CN111257915A - Intelligent navigation system and method for walking type agricultural implement - Google Patents

Intelligent navigation system and method for walking type agricultural implement Download PDF

Info

Publication number
CN111257915A
CN111257915A CN202010190797.1A CN202010190797A CN111257915A CN 111257915 A CN111257915 A CN 111257915A CN 202010190797 A CN202010190797 A CN 202010190797A CN 111257915 A CN111257915 A CN 111257915A
Authority
CN
China
Prior art keywords
agricultural implement
track
walking
line
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010190797.1A
Other languages
Chinese (zh)
Inventor
药林桃
曹晓林
董力洪
罗翔
陈立才
吴罗发
周明
赖宏斐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agricultural Engineering Research Institute Jiangxi Academy Of Agricultural Sciences
Original Assignee
Agricultural Engineering Research Institute Jiangxi Academy Of Agricultural Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agricultural Engineering Research Institute Jiangxi Academy Of Agricultural Sciences filed Critical Agricultural Engineering Research Institute Jiangxi Academy Of Agricultural Sciences
Priority to CN202010190797.1A priority Critical patent/CN111257915A/en
Publication of CN111257915A publication Critical patent/CN111257915A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/062—Control by electric or electronic means, e.g. of fluid pressure of a clutch system with a plurality of fluid actuated clutches
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • 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
    • 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
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K7/00—Modulating pulses with a continuously-variable modulating signal
    • H03K7/08—Duration or width modulation ; Duty cycle modulation
    • 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
    • G05B2219/21—Pc I-O input output
    • G05B2219/21014—Interface, module with relays

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

The invention discloses an intelligent navigation system and method for a hand-held agricultural implement, and relates to the technical field of intelligent mechanized production of rice.

