CN111257915A - Intelligent navigation system and method for walking type agricultural implement - Google Patents
Intelligent navigation system and method for walking type agricultural implement Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004422 calculation algorithm Methods 0.000 claims description 28
- 241000283690 Bos taurus Species 0.000 claims description 16
- 238000009313 farming Methods 0.000 claims description 16
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- 238000004364 calculation method Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 3
- 235000007164 Oryza sativa Nutrition 0.000 abstract description 4
- 235000009566 rice Nutrition 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 240000007594 Oryza sativa Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 241000209094 Oryza Species 0.000 description 3
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- 238000009355 double cropping Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
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- 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
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—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
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- 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
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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
- G05B2219/21—Pc I-O input output
- G05B2219/21014—Interface, module with relays
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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
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
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:
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:
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
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,
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
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:
Odd lines after n +2, the x-axis positive direction is:
e) Inverse calculation of Gaussian coordinates
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
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:
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:
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
……
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,
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
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:
Odd lines after n +2, the x-axis positive direction is:
e) Inverse calculation of Gaussian coordinates
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
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:
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:
the route coordinates are:
line 1: (x)1,y1) To (x)2,y2)
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:
The even numbered paths of 2,4,6, … … n are the x-axis reversal:
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:
Odd lines after n +2, the x-axis positive direction is:
e) Inverse calculation of Gaussian coordinates
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.
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