CN111026117B - Obstacle avoidance optimal control system and control method for intelligent rice transplanter - Google Patents
Obstacle avoidance optimal control system and control method for intelligent rice transplanter Download PDFInfo
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 91
- 235000009566 rice Nutrition 0.000 title claims abstract description 91
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- 241000209094 Oryza Species 0.000 claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims description 53
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Abstract
The invention discloses an obstacle avoidance optimal control system and a control method of an intelligent rice transplanter, and relates to the field of intelligent rice transplants, wherein the control system comprises an environment sensing module, a rice transplanter information module, an intelligent decision module and a control execution module; the environment information acquired by the environment sensing module and the parameter information of the rice transplanter acquired by the rice transplanter information module are uploaded to the intelligent decision module, and after being processed by the intelligent decision module, related instructions are sent to the control execution module, so that the intelligent rice transplanter can realize the optimal obstacle crossing, re-path planning and corresponding warning modes, and further the related operation of the rice transplanter is carried out to solve the obstacle on the travelling path. In the application of the intelligent rice transplanter, the invention can effectively improve the land utilization rate and the planting rate of seedlings, reduce the damage of obstacles to the rice transplanter and prolong the service life of the intelligent rice transplanter.
Description
Technical Field
The invention belongs to the field of intelligent rice transplanting machines, and relates to an obstacle avoidance optimal control system and control method of an intelligent rice transplanting machine.
Background
In recent years, intelligent control development in China is very rapid, and the intelligent rice transplanter has wide application in the field of agricultural machinery, and the intelligent agricultural machinery can be a wide focus, and the intelligent rice transplanter also becomes a research hot spot. When the intelligent rice transplanter performs transplanting work in the field, some barriers, such as ridges, agricultural equipment, telegraph poles, sundries in the field, people and the like, can be inevitably encountered, the intelligent rice transplanter can pass through surmountable barriers by lifting the transplanting device of the intelligent rice transplanter, and additional obstacle avoidance treatment is needed for the surmountable barriers, and different types of properties exist in the surmountable barriers, so that the optimal control effect can be achieved by corresponding control modes aiming at the barriers of different properties. If the optimal control is not carried out in the obstacle avoidance process, the time for avoiding the obstacle is longer, and the land use rate and the seedling planting rate are affected. Therefore, developing a control system which can accurately identify the obstacle and make accurate response is important for the development of intelligent rice transplanting machines.
Disclosure of Invention
In order to solve the technical problems, the invention provides an optimal obstacle avoidance system of an intelligent rice transplanter, which can accurately identify obstacles and accurately respond to the obstacles, and the optimal control system is critical to the development of the intelligent rice transplanter.
The invention is realized by the following technical scheme:
the optimal obstacle avoidance control system for the intelligent rice transplanter field comprises an environment sensing module, a rice transplanter information module, an intelligent decision module and a control execution module; the environment information acquired by the environment sensing module and the parameter information of the rice transplanter acquired by the rice transplanter information module are uploaded to an intelligent decision module, and after being processed by the intelligent decision module, related instructions are sent to a control execution module, and the control execution module carries out related operation on the rice transplanter to solve the obstacle on the travelling path.
Furthermore, in the intelligent decision module, firstly classifying the barriers, and then adopting different analysis control for different classifications; dividing the obstacle into a first obstacle surmountable type and a second obstacle surmountable type; the hierarchical control corresponds to algorithm execution, path planning and parking warning.