Description

Intelligent navigation system and method for walking type agricultural implement
Technical Field
The invention belongs to the technical field of intelligent mechanized production of rice, and particularly relates to an intelligent navigation system and method for a walking-type agricultural implement.
Background
The landform of the double cropping rice area in south is mainly hills, the field is small, the large agricultural machine has large grounding pressure, the long-term repeated operation can greatly damage the soil structure of the paddy field, and the double cropping rice area can not well meet the actual operation requirement. The walking agricultural implement, especially the tillage implement, uses the small diesel engine or gasoline engine as power, has the characteristics of light weight, small volume, simple structure, flexible operation and the like, is suitable for small-area field operation in hills and mountains, and is the best choice for farmers to operate in the area. However, at present, the machines are mainly operated manually, the working efficiency is low, the labor intensity is high, vibration can be generated under the action of soil reaction force in the working process, and operators feel uncomfortable after long-time operation.
The intelligent control system is additionally arranged on the hand-held agricultural implement, so that the hand-held agricultural implement can sense the external environment in real time in the farmland, plan and track the driving path, autonomously drive and operate under the condition of no manual participation or little intervention, great convenience is brought to vast farmers, and the working efficiency of farmer cultivation is effectively improved.
With the development of control technology, artificial intelligence technology, geographic information system and GPS positioning technology, how to realize efficient autonomous operation of the walking agricultural implement has become a main research direction for the development of the current intelligent agricultural implement. The walking agricultural implement mainly controls the running and stopping of the implement by closing and closing a main clutch of a gearbox; the steering is controlled by the clutches of the left handrail and the right handrail, the automatic operation of the walking type agricultural machine tool can be realized by intelligently controlling the opening and closing of the three clutches, the speed of the machine tool is low, the vibration is large in the operation process, and compared with other machine tools, the signal conversion and the control frequency of the intelligent control device have obvious difference.
Disclosure of Invention
The invention aims to provide an intelligent navigation system and method suitable for operation of hand-held agricultural implements, which are based on longitude and latitude coordinates (B, L) of a top point of a field measured by a GPS receiving module, correspondingly improve a cattle farming algorithm, realize automatic planning of a full-coverage track by utilizing the improved cattle farming algorithm, and finally input the generated automatic control full-coverage track into a hand-held agricultural implement control system to realize intelligent navigation of the agricultural implements.
The technical scheme of the invention is as follows:
an intelligent navigation system for a walking type agricultural implement comprises the following steps:
a) determining longitude and latitude coordinates (B, L) of the ABCD vertex of the quadrilateral small field block based on a GPS receiving module, inputting the coordinates into a control system, and determining the operation boundary range of the agricultural machine;
b) turning operation is more complicated than that of wheel type agricultural implements when the hand agricultural implements are operated, and the maximum quadrilateral field block is cut out of small field blocks in order to reduce the difficulty of path planning.
c) Transforming longitude and latitude coordinates (B, L) of the vertex of the quadrangle into Gaussian plane rectangular coordinates (x, y) by using a Gaussian projection coordinate forward algorithm;
d) judging the lengths of two adjacent sides AB and AD of the starting point A, calculating an included angle α between the long side and the X axis of the Gaussian plane rectangular coordinate system, and rotating the long side of the quadrangle to be parallel to the X axis of the Gaussian plane rectangular coordinate system by using a two-dimensional four-parameter algorithm;
e) inputting a track interval d, and ensuring that the distance from the running track to the boundary is d;
f) the improved cattle farming algorithm is used for realizing the full track coverage of the operation area, and the Gaussian plane rectangular coordinate (x, y) of each turning point is obtained through calculation;
g) converting the rectangular coordinates (x, y) of the Gaussian plane of the vertex of the quadrilateral ABCD and each turning point into longitude and latitude coordinates (B, L) by using a Gaussian projection coordinate back calculation algorithm, and simulating a full-coverage operation track corresponding to a quadrilateral field block;
h) and outputting the full-coverage operation track of the quadrangular field block to a control system of the hand-held agricultural implement, and starting the operation of the hand-held agricultural implement.
The further improved cattle farming algorithm is specifically as follows: walking a distance from the starting point A to the inside of the quadrangle, then keeping the walking track parallel to the AB side (long side), and finally simulating the full-coverage operation track of the agricultural implement by applying a cattle farming algorithm:
a) start initialization section
And inputting a variable process, which mainly comprises the vertex coordinates of the quadrangle ABCD, a work starting point A and a track interval d.
b) Gaussian coordinate forward calculation
Figure RE-GDA0002465442610000031
Figure RE-GDA0002465442610000032
c) Angle of rotation
Judging the side lengths of AB and AD, if AD is greater than AB, interchanging the positions of B point and D point, and finally calculating the Y-axis included angle of the AB side in a Gaussian plane rectangular coordinate system:
