking bar, there is upshift button, down-shift button, rear hydraulic defeated in left side
There are power supply of remote controller switch, long-range one-key start button, frequency modulation button and emergency stop mushroom head in button out, right side.Remote-transmitter
Between device 3.1 and vehicle-mounted remote-control receiver 3.2 by wireless communication, communication distance is greater than 1Km, 3.2 He of vehicle-mounted remote-control receiver
It is communicated between Decision Control module 6 by CAN bus, vehicle-mounted remote-control receiver 3.2 and security module 7 are directly connected by harness
It connects.When operator's normal operating remote control transmitter 3.1, through vehicle-mounted remote-control receiver 3.2, Decision Control module 6 can pass through CAN
Bus receives corresponding movement intervention instruction.Operator is when pressing emergency stop mushroom head on remote control transmitter 3.1, through vehicle-mounted distant
Receiver 3.2 is controlled, security module 7 can directly receive stop command.
Cloud platform module 4 includes: camera 4.1, on-vehicle information control terminal for data acquisition 4.2, server 4.3 and client
4.4.Eight cameras 4.1 are evenly distributed on tractor cab ceiling one week, carry out to the working environment around tractor
360 ° of shooting, and server 4.3 is transmitted to by private local area network, server 4.3 to the pictures of eight cameras 4.1 into
Row splicing, forms the video of 360 ° of panorama types, and monitoring personnel can watch in real time driverless tractor week by client 4.4
The environment enclosed.On-vehicle information control terminal for data acquisition 4.2 is communicated with Decision Control module 6 by CAN bus, with server 4.3
Between by 4G communicate, future can also be communicated by 5G.Decision Control module 6 is by the work in every state of tractor, through vehicle-mounted
Information collection controlling terminal 4.2 is transmitted to server 4.3, and is eventually displayed on the monitoring page of client 4.4.Meanwhile it supervising
The work state information that control personnel show according to real-time video information and the monitoring page, can assign phase by client 4.4
The movement intervention instruction answered is transmitted to Decision Control module 6 through server 4.3, on-vehicle information control terminal for data acquisition 4.2.
Path planning module 5 includes: path planning algorithm module 5.1 and Vehicular display device 1.4.It is driven first by driver
Tractor, around the plot one week to operation, satellite positioning module 1 will record the location information in the plot simultaneously, and by position
Information is stored in satellite navigation case 1.1, and satellite navigation case 1.1 can store the location information in multiple plot.Driver is vehicle-mounted
Plot of the selection to operation on display 1.4 inputs the working width L of farm implements, while the agricultural machinery quantity N and agricultural machinery of operation are minimum
Turning radius R, and select path planning mode: shuttle row mode or set row mode.Above- mentioned information are transmitted to by Vehicular display device 1.4
Path planning algorithm module 5.1, path planning algorithm module 5.1 carry out automatic path planning according to above- mentioned information.
After shuttle row mode, that is, tractor to the edge of a field, a upper ridge is close to after automatic reversing, next ridge culture industry is carried out, such as Fig. 8 institute
Show, shuttle row mode is widely used in pilot steering tractor work.Row mode, that is, tractor is covered by working width, agricultural machinery number
Amount and agricultural machinery minimum turning radius calculate the minimum set row unit of this subjob of tractor machine, and with this minimum set row unit
Carry out duplication splicing, the operation mode of Landfill covering monolith field.
The calculation method of minimum set row unit are as follows: set the minimum range that need to be crossed over when minimum set row unit edge of a field u-turn as X,
Then X=2R/NL NL.For the function that rounds up, that is, take the smallest positive integral bigger than oneself.For example, there is two minimum turning radius
When the operation simultaneously of farm implements of the tractor of R=6.5M with breadth L=2.8M, N=2, then 2.8 ÷ 2 × 2 × 2.8 of X=2 × 6.5 ÷=
16.8M, i.e. minimum need to turn to across 16.8M, realize minimal path unit as shown in Figure 9, and splice with this element, until
Whole block operation is completed.For another example, when there is the operation simultaneously of four above-mentioned tractors, N=4, then 2.8 ÷ 4 of X=2 × 6.5 ÷ ×
4 × 2.8=22.4M, i.e. minimum need to turn to across 22.4M, realize minimal path unit as shown in Figure 10, and with this element
Splicing, until whole block operation is completed.The set walking along the street diameter finally cooked up be with farm management personnel input different L,
R, the variation of N value and change, it is not limited to the case where Fig. 9, Figure 10, Fig. 9, Figure 10 be an illustrative embodiment and
.