Further, when the identified obstacle is a surmountable obstacle, a linear control algorithm of a lifting transplanting mechanism of the transplanting machine and a linear control algorithm of a transplanting device of the homing transplanting machine are established:
linear control algorithm for lifting transplanting mechanism of transplanting machine
The ultrasonic sensor finds the obstacle in front and the minimum distance from the obstacle is set as S, and the value of S adopted after the ultrasonic sensor passes over the obstacle is negative, because the intelligent rice transplanter continuously changes the value of S in the moving process; the distance between the ultrasonic sensor and the transplanting mechanism is constant Sc; let the working travelling speed of the intelligent rice transplanter be constant V 1 The speed sensor detects that the angular velocity of the movement of the lifting rod device is constant omega, the real-time angle (theta) of the rod and the rotational angular velocity (omega) of the rod can be detected through the level meter sensor and the angular velocity sensor which are arranged on the lifting rod, the laser radar sensor recognizes the obstacle, the maximum height is h, the transverse width is W, and the time is t, wherein S, h and t are unknown quantities;
the optimal condition of the intelligent control device is that when the transplanting mechanism is about to contact an obstacle, the transplanting mechanism is just lifted to the height capable of crossing the obstacle to stop lifting, and when the lifting rod is in a horizontal position, the distance from the ground of the transplanting mechanism is h 1 ＝L×siθn，The horizontal position is used as a reference line, and two situations are discussed, namely, the situation one is that the lifting rod can pass through the obstacle without being lifted beyond the horizontal line, and the situation two is that the lifting rod can pass through the obstacle without being lifted beyond the horizontal line: the individual quantities are jointly calculated from the motion model:
when obstacle h<h 1 At the time, there are
S+Sc＝V 1 ×t
The two formulas are respectively expressions of the distance S+Sc from the transplanting mechanism to the obstacle and the height h of the obstacle, and the two formulas are combined to obtain a relation of S+Sc and h:
S+Sc＝V 1 ×(arcsin(h/L)/ω)
when the obstacle h is greater than or equal to h 1 At the time, there are
S+Sc＝V 1 ×t
The two formulas are combined to obtain the relation between the distance S+Sc from the transplanting mechanism to the obstacle and the obstacle height h:
S+Sc＝V 1 ×(arcsin((h-L×sinθ)/L)+θ)/ω
after the actual height data of the obstacle is adopted by the environment sensing module, the measured obstacle height value h is imported into a relation between S+Sc and h, so that the value of S+Sc can be obtained, when the real-time S+Sc reaches the value, the control execution module immediately works, the work of the transplanting mechanism is stopped, and the intelligent transplanting machine is optimally controlled;
linear control algorithm of seedling transplanting mechanism of homing seedling transplanting machine
The seedling transplanting mechanism reaches a height with a certain safety distance from the obstacle under the lifting action of the lifting rod, and stops lifting and passes through t required by the obstacle crossing 1 Immediately after the time, the seedling is transplantedThe mechanism returns to the original position and the transplanting operation is continued, wherein the time t 1 The expression of (2) is:
according to the expression, a linear relation between the minimum distance S from the obstacle and the height h of the obstacle can be obtained, h is an independent variable, S is an independent variable, when the height of the obstacle measured by the laser radar sensor is h, then the lifting device is started when the sum of the distance S measured by the ultrasonic sensor and the distance Sc between the ultrasonic sensor and the transplanting mechanism reaches corresponding values in the working process, and the lifting device is continued to be t after being lifted to a certain position 1 When the seedling transplanting mechanism just passes over the obstacle, the lifting rod starts to rotate reversely so that the seedling transplanting mechanism returns to the working position.
Further, when the type of the insurmountable obstacle is met, namely, the insurmountable obstacle and the immovable obstacle are met, the intelligent rice transplanter stops the rice transplanting mechanism after working to the limit distance from the obstacle, lifts the rice transplanting mechanism, and re-plans the path of the intelligent rice transplanter through the path planning module, so that the turning direction of the intelligent rice transplanter is determined, and a path planning signal in the direction is selected as an actual travelling path.
Further, when the second type of insurmountable obstacle is encountered, namely, when the second type of insurmountable obstacle is an insurmountable obstacle but a movable obstacle exists in front of the obstacle, when the infrared sensor detects that the movable obstacle exists in front of the obstacle, the ultrasonic sensor detects that the distance between the ultrasonic sensor and the target reaches the range of a safe distance, the control execution module can send out an instruction for decelerating and stopping the vehicle and starts the warning device to remind, and when the target is not on a road, the intelligent rice transplanter can continue to work.
Further, the ultrasonic sensor, the laser radar sensor and the infrared sensor in the environment sensing module transmit the data information of the distance between the sensor and the obstacle, the geometric dimension of the obstacle and the driving path, which are respectively acquired, to the intelligent decision module.
Further, a speed sensor, a GPS sensor, a level meter sensor and an angular velocity sensor in the transplanter information module transmit the acquired data information of the speed, the real-time position, the angle (theta) formed by the lifting rod and the horizontal plane of the intelligent transplanter and the angular velocity omega lifted by the lifting transplanting mechanism to the intelligent decision module.