Figure RE-GDA0002465442610000041
d) improved cattle farming algorithm
Firstly, in order to ensure a certain safety distance, walking a certain distance from a starting point A to the interior of the quadrangle, then keeping a walking track parallel to an AB side, and finally simulating a running track by using a cattle farming algorithm, wherein one of the following conditions is taken as an example:
Figure RE-GDA0002465442610000042
is an even number and is provided with a plurality of groups,
Figure RE-GDA0002465442610000043
then it is set that,
Figure RE-GDA0002465442610000044
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
Line 2:
Figure RE-GDA0002465442610000045
to
Figure RE-GDA0002465442610000046
Line 3:
Figure RE-GDA0002465442610000047
to
Figure RE-GDA0002465442610000048
And so on;
the point C4 is reached first, then the point C3 is reached, the line from the point C4 is the (n + 1) th line, and the direction is along the positive direction of the x axis; the line to point C3 is the n + m th line.
Let i 1 … ….. n +1,
line 1, 3, 5, … … n +1, i.e., the odd path, is positive x-axis:
from
Figure RE-GDA0002465442610000049
To
Figure RE-GDA00024654426100000410
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
from
Figure RE-GDA0002465442610000051
To
Figure RE-GDA0002465442610000052
After the line n +1 is reached, the route coordinates are adjusted, and if j is equal to n +2, n +3, … …, n + m is an even line after n +2, the x axis is reversed as follows:
Figure RE-GDA0002465442610000053
to
Figure RE-GDA0002465442610000054
Odd lines after n +2, the x-axis positive direction is:
Figure RE-GDA0002465442610000055
to
Figure RE-GDA0002465442610000056
e) Inverse calculation of Gaussian coordinates
Figure RE-GDA0002465442610000057
Figure RE-GDA0002465442610000058
L＝l+L0
f) Trajectory output
And outputting the simulated operation track to a control system of the walking agricultural implement.
The further intelligent navigation method of the walking-type agricultural implement comprises a power module, a remote control module, a control module and an execution module;
the power module comprises a control system power supply and an execution system power;
the remote control module comprises a GPS receiving module, a handheld controller or a computer and a mobile phone and is used for determining the shape, the size, the soil shape, the initial position and the initial direction of the agricultural implement;
the control module comprises a master control single chip microcomputer, an inertial navigation unit, a GPS (global positioning system), a power supply and signal conversion device and is used for determining control frequency, real-time direction and real-time position and planning an intelligent full-coverage operation path of an operation area;
the execution module comprises a relay, an electromagnetic valve, an air pump, a pneumatic push rod and a three-way clutch and is used for controlling the agricultural implement to move forward, stop, turn left and turn right.
The hand-held controller sends out signals, the single chip microcomputer receives the signals and outputs PWM signals, the signal converter converts the PWM signals into switching signals to control the relay, the relay controls the on-off of the electromagnetic valve, the air pump generates high-pressure air, the high-pressure air pushes the pneumatic push rod to reciprocate after passing through the electromagnetic valve, and the three clutches (main clutch, left-turning clutch and right-turning clutch) of the hand-held agricultural implement are opened and closed.
The model of the single chip microcomputer is STM32F 427.
Compared with the prior art, the invention has the following beneficial effects:
1) the control method is characterized in that a PWM (pulse-width modulation) is a square wave control signal and is used for controlling the rotating speed of a motor, a signal conversion device is additionally arranged, a PWM frequency signal is converted into a switching value signal and is used for controlling a relay, and the on-off of three clutches (main clutch, left-turning clutch and right-turning clutch) of the walking agricultural implement is realized, so that the intelligent operation of the walking agricultural implement is realized;
2) the system recompils control parameters according to the operation characteristics of the hand-held agricultural implement, and autonomously sets signal control frequency according to the speed of the agricultural implement and the characteristics of the field, so as to realize intelligent operation.
3) The system applies a geometric principle according to the characteristics of agricultural machinery, newly designs a quadrilateral field intelligent planning path algorithm, and is particularly suitable for small fields in hilly areas.
Drawings
FIG. 1 is a system hardware architecture diagram;
FIG. 2 is a schematic diagram of the system;
FIG. 3 is a flowchart of a control procedure;
FIG. 4 is a schematic diagram of a quadrilateral small field ABCD applying a two-dimensional four-parameter algorithm to rotate the long side of the quadrilateral to be parallel to the X axis of a Gaussian coordinate system;
the controller circuit diagram comprises four parts of fig. 5a, 5b, 5c and 5 d;
FIG. 6 is a control circuit diagram of the single chip microcomputer STM 32;
FIG. 7 is a circuit diagram of the interface and BOOT setup;
FIG. 8 is a schematic diagram of the connection between control board ports P1 and P2;
FIG. 9 is a schematic diagram of an external Bluetooth interface;
FIG. 10 is a diagram of electrical connections of the wireless module;
Detailed Description
For a further understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings in which:
the invention provides an intelligent navigation system and method for a walking agricultural implement, which are combined with the accompanying drawing 3, and the system comprises the following steps:
a) determining longitude and latitude coordinates (B, L) of the ABCD vertex of the quadrilateral plot field based on a GPS receiving module, inputting the coordinates into a control system, and determining the operation boundary range of the agricultural machinery;