Decision Control module 6 is communicated by CAN bus, receive real time position from satellite positioning module 1, speed and
Attitude data, the type and range information of the barrier from environmental perception module 2, from remote control intervention module 3, cloud platform mould
The movement intervention instruction of block 4, and the routing information cooked up in conjunction with path planning module 5, to be remotely controlled the priority of intervention module 3
The priority of highest, cloud platform module 4 is taken second place, and the priority of Decision Control module 6 itself is minimum, after carrying out comprehensive analysis, meter
The movement that tractor and farm implements should be made is calculated, tractor is then controlled by CAN bus communication, number or analog output mouth
With the specific movement of farm implements.
Security module 7 includes: anti-sunken vehicle module 7.1, anticollision module 7.2 and emergency stop module 7.3.Anti-sunken vehicle module 7.1:
The operating area of vehicle is fallen into soft easy skid of the soil properties such as paddy field, sand ground, when satellite positioning module 1 calculates the speed of tractor
Almost 0, but engine runs well, and when tractor dynamic power gear and direction gear are not neutral gear, anti-sunken vehicle module
7.1 judge that tractor has occurred original place skidding and falls into vehicle, then tractor dynamic power are switched to neutral gear, power output after closing immediately
Device and hydraulic output device simultaneously brake, and send warning in danger to monitoring personnel by cloud platform module 4.Anticollision module
7.2: automatic gear-box control unit is to directly control the control unit in tractor direction and power gear, unmanned dilatory
In the machine course of work, with by CAN bus communications reception Decision Control module 6 instruct working method based on, but simultaneously its
The obstacle distance information from environmental perception module 2 is directly received also by CAN bus communication.When obstacle distance tractor
Less than 3 meters, but Decision Control module 6 is due to certain unknown causes, when not making brake or detour action command yet, fluid drive
Case control unit will be directed into protected mode, and tractor dynamic power is switched to neutral gear immediately, after closing power output device and
Hydraulic defeated device goes out and brakes, and sends warning in danger to monitoring personnel by cloud platform module 4.Emergency stop module 7.3: such as decisive and resolute
Simultaneously because when certain unknown causes fail, monitoring personnel still can be in remote control transmitter for plan control module 6 and anticollision module 7.2
Emergency stop mushroom head is pressed on 3.1, through vehicle-mounted remote-control receiver 3.2, emergency stop module 7.3 directly receives stop command, driving after
Electric appliance disconnects the power supply of control unit of engine, realizes reliable quick emergency stop.
Finally it should be noted that: the foregoing is only a preferred embodiment of the present invention, is not limited to this hair
It is bright.Although the present invention is described in detail referring to the foregoing embodiments, it shall be apparent to one skilled in the art that it is answered
The technological know-how known can still carry out the modification or right of unsubstantiality difference to technical solution documented by previous embodiment
Part of technical characteristic is equivalently replaced.Therefore, all made any insubstantial within thinking enlightenment of the invention
Property improve or equivalent replacement etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of driverless tractor control system, comprising: satellite positioning module (1), environmental perception module (2), remote control are dry
Pre- module (3), cloud platform module (4), path planning module (5), Decision Control module (6) and security module (7)；Its feature exists
In: satellite positioning module (1), environmental perception module (2), remote control intervention module (3), cloud platform module (4) and path planning mould
Block (5) is connect with Decision Control module (6) respectively；Meanwhile satellite positioning module (1), environmental perception module (2), remote control intervention
Module (3) and cloud platform module (4) are connect with security module (7) respectively；Satellite positioning module (1) and path planning module (5)
Connection.
2. a kind of driverless tractor control system according to claim 1, it is characterised in that: the satellite positioning mould
Block (1), comprising: satellite navigation case (1.1), radio antenna (1.2), satellite navigation aerial (1.3), Vehicular display device (1.4) and
Differential reference station (1.5)；Satellite navigation case (1.1) respectively with radio antenna (1.2), satellite navigation aerial (1.3) and vehicle-mounted aobvious
Show device (1.4) by wired connection, radio antenna (1.2) and differential reference station (1.5) pass through wireless connection.
3. a kind of driverless tractor control system according to claim 1, it is characterised in that: the environment sensing mould
Block (2), comprising: radar camera data computation processor (2.1), laser radar (2.2), millimetre-wave radar (2.3) and machine view
Feel camera (2.4)；Laser radar (2.2), millimetre-wave radar (2.3), machine vision camera (2.4) respectively with radar camera data
Computation processor (2.1) passes through wired connection.
4. a kind of driverless tractor control system according to claim 1, it is characterised in that: mould is intervened in the remote control
Block (3), comprising: by remote control transmitter (3.1) and vehicle-mounted remote-control receiver (3.2)；Remote control transmitter (3.1) connects with vehicle-mounted remote-control
Receipts machine (3.2) passes through wireless connection.
5. a kind of driverless tractor control system according to claim 1, it is characterised in that: the cloud platform module
(4), comprising: camera (4.1), on-vehicle information control terminal for data acquisition (4.2), server (4.3) and client (4.4)；Eight
Camera (4.1) and on-vehicle information control terminal for data acquisition (4.2) pass through wired connection, on-vehicle information control terminal for data acquisition (4.2)
With server (4.3) by being wirelessly connected, server (4.3) and client (4.4) pass through wireless connection.
6. a kind of driverless tractor control system according to claim 1, it is characterised in that: the path planning mould
Block (5), comprising: path planning algorithm module (5.1) and Vehicular display device (1.4)；Path planning algorithm module (5.1) and vehicle-mounted
Display (1.4) passes through wired connection.
7. a kind of driverless tractor control system according to claim 1, it is characterised in that: the security module
(7), comprising: anti-sunken vehicle module (7.1), anticollision module (7.2) and emergency stop module (7.3)；Connectionless pass between three modules
System.
8. a kind of driverless tractor control system according to claim 1, it is characterised in that: the control method
It is as follows:
[1] operator selects a certain channel, in Vehicular display device away from differential reference station (1.5) are set up in tractor 20km
(1.4) identical channel is selected on, and after waiting 10 seconds, successfully indicator light display green is communicated on Vehicular display device (1.4)；
[2] operator enters driver's cabin, closes the unmanned switch on instrument desk, manual drive tractor is to operation
Typing is clicked at four angles of block, every angle on Vehicular display device (1.4), and satellite positioning module (1) completes current plot position
The typing of confidence breath, repeats the step, and satellite positioning module (1) can store the location information in multiple plot；
[1] operator selects the plot to operation on Vehicular display device (1.4), inputs the working width L of farm implements, makees simultaneously
The tractor quantity N and tractor minimum turning radius R of industry, and select path planning mode: shuttle row mode or set row mode；
[2] operator opens the unmanned switch on instrument desk and then gets off, in remote control transmitter (3.1) or client
(4.4) on, long-range one-key start button is clicked, Decision Control module (6) control tractor remotely starts；
[3] operator opens corresponding farm implements switch, opens nobody and drive on remote control transmitter (3.1) or client (4.4)
Switch is sailed, Decision Control module (6) controls tractor and enters unmanned mode, and tractor mounts gear automatically, puts down farm implements,
Engine speed increases, and starts operation along planning path；
[3] in the unmanned mode process of tractor, operator can monitor the video around tractor on client (4.4)
Information, and every operating parameter, if nothing else, operator will carry out automatically edge of a field u-turn, keep away without doing any operation, tractor
The operations such as barrier, control farm implements；
[7] in the unmanned mode process of tractor, such as because of the wet and slippery soft reason in ground, tractor original place, which is skidded, falls into vehicle, peace
The anti-sunken vehicle module (7.1) of full module (7) will control the automatic neutral gear of tractor, prevent unmanned tractor original place from the more digging the more deep generation
Fall into vehicle；
[8] in the unmanned mode process of tractor, such as because of unknown cause, Decision Control module (6) failure can not avoidance, peace
The anticollision module (7.2) of full module (7) will control tractor in barrier front brake；
[9] in the unmanned mode process of tractor, occur if any dangerous situation, operator can in remote control transmitter (3.1) or
In client (4.4), scram button is pressed, tractor engine is flame-out.
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