Further, an ultrasonic radar in the environment sensing module is arranged at the lower end of the front part of the intelligent rice transplanter, and a laser radar sensor and an infrared sensor are arranged at the front part of the intelligent rice transplanter.
Further, a vehicle speed sensor is mounted on the transmission output shaft, a GPS sensor is mounted in the middle of the vehicle, and a level sensor and an angular velocity sensor are both mounted on the lifting rod.
The control method is that when the intelligent rice transplanter works, the intelligent rice transplanter transmits data signals adopted by an environment sensing module and a rice transplanter information module to an intelligent decision module, and the intelligent rice transplanter performs certain control processing to send action instructions to a control execution module so as to realize the optimal control of the rice transplanter; the method comprises the following specific steps:
step one: the ultrasonic sensor in the environment sensing module can continuously measure the front obstacle signals, after the obtained front obstacle distance signals reach a certain distance, the laser radar sensor can start to measure the structural size of the front obstacle, and meanwhile, the infrared sensor can also measure the obstacle signals of the front driving path;
step two: the speed sensor in the information module of the rice transplanter transmits real-time speed signals of the rice transplanter to the intelligent decision module, the GPS sensor transmits real-time position signals of the rice transplanter to the intelligent decision module, and the level sensor and the angular velocity sensor respectively transmit data signals of an included angle (theta) between the lifting rod and the horizontal direction and a rotating angular velocity (omega) to the intelligent decision module;
step three: analyzing and processing obstacle signals of the ultrasonic sensor, the laser radar sensor and the infrared sensor, judging the type of the obstacle, and determining the type of the obstacle as one type of surmountable obstacle, surmountable obstacle type I and surmountable obstacle type II;
step four: the control execution module performs layered control in a corresponding mode according to the type of the obstacle judged by the intelligent decision module:
a. for surmountable obstacle linear control
The intelligent decision module can effectively process the information acquired by the environment sensing module and the vehicle information module through corresponding algorithms, and after the processing is finished, an action instruction is sent to the control execution module, and the transplanting mechanism of the transplanting machine is controlled to be lifted upwards to cross the obstacle through the rotation of the lifting rod;
b. control process for detecting object of type I insurmountable obstacle
When the data detected by the ultrasonic sensor, the infrared sensor and the laser radar sensor are transmitted to the intelligent decision module and then the result is determined to be an obstacle which can not move autonomously, a corresponding instruction is sent to a path planning module in path planning, and the path planning module acquires a path planning signal and re-plans a path;
c. control processing for detecting obstacle of type two insurmountable obstacle
When the data detected by the ultrasonic sensor, the infrared sensor and the laser radar sensor are transmitted to the intelligent processing module and then the type of obstacle such as a person is determined as a result, the corresponding action instruction is sent to the control execution module, the speed reduction and stopping can be carried out within a proper distance, the transplanting operation is stopped, the warning device is started to warn, and when the obstacle leaves the sensing range of the sensor, the intelligent transplanting machine can continue to operate.
The invention has the beneficial effects that:
1. the intelligent seedling planting machine has a simple structure and high reliability, can maximally improve the utilization rate of the land and can also well improve the planting rate when helping the intelligent seedling planting machine to meet obstacles in the working process.
2. The invention provides an effective linear control algorithm, and the control algorithm can accurately control the movement of the transplanting device, so that the generated effect can be optimally controlled.
3. The intelligent obstacle avoidance system can process according to the data adopted by each installed sensor, and can effectively help the intelligent seedling planting machine working in the field to avoid the obstacle, so that the loss of the obstacle to the machine is reduced.
4. When encountering some obstacles such as telegraph poles, the intelligent transplanting vehicle can be subjected to the form path rescheduling.
5. The possible obstacles in the field are identified in a finer manner, after the obstacles which can be autonomously moved by some people and the like are identified, the vehicle stops within a safe distance, and the warning device works to warn, so that the path planning is not required to be carried out again.
6. The system classifies the obstacle into surmountable obstacle type I and surmountable obstacle type II when the obstacle is identified, and controls the obstacle in a real-time corresponding mode. When some surmountable obstacles are passed, the lifting and homing of the seedling transplanting mechanism are optimally controlled by implanting the established control algorithm, so that the waste of land resources can be reduced in the obstacle avoidance process, and the maximization of land utilization rate and seedling planting rate is realized.