b) turning operation during operation of the hand-held agricultural implement is more complicated than that of a wheel-type agricultural implement, and a field block is divided into quadrangles in order to reduce the difficulty of path planning.
c) Transforming longitude and latitude coordinates (B, L) of the vertex of the quadrangle into Gaussian plane rectangular coordinates (x, y) by using a Gaussian projection coordinate forward algorithm;
d) judging the lengths of two adjacent sides AB and AD of the starting point A, calculating an included angle α between the long side and the X axis of the Gaussian plane rectangular coordinate system, and rotating the long side of the quadrangle to be parallel to the X axis of the Gaussian plane rectangular coordinate system by using a two-dimensional four-parameter algorithm;
e) inputting a track interval d, and ensuring that the distance from the running track to the boundary is d;
f) the method comprises the steps of (1) realizing full-coverage track planning of an operation area by using an improved cattle farming algorithm, and calculating to obtain a Gaussian plane rectangular coordinate (x, y) of each turning point;
g) converting the rectangular coordinates (x, y) of the Gaussian plane of the vertex of the quadrilateral ABCD and each turning point into longitude and latitude coordinates (B, L) by using a Gaussian projection coordinate back calculation algorithm, and simulating a full-coverage operation track corresponding to a quadrilateral field block;
h) and outputting the full-coverage operation track of the quadrangular field block to a control system, and starting operation of the hand-held agricultural implement.
The further improved cattle farming algorithm is specifically as follows: walking a distance from the starting point A to the inside of the quadrangle, then keeping the walking track parallel to the AB side (long side), and finally simulating the full-coverage running track of the agricultural implement by applying a cattle farming algorithm:
a) start initialization section
And inputting a variable process, which mainly comprises the vertex coordinates of the quadrangle ABCD, a work starting point A and a track interval d.
b) Gaussian coordinate forward calculation
Figure RE-GDA0002465442610000091
Figure RE-GDA0002465442610000092
c) Angle of rotation
Judging the side lengths of AB and AD, if AD is greater than AB, interchanging the positions of B point and D point, and finally calculating the Y-axis included angle of the AB side in a Gaussian plane rectangular coordinate system:
Figure RE-GDA0002465442610000093
d) improved cattle farming algorithm
Firstly, in order to ensure a certain safety distance, walking a certain distance from a starting point A to the interior of the quadrangle, then keeping a walking track parallel to an AB side, and finally simulating a running track by using a cattle farming algorithm, wherein one of the following conditions is taken as an example:
Figure RE-GDA0002465442610000094
is an even number and is provided with a plurality of groups,
Figure RE-GDA0002465442610000095
then it is set that,
Figure RE-GDA0002465442610000096
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
Line 2:
Figure RE-GDA0002465442610000097
to
Figure RE-GDA0002465442610000098
Line 3:
Figure RE-GDA0002465442610000101
to
Figure RE-GDA0002465442610000102
……
The point C4 is reached first, then the point C3 is reached, the line from the point C4 is the (n + 1) th line, and the direction is along the positive direction of the x axis; the line to point C3 is the n + m th line.
Let i 1 … ….. n +1,
line 1, 3, 5, … … n +1, i.e., the odd path, is positive x-axis:
from
Figure RE-GDA0002465442610000103
To
Figure RE-GDA0002465442610000104
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
from
Figure RE-GDA0002465442610000105
To
Figure RE-GDA0002465442610000106
After the line n +1 is reached, the route coordinates are adjusted, and if j is equal to n +2, n +3, … …, n + m is an even line after n +2, the x axis is reversed as follows:
Figure RE-GDA0002465442610000107
to
Figure RE-GDA0002465442610000108
Odd lines after n +2, the x-axis positive direction is:
Figure RE-GDA0002465442610000109
to
Figure RE-GDA0002465442610000111
e) Inverse calculation of Gaussian coordinates
Figure RE-GDA0002465442610000112
Figure RE-GDA0002465442610000113
L＝l+L0
f) Trajectory output
And outputting the simulated operation track to a control system of the walking agricultural implement.
With reference to the attached drawing 1, the intelligent navigation method for the walking-type agricultural implement comprises a power module, a remote control module, a control module and an execution module, wherein the power module comprises a control system power supply and execution system power; the remote control module comprises a GPS receiving module, a handheld controller or a computer and a mobile phone and is used for determining the shape and the size of the field, the initial position and the initial direction of the hand-held agricultural implement; the control module comprises a master control single chip microcomputer, an inertial navigation unit, a GPS (global positioning system), a power supply and signal conversion device and is used for determining control frequency, real-time direction and real-time position and planning an intelligent full-coverage operation path of an operation area; the execution module comprises a relay, an electromagnetic valve, an air pump, a pneumatic push rod and a three-way clutch and is used for controlling the agricultural implement to move forward, stop, turn left and turn right.
Referring to the attached drawing 2, a signal is generated by a handheld controller, a single chip microcomputer receives the signal and outputs a PWM signal, a signal converter converts the PWM signal into a switching signal to control a relay, the relay controls the on and off of an electromagnetic valve, a gas pump generates high-pressure gas and pushes a pneumatic push rod to reciprocate after passing through the electromagnetic valve, the on and off of three clutches (main clutch, left-turning clutch and right-turning clutch) of the hand-held agricultural implement are achieved, and the model of the single chip microcomputer is STM32F 427.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (5)

