CN110727219A - Agricultural machinery autopilot navigation - Google Patents
Agricultural machinery autopilot navigation Download PDFInfo
- Publication number
- CN110727219A CN110727219A CN201910927619.XA CN201910927619A CN110727219A CN 110727219 A CN110727219 A CN 110727219A CN 201910927619 A CN201910927619 A CN 201910927619A CN 110727219 A CN110727219 A CN 110727219A
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- module
- agricultural machinery
- executing mechanism
- ecu controller
- navigation system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an automatic driving navigation system of agricultural machinery, which comprises a main body, wherein the main body comprises an ECU (electronic control Unit) controller, an angle sensor, a remote control host, a three-axis inertial unit, an operation executing mechanism and a navigation operation module; the remote control host is used for establishing a plane model of a region to be worked of the operation executing mechanism and establishing a datum line of an operation path; the ECU controller acquires the attitude and acceleration information of the operation executing mechanism through an external triaxial inertial unit, acquires the deflection angle of a steering wheel through an external angle sensor, acquires high-precision positioning information through an external navigation operation module, and is used for receiving various operation instructions sent by a remote control host to control the operation executing mechanism to execute the operation instructions. The invention greatly reduces the investment on the basis of completing the automatic navigation function.
Description
Technical Field
The invention relates to the field of automatic navigation of agricultural machinery, in particular to an automatic driving navigation system of agricultural machinery.
Background
The automatic driving operation of the large agricultural machine is the key point of the research in the precise agricultural field in recent years, along with the development of the satellite navigation technology, the navigation and positioning precision can reach the millimeter level after the real-time centimeter, the precise position of the agricultural machine is sensed in real time by satellite navigation, and the automatic operation of the agricultural machine is realized by feedback control of a steering mechanism of the agricultural machine. .
However, the agricultural machinery operating environment belongs to operation under a complex working condition and is comprehensively influenced by soil texture, climate, rainfall, geographic environment, signal transmission and the like, so that the reliability and adaptability of the technology cannot meet the requirements of agricultural production. The automatic navigation driving technology of agricultural machinery belongs to the interdisciplinary conforming field. In the engineering process, the integration of multiple subjects such as satellite navigation and enhancement, electro-hydraulic drive, feedback control, software engineering, signal processing is related to, and the traditional design adopts the mode of modularization integration, leads to loose coupling design between control module, agricultural machinery tracking module, high accuracy combination navigation module, the electro-hydraulic drive can not satisfy the purpose of real-time high accuracy control, and then influences the promotion of operation precision, and under complicated operating mode, the demand that the large tracts of land was popularized and applied is also difficult to satisfy to the sub-module frequent upgrading and operation maintenance.
The existing agricultural machinery with automatic navigation driving adopts a block type structure in order to achieve the purpose of accurate control, although the precision is greatly improved, the problem that the agricultural machinery cannot be popularized due to too large investment is also caused.
Disclosure of Invention
In view of this, the invention provides an agricultural machinery automatic driving navigation system, in order to solve the technical problems of high price and large investment caused by the structure of the existing agricultural machinery with automatic navigation driving.
The technical scheme of the invention is realized as follows:
an agricultural machinery automatic driving navigation system comprises a main body, wherein the main body comprises an ECU (electronic control Unit) controller, an angle sensor, a remote control host, a three-axis inertial unit, an operation executing mechanism and a navigation operation module;
the remote control host is used for establishing a plane model of a region to be worked of the operation executing mechanism and establishing a datum line of an operation path;
the ECU controller acquires the attitude and acceleration information of the operation executing mechanism through the external connection of the triaxial inertial unit, acquires the deflection angle of the steering wheel through the external connection of the angle sensor, acquires high-precision positioning information through the external connection of the navigation operation module, and is used for receiving various operation instructions sent by the remote control host and controlling the operation executing mechanism to execute the operation instructions.
Preferably, the main body is further provided with a human-computer interaction module, and the human-computer interaction module is connected with the ECU controller.
Preferably, the ECU controller comprises an ARM processor and a DSP processor, the ARM processor is connected with the human-computer interaction module, and the DSP processor is used for controlling the angle sensor, the three-axis inertial unit and the operation executing mechanism.
Preferably, an electro-hydraulic proportional valve is further arranged between the ECU controller and the operation executing mechanism, and the operation executing mechanism is intelligently controlled by the electro-hydraulic proportional valve.
Preferably, the main body is further provided with a switching module, and the switching module is connected with the ECU controller and is used for switching two modes of manual control and automatic control of the operation executing mechanism.
Preferably, the operation executing mechanism is provided with an automatic correction module, and the automatic correction module is used for forcibly controlling the switching module to an automatic control mode.
Preferably, the ECU controller adopts a dual-core processor with a main chip of TMS320DM 6446.
Preferably, the ECU controller is further provided with a wireless communication module, and the wireless communication module is in communication connection with the remote control host.
Has the advantages that:
the invention arranges an ECU controller, an angle sensor, a remote control host, a triaxial inertia unit, an operation executing mechanism and a navigation operation module; the ECU controller acquires the attitude and acceleration information of the operation executing mechanism through externally connecting the triaxial inertial unit, acquires the deflection angle of a steering wheel through externally connecting the angle sensor, acquires high-precision positioning information through externally connecting the navigation operation module, and is used for receiving various operation instructions sent by the remote control host and controlling the operation executing mechanism to execute the operation instructions; through ECU controller centralized processing, realized automatic navigation, it is few to adopt the module, drops into greatly reduced.
Drawings
Fig. 1 is a schematic structural diagram of an agricultural machinery automatic driving navigation system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an agricultural machinery automatic driving navigation system, which includes a main body, where the main body includes an ECU controller, an angle sensor, a remote control host, a three-axis inertial unit, an operation executing mechanism, and a navigation operation module;
the remote control host is used for establishing a plane model of a region to be worked of the operation executing mechanism and establishing a datum line of an operation path; the operation executing mechanism is the agricultural machine, and after the datum line is set, the agricultural machine operates along the datum line.
The ECU controller acquires the attitude and acceleration information of the operation executing mechanism through an external triaxial inertial unit, acquires the deflection angle of a steering wheel through an external angle sensor, acquires high-precision positioning information through an external navigation operation module, and is used for receiving various operation instructions sent by a remote control host to control the operation executing mechanism to execute the operation instructions, wherein the navigation operation module constantly calculates the deviation of the operation executing mechanism, so that accurate positioning is facilitated.
The main body is also provided with a human-computer interaction module, and the human-computer interaction module is connected with the ECU controller.
The ECU controller comprises an ARM processor and a DSP processor, the ARM processor is connected with the human-computer interaction module, and the DSP processor is used for controlling the angle sensor, the three-axis inertial unit and the operation executing mechanism. And the ECU controller adopts a dual-core processor with a TMS320DM6446 main chip. The TMS320DM6446 dual-core CPU is used as a core, analog control quantity is output through a DA module to control the electro-hydraulic proportional valve, an AD conversion module collects a front wheel deflection angle value as reference input of a feedback control system, and a triaxial inertial unit inputs information such as acceleration and attitude at the frequency of 100Hz through a serial port to be used for combined navigation settlement of a control model. The high-precision receiver inputs high-precision position information in real time, and can also input the original observed quantity into the CPU to execute the integrated navigation control on the CPU. Other modules of the circuit board comprise conventional crystal oscillator, FLASH, SDRAM, power supply and other peripheral circuit modules.
An electro-hydraulic proportional valve is further arranged between the ECU controller and the operation executing mechanism, and the operation executing mechanism is intelligently controlled by the electro-hydraulic proportional valve.
The main body is also provided with a switching module, and the switching module is connected with the ECU controller and used for switching two modes of manual control and automatic control of the operation executing mechanism.
The running execution mechanism is provided with an automatic correction module which is used for forcibly controlling the switching module to be in an automatic control mode, when a person uses the running execution mechanism and a user deviates from a route, the switching module is opened, and the ECU realizes self-correction and returns to a correct route.
Still set up wireless communication module on the ECU controller, wireless communication module and remote control host computer communication connection, wireless communication module is for the ease of the temperature humidity with gathering, and remote control host computer, the remote management of being convenient for is given in operating speed, running angle transmission of operating mechanism.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only for the purpose of illustrating the technical solutions of the present invention, and not for the purpose of limiting the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. An agricultural machinery automatic driving navigation system comprises a main body, and is characterized in that the main body comprises an ECU controller, an angle sensor, a remote control host, a three-axis inertial unit, an operation executing mechanism and a navigation operation module;
the remote control host is used for establishing a plane model of a region to be worked of the operation executing mechanism and establishing a datum line of an operation path;
the ECU controller acquires the attitude and acceleration information of the operation executing mechanism through the external connection of the triaxial inertial unit, acquires the deflection angle of the steering wheel through the external connection of the angle sensor, acquires high-precision positioning information through the external connection of the navigation operation module, and is used for receiving various operation instructions sent by the remote control host and controlling the operation executing mechanism to execute the operation instructions.
2. The agricultural machinery autopilot navigation system of claim 1, characterized in that a human-computer interaction module is further disposed on the main body, and the human-computer interaction module is connected with the ECU controller.
3. The agricultural machinery autopilot navigation system of claim 2 wherein the ECU controller includes an ARM processor and a DSP processor, the ARM processor being connected to the human-computer interaction module and the DSP processor being configured to control the angle sensor, the three axis inertial unit and the operational actuator.
4. The agricultural machinery autopilot navigation system of claim 1, wherein an electro-hydraulic proportional valve is further disposed between the ECU controller and the operation actuator, and the operation actuator is intelligently controlled by the electro-hydraulic proportional valve.
5. The agricultural machinery autopilot navigation system of claim 4 wherein the main body is further provided with a switch module, the switch module is connected with the ECU controller for switching between manual and automatic control modes of the operating actuator.
6. The agricultural machinery autopilot navigation system of claim 5 wherein the operating actuator is provided with an automatic correction module for forcibly controlling the switch module to an automatic control mode.
7. The agricultural machinery autopilot navigation system of claim 1 wherein the ECU controller employs a dual core processor with a main chip of TMS320DM 6446.
8. The agricultural machinery autopilot navigation system of claim 1, characterized in that a wireless communication module is further provided on the ECU controller, and the wireless communication module is in communication connection with the remote control host.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927619.XA CN110727219A (en) | 2019-09-27 | 2019-09-27 | Agricultural machinery autopilot navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910927619.XA CN110727219A (en) | 2019-09-27 | 2019-09-27 | Agricultural machinery autopilot navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110727219A true CN110727219A (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910927619.XA Withdrawn CN110727219A (en) | 2019-09-27 | 2019-09-27 | Agricultural machinery autopilot navigation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862727A (en) * | 2020-07-28 | 2020-10-30 | 中国科学院自动化研究所 | Artificial intelligence graphical programming teaching platform and method |
-
2019
- 2019-09-27 CN CN201910927619.XA patent/CN110727219A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862727A (en) * | 2020-07-28 | 2020-10-30 | 中国科学院自动化研究所 | Artificial intelligence graphical programming teaching platform and method |
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Application publication date: 20200124 |
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