Drawings
FIG. 1 is a schematic diagram of an optimal obstacle avoidance control system for an intelligent rice transplanter according to the present invention;
FIG. 2 is a representation of data parameters of the rice transplanter of the present invention during obstacle avoidance;
fig. 3 is a schematic diagram of each part module of an optimal obstacle avoidance control system of an intelligent rice transplanter.
The reference numerals are as follows:
1-an ultrasonic sensor; 2-a lidar sensor; a 3-infrared sensor; 4-a vehicle speed sensor; a 5-GPS sensor; 6-level sensor; 7-a transplanting mechanism; 8-lifting rod; 9-an angular velocity sensor; 10-warning device.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The embodiments according to the present invention will be described in detail below with reference to the drawings
With reference to fig. 1, the obstacles encountered are classified into surmountable obstacles (ridges, hard soil blocks, sundries, etc.), surmountable obstacles (such as telegraph poles, markers, etc.), surmountable obstacles (such as people, etc.), and surmountable obstacles (such as people, etc.), although the obstacles belong to emergency conditions, in practice, certain probability occurs.
These obstacles are controlled in stages so as to obtain an optimal control effect. When some surmountable obstacles are passed, the lifting and regression of the seedling transplanting mechanism are optimally controlled by implanting the established control algorithm, so that the land utilization rate is maximized, wherein the environmental information collected by the ultrasonic sensor 1, the laser radar sensor 2 and the infrared sensor 3 in the environment sensing module and the parameter information of the seedling transplanting machine collected by the vehicle speed sensor 4, the GPS sensor 5 and the level meter sensor 6 in the seedling transplanting machine information module are uploaded to the intelligent decision module, and after being processed by the intelligent decision module, related instructions are sent to the control module, so that corresponding processing is performed; the ultrasonic radar 1 in the environment sensing module is arranged at the lower end of the front part of the intelligent rice transplanter, the laser radar sensor 2 and the infrared sensor 3 are arranged at the front part of the intelligent rice transplanter, the vehicle speed sensor 4 is arranged on the output shaft of the speed changer, the GPS sensor 5 is arranged in the middle of the vehicle, the level meter sensor 6 and the angular velocity sensor 9 are arranged on the lifting rod 8, and the six sensors are connected with the intelligent decision module for signal transmission. The intelligent decision module makes corresponding control instructions by processing the uploaded sensor data so as to realize the optimal obstacle avoidance operation of the intelligent rice transplanter.
The control system of the invention carries out hierarchical control on different barriers possibly encountered:
when the obstacle identified by the environment sensing module is passable, after the data information transmitted and output by the environment sensing module and the transplanter information module is processed by the established control algorithm, when the distance between the transplanting mechanism 7 and the obstacle reaches a certain limit, the lifting rod 8 rotates to lift the transplanting mechanism 7 at a uniform angular speed omega and stops within a certain time, the lifting speed of the transplanting mechanism 7 cannot be too high so as to ensure the integrity of seedlings, and after a certain time, the lifting rod 8 returns the transplanting mechanism 7 to the working position, so that the established control algorithm can well realize optimal control of the transplanting mechanism 7;
when an insurmountable obstacle is identified, controlling according to whether the obstacle has autonomous mobility or not, for example, stopping working and lifting a transplanting mechanism when the obstacle faces an obstacle such as a telegraph pole, then, according to position information provided by a GPS sensor 5 and environment information measured by an environment sensing module, a path planning module in path planning re-plans a path of the intelligent transplanting machine, and returning to an ideal path to continue working by turning over the obstacle; when the intelligent rice transplanting machine faces obstacles such as people, the intelligent rice transplanting machine can be decelerated and stopped within a certain safe distance, the intelligent rice transplanting machine stops working, the intelligent rice transplanting machine is prompted by an alarm device, and when the obstacles are not detected, the intelligent rice transplanting machine continues working.
Examples
1) Composition of optimal obstacle avoidance control system of intelligent rice transplanter
Referring to FIG. 1, an installation structure diagram of an embodiment of the present invention is shown, illustrating the installation locations of various sensors and an early warning system. The early warning device 10 is arranged at the upper front end of an automobile, the ultrasonic radar 1 is arranged at the lower front end of the intelligent rice transplanter, the laser radar sensor 2 is arranged at the front part of the intelligent rice transplanter, the infrared sensor 3 is also arranged at the front part of the intelligent rice transplanter, and the three sensors form an environment sensing module in the whole system module.