1. An intelligent navigation system and method for a walking agricultural implement are characterized by comprising the following steps:
a) determining longitude and latitude coordinates (B, L) of the ABCD vertex of the quadrilateral small field block based on a GPS receiving module, inputting the coordinates into a control system, and determining the operation boundary range of the agricultural machine;
b) turning operation during operation of the hand-held agricultural implement is more complicated than that of a wheel-type agricultural implement, and a field block is divided into quadrangles in order to reduce the difficulty of path planning.
c) Transforming longitude and latitude coordinates (B, L) of the vertex of the quadrangle into Gaussian plane rectangular coordinates (x, y) by using a Gaussian projection coordinate forward algorithm;
d) judging the lengths of two adjacent sides AB and AD of the starting point A, calculating an included angle α between the long side and the X axis of the Gaussian plane rectangular coordinate system, and rotating the long side of the quadrangle to be parallel to the X axis of the Gaussian plane rectangular coordinate system by using a two-dimensional four-parameter algorithm;
e) inputting a track interval d, and ensuring that the distance from the running track to the boundary is d;
f) the method comprises the steps of (1) realizing full-coverage track planning of an operation area by using an improved cattle farming algorithm, and calculating to obtain a Gaussian plane rectangular coordinate (x, y) of each turning point;
g) converting the rectangular coordinates (x, y) of the Gaussian plane of the vertex of the quadrilateral ABCD and each turning point into longitude and latitude coordinates (B, L) by using a Gaussian projection coordinate back calculation algorithm, and simulating a full-coverage operation track corresponding to a quadrilateral field block;
h) and outputting the full-coverage operation track of the quadrangular field block to a control system, and starting operation of the hand-held agricultural implement.
2. The intelligent navigation system and method for the walk-behind agricultural implement of claim 1, wherein the improved nixton algorithm is specifically: walking a distance from the starting point A to the inside of the quadrangle, then keeping the walking track parallel to the AB side (long side), and finally simulating the full-coverage running track of the agricultural implement by applying a cattle farming algorithm:
a) start initialization section
And inputting a variable process, which mainly comprises the vertex coordinates of the quadrangle ABCD, a work starting point A and a track interval d.
b) Gaussian coordinate forward calculation
Figure FDA0002415820120000021
Figure FDA0002415820120000022
c) Angle of rotation
Judging the side lengths of AB and AD, if AD is greater than AB, interchanging the positions of B point and D point, and finally calculating the Y-axis included angle of the AB side in a Gaussian plane rectangular coordinate system:
Figure FDA0002415820120000023
d) improved cattle farming algorithm
Firstly, in order to ensure a certain safety distance, walking a certain distance from a starting point A to the interior of the quadrangle, then keeping a walking track parallel to an AB side, and finally simulating a running track by using a cattle farming algorithm, wherein one of the following conditions is taken as an example:
Figure FDA0002415820120000024
is an even number and is provided with a plurality of groups,
Figure FDA0002415820120000025
then it is set that,
Figure FDA0002415820120000031
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
Line 2:
Figure FDA0002415820120000032
to
Figure FDA0002415820120000033
Line 3:
Figure FDA0002415820120000034
to
Figure FDA0002415820120000035
And so on;
the point C4 is reached first, then the point C3 is reached, the line from the point C4 is the (n + 1) th line, and the direction is along the positive direction of the x axis; the line to point C3 is the n + m th line.
Let i 1 … ….. n +1,
line 1, 3, 5, … … n +1, i.e., the odd path, is positive x-axis:
from
Figure FDA0002415820120000036
To
Figure FDA0002415820120000037
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
from
Figure FDA0002415820120000038
To
Figure FDA0002415820120000039
After the line n +1 is reached, the route coordinates are adjusted, and if j is equal to n +2, n +3, … …, n + m is an even line after n +2, the x axis is reversed as follows:
Figure FDA00024158201200000310
to
Figure FDA0002415820120000041
Odd lines after n +2, the x-axis positive direction is:
Figure FDA0002415820120000042
to
Figure FDA0002415820120000043
e) Inverse calculation of Gaussian coordinates
Figure FDA0002415820120000044
Figure FDA0002415820120000045
L＝l+L0
f) Trajectory output
And outputting the simulated operation track to a control system of the walking agricultural implement.
3. The hardware assembly of the intelligent navigation system for the walking-type agricultural implement, which is used for realizing the intelligent navigation system for the walking-type agricultural implement, disclosed by claim 1, comprises a power module, a remote control module, a control module and an execution module;
the power module comprises a control system power supply and an execution system power;
the remote control module comprises a GPS receiving module, a handheld controller or a computer and a mobile phone and is used for determining the shape and the size of the field, the initial position and the initial direction of the hand-held agricultural implement;
the control module comprises a master control single chip microcomputer, an inertial navigation unit, a GPS (global positioning system), a power supply and signal conversion device and is used for determining control frequency, real-time direction and real-time position and planning an intelligent full-coverage operation path of an operation area;
the execution module comprises a relay, an electromagnetic valve, an air pump, a pneumatic push rod and a three-way clutch and is used for controlling the agricultural implement to move forward, stop, turn left and turn right.
4. The intelligent navigation system of a walk behind agricultural implement of claim 3, wherein: the hand-held controller sends out a signal, the singlechip receives the signal and outputs a PWM signal, the signal converter converts the PWM signal into a switching signal to control the relay, the relay controls the on-off of the electromagnetic valve, the air pump generates high-pressure air which passes through the electromagnetic valve and then pushes the pneumatic push rod to realize reciprocating motion, and the on-off of three clutches (main clutch, left-turning clutch and right-turning clutch) of the hand-held agricultural implement is realized.
5. The intelligent navigation system of a walk behind agricultural implement of claim 4, wherein: the model of the single chip microcomputer is STM32F 427.
CN202010190797.1A 2020-03-18 2020-03-18 Intelligent navigation system and method for walking type agricultural implement Pending CN111257915A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010190797.1A CN111257915A (en) 2020-03-18 2020-03-18 Intelligent navigation system and method for walking type agricultural implement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010190797.1A CN111257915A (en) 2020-03-18 2020-03-18 Intelligent navigation system and method for walking type agricultural implement

Publications (1)

Publication Number Publication Date
CN111257915A true CN111257915A (en) 2020-06-09

Family

ID=70953235

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010190797.1A Pending CN111257915A (en) 2020-03-18 2020-03-18 Intelligent navigation system and method for walking type agricultural implement

Country Status (1)

Country Link
CN (1) CN111257915A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112034850A (en) * 2020-09-01 2020-12-04 青岛悟牛智能科技有限公司 Method for realizing unmanned production of farm

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898687A (en) * 2014-08-21 2015-09-09 宁波市鄞州麦谷农业科技有限公司 Automatic driving system of crawler type combined harvester and control method
CN105466429A (en) * 2015-12-29 2016-04-06 江苏大学 Complete-covering automatic and even feeding track planning method for aquaculture pond
CN108759828A (en) * 2018-03-23 2018-11-06 江苏大学 A kind of unmanned rice transplanter paths planning method
CN108919792A (en) * 2018-05-30 2018-11-30 华南农业大学 A kind of automated navigation system path planning control method
CN109080566A (en) * 2018-09-14 2018-12-25 第拖拉机股份有限公司 A kind of wheeled tractor remote control system and control method
CN109099925A (en) * 2018-08-31 2018-12-28 江苏大学 A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device
CN109240284A (en) * 2018-08-10 2019-01-18 江苏大学 A kind of autonomous paths planning method and device of unmanned agricultural machinery
CN109964596A (en) * 2019-04-01 2019-07-05 华南农业大学 A kind of direct sowing of rice apparatus and method based on intelligent robot
CN110837252A (en) * 2019-10-23 2020-02-25 江苏大学 Full-path planning and breakpoint endurance method for unmanned rice transplanter
CN211905706U (en) * 2020-03-18 2020-11-10 江西省农业科学院农业工程研究所 Hand-held agricultural implement intelligent navigation device