The speed sensor 4 is installed on the output shaft of the speed changer, the GPS sensor 5 is installed in the middle of the vehicle, the level sensor 6 and the angular velocity sensor 9 are both installed on the lifting rod, and the four sensors are used for sensing the information modules of the intelligent rice transplanting machine.
In the schematic diagram of each part of the control system combined with fig. 3, the ultrasonic sensor 1 continuously measures the front obstacle signal, after the obtained front obstacle distance signal reaches a certain distance, the laser radar sensor 2 starts to measure the structural size of the front obstacle, meanwhile, the infrared sensor 3 also measures the obstacle signal of the front driving path, and the distance between the three sensors and the obstacle, the geometric size of the obstacle and the data information of the driving path are respectively acquired and transmitted to the intelligent decision module;
the speed sensor transmits real-time speed signals of the transplanter to the intelligent decision module, the GPS sensor transmits real-time position signals of the transplanter to the intelligent decision module, the level sensor and the angular velocity sensor respectively transmit data signals of an included angle (theta) between a lifting rod and the horizontal direction and a rotating angular velocity (omega) to the intelligent decision module, the ultrasonic sensor 1 continuously measures front obstacle signals in a schematic diagram of each part of the control system according to the attached figure 3, the laser radar sensor 2 starts to measure the structural size of the front obstacle after the obtained distance signals of the front obstacle reach a certain distance, meanwhile, the infrared sensor 3 also measures the obstacle signals of a front driving path, and the distance between the three sensors and the obstacle, the geometric size of the obstacle and the data information of the driving path are respectively transmitted to the intelligent decision module;
the intelligent decision module analyzes and processes the obstacle data signals adopted by the ultrasonic sensor 1, the laser radar sensor 2 and the infrared sensor 3, judges the type of the obstacle according to the adopted data, decides whether the obstacle is a surmountable obstacle, an insurmountable obstacle type I (such as a telegraph pole and the like) or an unbuckled surmounting obstacle type II (such as a person and the like), and decides according to the corresponding obstacle type, so that the corresponding control measures are adopted to carry out hierarchical control.
2) Working method of optimal obstacle avoidance control system of intelligent rice transplanter
The ultrasonic sensor 1 in the environment sensing module can continuously measure the front obstacle signals, after the obtained front obstacle distance signals reach a certain distance, the laser radar sensor 2 can start to measure the structural size of the front obstacle, and meanwhile, the infrared sensor 3 can also measure the obstacle signals of the front driving path; when the obstacle detected by the environment sensing module is the surmountable obstacle, the obstacle can be controlled and processed through the established control algorithm, and the seedling transplanting mechanism is properly controlled in two situations:
1.1 obstacle h<h 1 In the time-course of which the first and second contact surfaces,
S+Sc＝V 1 ×(arcsin(h/L)/ω)
1.2 when the obstacle h is more than or equal to h 1 At the time, there are
S+Sc＝V 1 ×(arcsin((h-L×sinθ)/L)+θ)/ω
After the actual height data of the obstacle is adopted by the environment sensing module, the measured obstacle height value h is imported into a relation between S+Sc and h, so that the value of S+Sc can be obtained, and the distance is the limit distance. When the real-time S+Sc reaches the value, the surmountable control execution module immediately works to stop the work of the transplanting mechanism 7, immediately lifts the transplanting mechanism 7 to reach the corresponding height, and then stops, passes throughAfter a time of (5) for t 1 When the obstacle is just overcome, the lifting rod 8 immediately starts to rotate reversely to enable the transplanting mechanism to return to the working position, and the transplanting work is continued, so that the process is linear control for surmounting the obstacle;
when an insurmountable obstacle is detected, control is performed in two cases:
a. control process in which the detection object is of the type I insurmountable obstacle
The type of insurmountable obstacle is an obstacle that cannot move autonomously, such as a utility pole. When the data detected by the environment sensing module is transmitted to an obstacle which can only be processed and is the type I obstacle which can not be surmounted as a result, a corresponding instruction is sent to a path planning module in path planning, the path planning module can determine steering operation of the intelligent rice transplanter according to environment information captured by each sensor and the length of the path planning when obtaining a path planning signal, the path planning module selects the path planning signal in the direction as an actual travelling path, and completes rice transplanting work under the path to the maximum extent, and then in the process of path conversion, the intelligent rice transplanter is accelerated through an electronic accelerator, decelerated and braked through an electric brake, steered through a steering mechanism, and the intelligent rice transplanter can also run reversely through a transmission mechanism. Under the condition that the original path does not influence the conversion path of the transplanter, the area under the path can be utilized to the maximum extent, so that the optimal control is facilitated, and the land utilization rate is maximized;
b. control processing for detecting obstacle as insurmountable obstacle type two
The second obstacle type which can not be surmounted is an obstacle such as a person, an animal and the like, although the obstacle situation belongs to an emergency, a certain probability exists in practice, when the data detected by the environment sensing module is transmitted to the intelligent processing module, a corresponding action instruction is sent to the control execution module when the data is determined to be the obstacle of the second obstacle type which can not be surmounted, the control execution module can perform deceleration parking and stop transplanting work through controlling the electronic clutch and the electric brake within a proper safe distance, the warning device 10 is started to warn at the same time, and when the obstacle leaves the sensing range of the sensor, the intelligent transplanting machine can close the warning device 10 and continue to perform transplanting work through the electric accelerator. Therefore, the life safety of the labor people is guaranteed to a certain extent, the path does not need to be planned again in the mode, the optimal control concept is met, and the land utilization rate is maximized.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (7)
1. The field optimal obstacle avoidance control system of the intelligent rice transplanter is characterized by comprising an environment sensing module, a rice transplanter information module, an intelligent decision module and a control execution module; the environment information acquired by the environment sensing module and the parameter information of the rice transplanter acquired by the rice transplanter information module are uploaded to an intelligent decision module, and after being processed by the intelligent decision module, related instructions are sent to a control execution module, and the control execution module carries out related operation on the rice transplanter to solve the obstacle on the travelling path;
in the intelligent decision module, firstly classifying the barriers, and then adopting different analysis control for different classifications; dividing the obstacle into a surmountable obstacle type I and an surmountable obstacle type II; the hierarchical control corresponds to algorithm execution, path planning and parking warning;
when the identified obstacle is the surmountable obstacle, respectively establishing a linear control algorithm of the lifting rice transplanting mechanism (7) and a linear control algorithm of the homing rice transplanting mechanism (7):
A. linear control algorithm for lifting transplanting mechanism of transplanting machine
The ultrasonic sensor finds the obstacle in front and the minimum distance from the obstacle is set as S, and the value of S adopted after the ultrasonic sensor passes over the obstacle is negative, because the intelligent rice transplanter continuously changes the value of S in the moving process; the distance between the ultrasonic sensor (1) and the transplanting mechanism (7) is constant to Sc; let the working travelling speed of the intelligent rice transplanter be constant V 1 The angular velocity of the movement of the lifting rod device is measured to be omega by a vehicle speed sensor, the real-time angle of the lifting rod is theta, the rotational angular velocity of the lifting rod is omega by a level meter sensor and an angular velocity sensor which are arranged on the lifting rod, the maximum height of the laser radar sensor is h, the transverse width of the laser radar sensor is W through identifying an obstacle, and the time is t, wherein S, h and t are unknown quantities;
when the transplanting mechanism (7) is in contact with an obstacle, the transplanting mechanism (7) is lifted to a height capable of crossing the obstacle, lifting is stopped, and when the lifting rod (8) is positioned in waterWhen in the flat position, the ground clearance of the transplanting mechanism (7) is h 1 The following description refers to two cases in which the horizontal position is taken as a reference line, namely, the lifting rod can cross the obstacle without lifting beyond the horizontal line, and the lifting rod can cross the obstacle without lifting beyond the horizontal line; the individual quantities are jointly calculated from the motion model:
when obstacle h<h 1 At the time, there are
S+Sc＝V 1 ×t
The two formulas are respectively expressions of the distance S+Sc from the transplanting mechanism (7) to the obstacle and the height h of the obstacle, and the two formulas are combined to obtain a relation formula of S+Sc and h:
S+Sc＝V 1 ×(arcsin(h/L)/ω)
when the obstacle h is greater than or equal to h 1 At the time, there are
S+Sc＝V 1 ×t
The two formulas are combined to obtain the relation between the distance S+Sc from the transplanting mechanism to the obstacle and the obstacle height h:
S+Sc＝V 1 ×(arcsin((h-L×sinθ)/L)+θ)/ω
after the actual height data of the obstacle is obtained through the environment sensing module, the measured obstacle height value h is imported into a relation between S+Sc and h, so that the value of S+Sc can be obtained, when the real-time S+Sc reaches the value, the control execution module immediately works, the work of the transplanting mechanism (7) is stopped, and the intelligent transplanting machine is optimally controlled;
B. linear control algorithm of seedling transplanting mechanism of homing seedling transplanting machine
The seedling transplanting mechanism (7) achieves a height with a certain safety distance from an obstacle under the lifting action of the lifting rod (8)The lifting is stopped after t needed for crossing the obstacle 1 After the time, the seedling transplanting mechanism is immediately reset, and the seedling transplanting work is continued, wherein the time t 1 The expression of (2) is:
according to the expression, a linear relation between the minimum distance S from the obstacle and the height h of the obstacle can be obtained, h is an independent variable, S is an independent variable, when the height of the obstacle measured by the laser radar sensor is h, then the lifting device is started when the sum of the distance S measured by the ultrasonic sensor and the distance Sc between the ultrasonic sensor and the transplanting mechanism reaches corresponding values in the working process, and the lifting device is continued to be t after being lifted to a certain position 1 When the seedling transplanting mechanism just passes over the obstacle, the lifting rod (8) starts to rotate reversely to return the seedling transplanting mechanism (7) to the working position.
2. The field optimal obstacle avoidance control system of an intelligent rice transplanter according to claim 1, wherein when an insurmountable obstacle type is met, i.e. an insurmountable obstacle and an immovable obstacle is not surmounted, the intelligent rice transplanter stops the operation of the transplanting mechanism (7) after the intelligent rice transplanter is operated to a limit distance from the obstacle, lifts the transplanting mechanism (7), and re-plans a path of the intelligent rice transplanter through a path planning module, so that the turning direction of the intelligent rice transplanter is determined, and a path planning signal in the direction is selected as an actual traveling path.
3. The field optimal obstacle avoidance control system of an intelligent rice transplanter according to claim 1, wherein when the second type of insurmountable obstacle is encountered, namely, the obstacle which cannot be surmounted but is movable is encountered, when the infrared sensor (3) detects that the movable obstacle exists in front, when the ultrasonic sensor (1) detects that the distance between the ultrasonic sensor and a target reaches a safe distance range, the control execution module sends out an instruction of decelerating and stopping the operation, and starts a warning device to remind, and when the target is not on a road, the intelligent rice transplanter can continue to operate.
4. The optimal obstacle avoidance control system for intelligent rice transplanter fields according to claim 1, wherein the ultrasonic sensor (1), the laser radar sensor (2) and the infrared sensor (3) in the environment sensing module transmit the data information of the distance from the obstacle, the geometric dimension of the obstacle and the driving path, which are respectively acquired, to the intelligent decision module.
5. The optimal obstacle avoidance control system for intelligent rice transplanter field according to claim 1, wherein the data information of the collected speed, real-time position, angle (θ) between lifting rod (8) and horizontal plane, and angular velocity ω lifted by lifting rice transplanting mechanism (7) of the intelligent rice transplanter is transmitted to the intelligent decision module by a speed sensor (4), a GPS sensor (5), a level sensor (6) and an angular velocity sensor (9) in the rice transplanter information module.
6. The optimal obstacle avoidance control system for intelligent rice transplanter field according to claim 4, wherein the ultrasonic sensor (1) in the environment sensing module is installed at the lower front end of the intelligent rice transplanter, and the laser radar sensor (2) and the infrared sensor (3) are installed at the front of the intelligent rice transplanter.
7. The optimal obstacle avoidance control system for intelligent rice transplanter according to claim 5, wherein the vehicle speed sensor (4) is mounted on the transmission output shaft, the GPS sensor (5) is mounted in the middle of the vehicle, and the level sensor (6) and the angular velocity sensor (9) are both mounted on the lifting rod (8).
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