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898687A (en) * 2014-08-21 2015-09-09 宁波市鄞州麦谷农业科技有限公司 Automatic driving system of crawler type combined harvester and control method
CN105466429A (en) * 2015-12-29 2016-04-06 江苏大学 Complete-covering automatic and even feeding track planning method for aquaculture pond
CN108759828A (en) * 2018-03-23 2018-11-06 江苏大学 A kind of unmanned rice transplanter paths planning method
CN108919792A (en) * 2018-05-30 2018-11-30 华南农业大学 A kind of automated navigation system path planning control method
CN109240284A (en) * 2018-08-10 2019-01-18 江苏大学 A kind of autonomous paths planning method and device of unmanned agricultural machinery
CN109099925A (en) * 2018-08-31 2018-12-28 江苏大学 A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device
CN109080566A (en) * 2018-09-14 2018-12-25 第拖拉机股份有限公司 A kind of wheeled tractor remote control system and control method
CN109964596A (en) * 2019-04-01 2019-07-05 华南农业大学 A kind of direct sowing of rice apparatus and method based on intelligent robot
CN110837252A (en) * 2019-10-23 2020-02-25 江苏大学 Full-path planning and breakpoint endurance method for unmanned rice transplanter
CN211905706U (en) * 2020-03-18 2020-11-10 江西省农业科学院农业工程研究所 Hand-held agricultural implement intelligent navigation device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
马艺博: "基于北斗的田间路径规划与农机作业控制方法的研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 2019, 15 January 2019 (2019-01-15), pages 8 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112034850A (en) * 2020-09-01 2020-12-04 青岛悟牛智能科技有限公司 Method for realizing unmanned production of farm

Similar Documents

Publication Publication Date Title
CN203012509U (en) Electronic control system of driverless tractor
Qiu et al. Extended Ackerman Steering Principle for the coordinated movement control of a four wheel drive agricultural mobile robot
CN109946974B (en) Control system of electrically-driven quadruped robot
CN107422731A (en) The arable land control method and control system of agricultural intelligent Agricultural land system
CN215683870U (en) Wheel-leg type tree planting robot
CN105874947B (en) A kind of greenhouse 3D agricultural machinery working platform
CN104996018A (en) Multi-purpose unmanned agricultural operation robot platform
CN111257915A (en) Intelligent navigation system and method for walking type agricultural implement
CN105365602A (en) Four-wheel driven pure-electric micro-ploughing machine powder system and control method of same
Jiandong et al. A agricultural spraying and fertilization robot based on visual navigation
CN110998584A (en) System and method for variable rate high speed irrigation control
CN211293747U (en) Autonomous operation control system of PZ60DT of well-closing rice transplanter
CN211905706U (en) Hand-held agricultural implement intelligent navigation device
CN201380886Y (en) Electric rubber belt track type agricultural machine
CN115648163A (en) Weeding robot with weed recognition function
CN207665482U (en) A kind of Mechatronic control system of self-propelled hydraulic lotus root digging machine
CN201070978Y (en) Multifunctional agriculture electric working machine for facilities
CN208984968U (en) A kind of multi-functional wireless remote control integrated management machine
CN209861492U (en) Rotary tillage robot for orchard
CN108021720A (en) A kind of design method of the walking mechanism based on agriculture in greenhouse automated job
CN206713507U (en) A kind of ornamental trees and shrubs flowers and plants pruning car
CN109937676B (en) Electromechanical control system and control method of self-propelled hydraulic lotus root digging machine
Lingawar et al. Design of Autonomous Tractor for Agricultural Applications Using Swarm Intelligence
CN206848811U (en) A kind of intelligent mobile robot based on DSP
CN110955253A (en) Crawler type orchard harvesting platform walking control system and method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination