CN111845935B - Automatic navigation steering system of unmanned tractor - Google Patents

Automatic navigation steering system of unmanned tractor Download PDF

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CN111845935B
CN111845935B CN202010760596.0A CN202010760596A CN111845935B CN 111845935 B CN111845935 B CN 111845935B CN 202010760596 A CN202010760596 A CN 202010760596A CN 111845935 B CN111845935 B CN 111845935B
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tractor
module
early warning
management
acquisition
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CN111845935A (en
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朱一峰
朱如龙
徐锡冲
张守民
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Anhui Sizhou Tractor Manufacturing Co ltd
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Anhui Sizhou Tractor Manufacturing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S19/53—Determining attitude
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Guiding Agricultural Machines (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses an automatic navigation steering system of an unmanned tractor, which comprises a data acquisition module, a GPS navigation module, a radar module, a monitoring module, a wireless communication module, a data processing module, a steering module, an early warning management module, a complete machine control module and an intelligent terminal, wherein the data acquisition module is used for acquiring data of the unmanned tractor; the data acquisition module is used for acquiring boundary information of a farmland plot, and the GPS navigation module is used for acquiring pose information of the tractor in the running process of the tractor; the data processing module is used for planning a expected driving route of the tractor, and the steering module is used for controlling the steering of the tractor; the monitoring module analyzes the deviation value of the tractor by combining the expected running route of the tractor, the included angle theta and the real-time position of the tractor; and the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to a corresponding manager for processing.

Description

Automatic navigation steering system of unmanned tractor
Technical Field
The invention relates to the field of vehicle control, in particular to an automatic navigation steering system of an unmanned tractor.
Background
With the implementation and promotion of economic strategies in China, the automation and intelligence levels of agricultural machinery are continuously improved, and users have higher requirements on the automation degree of the agricultural machinery. Nowadays, more and more tractors are integrated or additionally provided with an automatic navigation driving system, and the automatic navigation driving system is used for realizing the automatic driving and steering of the tractors in different field operation processes such as ridging, seeding and plant protection, so that an ideal operation effect is ensured.
However, in the field operation process of the tractor, the operators often design the field operation path according to experience and some common knowledge rules, and the problems of heavy plowing, missing plowing, multiple walking paths and the like exist, so that the operation production efficiency is influenced. Therefore, the automatic operation path planning method has great significance for the automatic operation path planning of the agricultural vehicle unmanned system, and the current steering control system of the unmanned vehicle has no optimal control method which can reasonably plan the vehicle running path and accurately adjust the vehicle running path;
in addition, in the field operation process of the tractor, the problems that the unmanned tractor deviates from the route, accidents occur or the farmland is damaged due to the fact that analysis and early warning cannot be carried out in real time according to the deviation value of the tractor and reasonable personnel selection are used for processing and correcting exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic navigation steering system of an unmanned tractor. The data acquisition module issues an acquisition task and selects corresponding acquisition personnel, the acquisition personnel firstly control the tractor to clockwise detour the boundary to be acquired for one circle, and a GPS is turned on in the detour process; in the bypassing process of the tractor, the left wheel of the tractor is tightly attached to the boundary to be mined, and the bypassing speed is kept at a low constant speed; obtaining a boundary curve of a farmland plot; road boundary information is obtained by fusion processing of a farmland plot boundary curve, pose information of a tractor and target position information, so that an expected driving route of the tractor is obtained, and a vehicle driving path can be reasonably planned and accurately adjusted;
analyzing the deviation value of the tractor through the expected running route of the tractor, the included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path and the real-time position of the tractor, timely early warning when the deviation value is larger than a preset threshold value, and simultaneously distributing the deviation value to a corresponding manager through an early warning management module to correct the early warning machine, so that the problems that the unmanned tractor deviates from the route, accidents occur or damages are caused to farmlands are avoided; the working efficiency is improved.
The purpose of the invention can be realized by the following technical scheme: an automatic navigation steering system of an unmanned tractor comprises a data acquisition module, a GPS navigation module, a radar module, a monitoring module, a wireless communication module, a data processing module, a steering module, an early warning management module, a complete machine control module and an intelligent terminal;
the data acquisition module is used for acquiring boundary information of a farmland plot, and the GPS navigation module is used for acquiring pose information of the tractor in the running process of the tractor; the data processing module is used for planning a expected driving route of the tractor, and the steering module is used for controlling the steering of the tractor;
the data acquisition module transmits a boundary curve of a farmland plot to the data processing module, the GPS navigation module transmits pose information of the tractor to the data processing module, and the intelligent terminal transmits target position information to the data processing module through the wireless communication module;
the data processing module receives a farmland plot boundary curve, pose information and target position information of a tractor and performs fusion processing to obtain road boundary information, a road center line is obtained through the road boundary information, and an expected driving route of the tractor is obtained according to the road center line; the specific steps of the data processing module for planning the expected driving route of the tractor are as follows:
s21: detecting whether the obtained road center line has a bending trend, if the road center line does not have the bending trend, continuing to drive the tractor along the current direction, and if the road center line has the bending trend, starting to plan the driving path of the tractor; the method specifically comprises the following steps:
s211: the bending tendency comprises a right-angle turn and a curve turn; wherein the calculation of the quarter turn is: respectively calculating a maximum steering radius Rmax and a minimum steering radius Rmin, wherein the optimal steering radius:
R＝(Rmax+Rmin)/2；
s212: the curve turn is calculated as: fitting the obtained curve of the road center line into a plurality of straight lines, and respectively obtaining the external circular arcs of two adjacent sections, wherein the circular arcs are the optimal steering paths;
s22: the steering module controls the steering of the tractor according to the expected running route of the tractor, namely acquiring an included angle theta between the current course angle of the tractor and the tangent of the optimal steering path in real time; the method comprises the following specific steps:
s221: establishing a two-dimensional coordinate system by taking the starting point of the tractor as the origin of coordinates;
s222: marking three points near the current position of the tractor on the expected driving route as (X0, Y0), (X1, Y1), and (X2, Y2); calculating the circular arc track passing through the three points;
s223: an included angle theta between the tangent line of the track and the current course angle of the tractor is the steering angle of the tractor at the moment, the angle theta is monitored in real time in the running process of the tractor, and the theta is kept to be 0;
the data processing module transmits an expected running route of the tractor and an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path to the monitoring module, and the monitoring module analyzes the deviation value of the tractor by combining the expected running route of the tractor, the included angle theta and the real-time position of the tractor; the method comprises the following specific steps:
s31: acquiring coordinates (X 'i, Y' i) of a real-time position of the tractor; marking the point (X 'i, Y' i) as a verification point;
s32: acquiring a reference point corresponding to the real-time position of the tractor in the expected driving route; the reference point obtaining criterion is that a plurality of non-coincident corresponding points with the points (X 'i, Y' i) in the expected driving route are obtained, the distance between the corresponding points and the reference points is calculated, and the corresponding points with the closest distance are marked as the reference points;
s33: marking a reference point in the expected driving route as (Ji, Ki); n ═ 1.. n;
s34: using formulas
Figure BDA0002612974030000041
Calculating to obtain a deviation value WE of the tractor; the closer the distance between the verification point and the reference point is, the smaller the theta is, and the smaller the deviation value WE of the tractor is; b1 and b2 are preset coefficients;
s34: when WE exceeds a preset threshold value, the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; and the complete machine control module receives the early warning signal to control the alarm to give an alarm and control the tractor to stop running.
Further, the specific working steps of the data acquisition module for acquiring the boundary information of the farmland plots are as follows:
the method comprises the following steps: the data acquisition module issues acquisition tasks and selects corresponding acquisition personnel, and the method specifically comprises the following steps:
s11: marking the boundary of the farmland plot to be collected as a boundary to be collected; sending a position acquisition instruction to a mobile phone terminal of a worker to acquire the position of the worker, and calculating the distance difference between the position of the worker and the initial position of the tractor to obtain a worker distance QG;
s12: calculating the time difference between the entering time of the staff and the current time of the system to obtain the working time length of the staff and marking the working time length as QF;
s13: setting the age of a worker as QN and the collection frequency of the worker as QC; carrying out dequantization processing on the personnel distance, the working time, the collection times and the age and taking the numerical values;
s25: using formulas
Figure BDA0002612974030000042
Obtaining an acquisition value QZ of a worker; wherein QT is the low-efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
s26: selecting the worker with the maximum acquisition value QZ as the acquisition worker of the boundary to be acquired;
step two: sending the initial position and the target position of the tractor to a mobile phone terminal of the collector; meanwhile, the collection times of the collection personnel are increased once;
step three: after the acquisition personnel reach the initial position of the tractor, the acquisition personnel firstly control the tractor to clockwise detour the boundary to be acquired for a circle, and a GPS is turned on in the detour process; in the bypassing process of the tractor, the left wheel of the tractor is tightly attached to the boundary to be mined, and the bypassing speed is kept at a low constant speed; obtaining a boundary curve of a farmland plot;
step four: calculating the time difference between the acquisition ending time and the acquisition starting time to obtain the acquisition duration of the acquisition personnel, and marking the acquisition duration as R1; setting the score value input by a user as A; the collection duration and the input score are subjected to dequantization processing and the values are taken, and a formula is utilized
Figure BDA0002612974030000051
Acquiring single values of the acquired personnel, summing all the single values of the acquired personnel and averaging to obtain an inefficient value QT of the acquired personnel; and b1 and b2 are both preset proportionality coefficients.
Further, the whole machine control module is also used for transmitting the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to corresponding managers for processing; the method comprises the following specific steps:
s41: acquiring a manager on duty at the current time, marking the manager as a primary selection person, and indicating the manager as a primary selection person by using a symbol Hj, wherein j is 1, 2, … …, m;
s42: setting the total time length of the primary selection personnel in the current day as T1Hj(ii) a Calculating the time difference between the time of entry of the primary election and the current time of the system to obtain the time length of entry of the primary election and marking the time length as T2Hj(ii) a Setting the age of the primary selected person to be NHj；
S43: using formulas
Figure BDA0002612974030000052
Calculating to obtain a management value DF of the primary selection personnel; wherein T3HjThe auxiliary time length of the primary selection personnel; r1, r2, r3 and r4 are all preset factors;
s44: selecting the primary selected person with the largest management value as a selected person; the early warning management module sends an early warning signal and position information of the tractor to a mobile phone terminal of a selected person;
s45: after receiving the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal and sends the picture of the tractor and a management starting instruction to the early warning management module;
s46: the early warning management module marks the tractor as an early warning machine after receiving the management starting instruction and the picture of the tractor, and when the deviation value of the early warning machine is less than or equal to a preset threshold value, the early warning management module generates a management completion instruction and sends the management completion instruction to a mobile phone terminal of a selected person;
s47: the early warning management module marks the moment of receiving the management starting instruction as the management starting moment of the selected personnel, the moment of generating the management finishing instruction is the management finishing moment of the selected personnel, and the time difference between the management finishing moment and the management starting moment is calculated to obtain the single management duration;
will select a personSumming the single management time length of the member in the day to obtain the total management time length T1 of the selected member in the dayHj；
Meanwhile, all single management time lengths of the selected personnel within thirty days of the current time of the system are obtained and summed, and the average value is obtained to obtain the auxiliary time length T3 of the selected personnelHj。
Further, the radar module is composed of a millimeter wave radar installed at the front of the tractor, the radar module is used for detecting whether an obstacle exists or not and sending position information of the obstacle to the data processing module when the obstacle exists, the data processing module generates avoidance instructions and path navigation information according to the position information of the obstacle and sends the avoidance instructions and the path navigation information to the whole machine control module, and the whole machine control module controls the tractor according to the avoidance instructions and the path navigation information.
Further, the pose information comprises position information, acceleration, speed and course angle; the farmland plot boundary information comprises a farmland plot boundary curve; the road boundary information comprises road edge line position information, and a road central line is obtained according to the road edge line position information.
The invention has the beneficial effects that:
(1) the invention issues the acquisition task through the data acquisition module and selects the corresponding acquisition personnel, dequantizes the personnel distance, the working time, the acquisition times and the age, and takes the numerical values thereof by using a formula
Figure BDA0002612974030000071
Acquiring values QZ of workers, selecting the worker with the largest acquisition value QZ as the boundary to be acquired, and improving the acquisition efficiency and the accuracy of information acquisition;
(2) the method comprises the steps that a data processing module receives a farmland plot boundary curve, pose information and target position information of a tractor and carries out fusion processing to obtain road boundary information, a road center line is obtained through the road boundary information, and an expected driving route of the tractor is obtained according to the road center line; the steering module controls the steering of the tractor according to the expected running route of the tractor, namely, an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path is obtained in real time, the angle theta is monitored in real time in the running process of the tractor, and the theta is kept to be 0; the vehicle running path can be reasonably planned and accurately adjusted;
(3) the deviation value of the tractor is analyzed by the monitoring module in combination with the expected running route of the tractor, the included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path and the real-time position of the tractor; when the deviation value exceeds a preset threshold value, the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; the complete machine control module receives the early warning signal to control the alarm to give an alarm and control the tractor to stop running; the problems that an unmanned tractor deviates from a route, accidents occur or damages are caused to farmlands are avoided;
(4) the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to the corresponding managers for processing, the managers on duty at the current time are obtained and marked as primary candidates, the time difference between the time of entry of the primary candidates and the current time of the system is calculated to obtain the time of entry of the primary candidates, the total management time of the primary candidates in the day and the age of the primary candidates are obtained, the management value of the primary candidates is obtained by using a formula, the primary candidate with the largest management value is selected as the selected person, the early warning machine is corrected, and the working efficiency is improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic of the quarter turn path of the present invention.
Detailed Description
As shown in fig. 1-2, an automatic navigation and steering system of an unmanned tractor comprises a data acquisition module, a GPS navigation module, a radar module, a wireless communication module, a data processing module, a monitoring module, a steering module, an early warning management module, a complete machine control module and an intelligent terminal;
the data acquisition module is used for acquiring boundary information of a farmland plot, the GPS navigation module is used for acquiring pose information of the tractor in the running process of the tractor, and the pose information comprises position information, acceleration, speed and course angle; the data processing module is used for planning a expected driving route of the tractor, and the steering module is used for controlling the steering of the tractor;
the specific working steps of the data acquisition module for acquiring boundary information of the farmland plots are as follows:
the method comprises the following steps: the data acquisition module issues acquisition tasks and selects corresponding acquisition personnel, and the method specifically comprises the following steps:
s11: marking the boundary of the farmland plot to be collected as a boundary to be collected; sending a position acquisition instruction to a mobile phone terminal of a worker to acquire the position of the worker, and calculating the distance difference between the position of the worker and the initial position of the tractor to obtain a worker distance QG;
s12: calculating the time difference between the entering time of the staff and the current time of the system to obtain the working time length of the staff and marking the working time length as QF;
s13: setting the age of a worker as QN and the collection frequency of the worker as QC; carrying out dequantization processing on the personnel distance, the working time, the collection times and the age and taking the numerical values;
s25: using formulas
Figure BDA0002612974030000091
Obtaining an acquisition value QZ of a worker; wherein QT is the low-efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
s26: selecting the worker with the maximum acquisition value QZ as the acquisition worker of the boundary to be acquired;
step two: sending the initial position and the target position of the tractor to a mobile phone terminal of the collector; meanwhile, the collection times of the collection personnel are increased once;
step three: after the acquisition personnel reach the initial position of the tractor, the acquisition personnel firstly control the tractor to clockwise detour the boundary to be acquired for a circle, and a GPS is turned on in the detour process; in the bypassing process of the tractor, the left wheel of the tractor is tightly attached to the boundary to be mined, and the bypassing speed is kept at a low constant speed; obtaining a boundary curve of a farmland plot;
step four: calculating the time difference between the acquisition ending time and the acquisition starting time to obtain the acquisition duration of the acquisition personnel, and marking the acquisition duration as R1; setting the score value input by a user as A; the collection duration and the input score are subjected to dequantization processing and the values are taken, and a formula is utilized
Figure BDA0002612974030000092
Acquiring single values of the acquired personnel, summing all the single values of the acquired personnel and averaging to obtain an inefficient value QT of the acquired personnel; b1 and b2 are both preset proportionality coefficients;
the data acquisition module transmits a boundary curve of a farmland plot to the data processing module, the GPS navigation module transmits pose information of the tractor to the data processing module, and the intelligent terminal transmits target position information to the data processing module through the wireless communication module;
the data processing module receives a farmland plot boundary curve, pose information of a tractor and target position information, performs fusion processing to obtain road boundary information, obtains a road center line through the road boundary information, obtains an expected driving route of the tractor according to the road center line, and obtains a road center line according to the road edge line position information, wherein the road boundary information comprises road edge line position information; the specific steps of the data processing module for planning the expected driving route of the tractor are as follows:
s21: detecting whether the obtained road center line has a bending trend, if the road center line does not have the bending trend, continuing to drive the tractor along the current direction, and if the road center line has the bending trend, starting to plan the driving path of the tractor; the method specifically comprises the following steps:
s211: the bending tendency comprises a right-angle turn and a curve turn; wherein the calculation of the quarter turn is: respectively calculating a maximum steering radius Rmax and a minimum steering radius Rmin, wherein the optimal steering radius:
R＝(Rmax+Rmin)/2；
as shown in fig. 2, L1 is the distance from the current point to the right front boundary, L2 is the distance to the right front boundary, L3 is the distance from the vehicle to the right side road edge, and L4 is the vehicle body width; rmax ═ L1; rmin ═ L2+ L4;
s212: the curve turn is calculated as: fitting the obtained curve of the road center line into a plurality of straight lines, and respectively obtaining the external circular arcs of two adjacent sections, wherein the circular arcs are the optimal steering paths;
s22: the steering module controls the steering of the tractor according to the expected running route of the tractor, namely acquiring an included angle theta between the current course angle of the tractor and the tangent of the optimal steering path in real time; the method comprises the following specific steps:
s221: establishing a two-dimensional coordinate system by taking the starting point of the tractor as the origin of coordinates;
s222: marking three points near the current position of the tractor on the expected driving route as (X0, Y0), (X1, Y1), and (X2, Y2); calculating the circular arc track passing through the three points;
s223: an included angle theta between the tangent line of the track and the current course angle of the tractor is the steering angle of the tractor at the moment, the angle theta is monitored in real time in the running process of the tractor, and the theta is kept to be 0;
the data processing module transmits an expected running route of the tractor and an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path to the monitoring module, and the monitoring module analyzes the deviation value of the tractor by combining the expected running route of the tractor, the included angle theta and the real-time position of the tractor; the method comprises the following specific steps:
s31: acquiring coordinates (X 'i, Y' i) of a real-time position of the tractor; marking the point (X 'i, Y' i) as a verification point;
s32: acquiring a reference point corresponding to the real-time position of the tractor in the expected driving route; the reference point obtaining criterion is that a plurality of non-coincident corresponding points with the points (X 'i, Y' i) in the expected driving route are obtained, the distance between the corresponding points and the reference points is calculated, and the corresponding points with the closest distance are marked as the reference points;
s33: marking a reference point in the expected driving route as (Ji, Ki); n ═ 1.. n;
s34: using formulas
Figure BDA0002612974030000111
Calculating to obtain a deviation value WE of the tractor; the closer the distance between the verification point and the reference point is, the smaller theta is, and the smaller WE is, the deviation value of the tractor is; b1 and b2 are preset coefficients;
s34: when WE exceeds a preset threshold value, the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; the complete machine control module receives the early warning signal to control the alarm to give an alarm and control the tractor to stop running;
the whole machine control module is also used for transmitting the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to corresponding managers for processing; the method comprises the following specific steps:
s41: acquiring a manager on duty at the current time, marking the manager as a primary selection person, and indicating the manager as a primary selection person by using a symbol Hj, wherein j is 1, 2, … …, m;
s42: setting the total time length of the primary selection personnel in the current day as T1Hj(ii) a Calculating the time difference between the time of entry of the primary election and the current time of the system to obtain the time length of entry of the primary election and marking the time length as T2Hj(ii) a Setting the age of the primary selected person to be NHj；
S43: using formulas
Figure BDA0002612974030000112
Calculating to obtain a management value DF of the primary selection personnel; wherein T3HjThe auxiliary time length of the primary selection personnel; r1, r2, r3 and r4 are all preset factors;
s44: selecting the primary selected person with the largest management value as a selected person; the early warning management module sends an early warning signal and position information of the tractor to a mobile phone terminal of a selected person;
s45: after receiving the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal and sends the picture of the tractor and a management starting instruction to the early warning management module;
s46: the early warning management module marks the tractor as an early warning machine after receiving the management starting instruction and the picture of the tractor, and when the deviation value of the early warning machine is less than or equal to a preset threshold value, the early warning management module generates a management completion instruction and sends the management completion instruction to a mobile phone terminal of a selected person;
s47: the early warning management module marks the time of receiving the management starting instruction as the management starting time of the selected person, the time of generating the management finishing instruction is the management finishing time of the selected person, the time difference between the management finishing time and the management starting time is calculated to obtain the single management time length, the single management time lengths of the selected person on the same day are summed to obtain the total management time length T1 of the selected person on the same dayHj(ii) a Meanwhile, all single management time lengths of the selected personnel within thirty days of the current time of the system are obtained and summed, and the average value is obtained to obtain the auxiliary time length T3 of the selected personnelHj；
The system comprises a radar module, a data processing module, a whole machine control module and a whole machine control module, wherein the radar module is used for detecting whether an obstacle exists or not, sending position information of the obstacle to the data processing module when the obstacle exists, generating an avoidance instruction and path navigation information by the data processing module according to the position information of the obstacle, and transmitting the avoidance instruction and the path navigation information to the whole machine control module, and the whole machine control module controls the tractor according to the avoidance instruction and the path navigation information;
the radar module is composed of a millimeter wave radar arranged at the front part of the tractor and is mainly used for identifying obstacles and preventing accidents of the tractor in the steering process; when the obstacle on the road in front of the tractor is identified, the speed is reduced in time, and the route is re-planned.
An automatic navigation steering system of an unmanned tractor is characterized in that when the automatic navigation steering system works, firstly, farmland plot boundary information is collected through a data collection module, the data collection module issues collection tasks and selects corresponding collection personnel, and personnel distance, working time, collection times and age are subjected to dequantization processing and numerical values are obtained; using formulas
Figure BDA0002612974030000131
Obtaining an acquisition value QZ of a worker; selecting the worker with the maximum acquisition value QZ as the acquisition worker of the boundary to be acquired; after the acquisition personnel reach the initial position of the tractor, the acquisition personnel firstly control the tractor to clockwise detour the boundary to be acquired for a circle, and a GPS is turned on in the detour process; in the bypassing process of the tractor, the left wheel of the tractor is tightly attached to the boundary to be mined, and the bypassing speed is kept at a low constant speed; obtaining a boundary curve of a farmland plot;
the data processing module receives a farmland plot boundary curve, pose information of a tractor and target position information, carries out fusion processing to obtain road boundary information, obtains a road center line through the road boundary information, and obtains an expected driving route of the tractor according to the road center line; the steering module controls the steering of the tractor according to the expected running route of the tractor, namely, an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path is obtained in real time, the angle theta is monitored in real time in the running process of the tractor, the angle theta is kept to be 0, and the running path of the vehicle can be reasonably planned and accurately adjusted;
the data processing module transmits an expected running route of the tractor and an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path to the monitoring module, the monitoring module analyzes the deviation value of the tractor by combining the expected running route of the tractor, the included angle theta and the real-time position of the tractor, and a formula is utilized
Figure BDA0002612974030000132
Calculating to obtain a deviation value WE of the tractor; the closer the distance between the verification point and the reference point is, the smaller theta is, and the smaller WE is, the deviation value of the tractor is; when WE exceeds a preset threshold value, the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; the complete machine control module receives the early warning signal to control the alarm to give an alarm and control the tractor to stop running; thereby avoiding the problems that the unmanned tractor deviates from the route, accidents occur or damages are caused to the farmland;
the whole control module is also used for sending the early warning signal to the tractorThe position information is transmitted to an early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to corresponding managers for processing; acquiring managers on duty at the current time, marking the managers as primary selection personnel, and setting the total management time of the primary selection personnel on the current day as T1Hj(ii) a Calculating the time difference between the time of entry of the primary election and the current time of the system to obtain the time length of entry of the primary election and marking the time length as T2Hj(ii) a Setting the age of the primary selected person to be NHj(ii) a Using formulas
Figure BDA0002612974030000141
And calculating to obtain a management value DF of the primary selection personnel, selecting the primary selection personnel with the largest management value as the selected personnel, and correcting the early warning machine to improve the working efficiency.
The above formulas are obtained by collecting a large amount of data and performing software simulation, and the coefficients in the formulas are set by those skilled in the art according to actual conditions.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.

Claims (5)

1. An automatic navigation steering system of an unmanned tractor is characterized by comprising a data acquisition module, a GPS navigation module, a wireless communication module, a monitoring module, a data processing module, a steering module, a complete machine control module and an intelligent terminal;
the data acquisition module is used for acquiring boundary information of a farmland plot, and the GPS navigation module is used for acquiring pose information of the tractor in the running process of the tractor; the data processing module is used for planning a expected driving route of the tractor, and the steering module is used for controlling the steering of the tractor;
the data acquisition module transmits a boundary curve of a farmland plot to the data processing module, the GPS navigation module transmits pose information of the tractor to the data processing module, and the intelligent terminal transmits target position information to the data processing module through the wireless communication module;
the data processing module receives a farmland plot boundary curve, pose information and target position information of a tractor and performs fusion processing to obtain road boundary information, a road center line is obtained through the road boundary information, and an expected driving route of the tractor is obtained according to the road center line; the specific steps of the data processing module for planning the expected driving route of the tractor are as follows:
s21: detecting whether the obtained road center line has a bending trend, if the road center line does not have the bending trend, continuing to drive the tractor along the current direction, and if the road center line has the bending trend, starting to plan the driving path of the tractor; the method specifically comprises the following steps:
s211: the bending tendency comprises a right-angle turn and a curve turn; wherein the calculation of the quarter turn is: respectively calculating a maximum steering radius Rmax and a minimum steering radius Rmin, wherein the optimal steering radius: r = (Rmax + Rmin)/2;
s212: the curve turn is calculated as: fitting the obtained curve of the road center line into a plurality of straight lines, and respectively obtaining the external circular arcs of two adjacent sections, wherein the circular arcs are the optimal steering paths;
s22: the steering module controls the steering of the tractor according to the expected running route of the tractor, namely acquiring an included angle theta between the current course angle of the tractor and the tangent of the optimal steering path in real time; the method comprises the following specific steps:
s221: establishing a two-dimensional coordinate system by taking the starting point of the tractor as the origin of coordinates;
s222: marking three points near the current position of the tractor on the expected driving route as (X0, Y0), (X1, Y1), and (X2, Y2); calculating the circular arc track passing through the three points;
s223: an included angle theta between the tangent line of the track and the current course angle of the tractor is the steering angle of the tractor at the moment, the angle theta is monitored in real time in the running process of the tractor, and the theta is kept to be 0;
the data processing module transmits an expected running route of the tractor and an included angle theta between the current course angle of the tractor and the tangent line of the optimal steering path to the monitoring module, and the monitoring module analyzes the deviation value of the tractor by combining the expected running route of the tractor, the included angle theta and the real-time position of the tractor; the method comprises the following specific steps:
s31: obtaining coordinates of real-time position of tractor
Figure DEST_PATH_IMAGE002
) (ii) a Will some (A) and (B)
Figure DEST_PATH_IMAGE002A
) Marking as a verification point;
s32: acquiring a reference point corresponding to the real-time position of the tractor in the expected driving route; the reference point acquisition criterion is that the expected driving route and the point are acquired (
Figure DEST_PATH_IMAGE002AA
) Calculating the distance between the corresponding point and a reference point by using a plurality of non-coincident corresponding points, and marking the corresponding point with the closest distance as the reference point;
s33: marking a reference point in the expected driving route as (Ji, Ki); n =1.. n;
s34: using formulas
Figure DEST_PATH_IMAGE004
Calculating to obtain a deviation value WE of the tractor; the closer the distance between the verification point and the reference point is, the smaller the theta is, and the smaller the deviation value WE of the tractor is; b1 and b2 are preset coefficients;
s34: when WE exceeds a preset threshold value, the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; and the complete machine control module receives the early warning signal to control the alarm to give an alarm and control the tractor to stop running.
2. The automatic navigation steering system of the unmanned tractor as claimed in claim 1, wherein the specific working steps of the data acquisition module for acquiring the boundary information of the farmland plot are as follows:
the method comprises the following steps: the data acquisition module issues acquisition tasks and selects corresponding acquisition personnel, and the method specifically comprises the following steps:
s11: marking the boundary of the farmland plot to be collected as a boundary to be collected; sending a position acquisition instruction to a mobile phone terminal of a worker to acquire the position of the worker, and calculating the distance difference between the position of the worker and the initial position of the tractor to obtain a worker distance QG;
s12: calculating the time difference between the entering time of the staff and the current time of the system to obtain the working time length of the staff and marking the working time length as QF;
s13: setting the age of a worker as QN and the collection frequency of the worker as QC; carrying out dequantization processing on the personnel distance, the working time, the collection times and the age and taking the numerical values;
s25: using formulas
Figure DEST_PATH_IMAGE006
Obtaining an acquisition value QZ of a worker; wherein QT is the low-efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
s26: selecting the worker with the maximum acquisition value QZ as the acquisition worker of the boundary to be acquired;
step two: sending the initial position and the target position of the tractor to a mobile phone terminal of the collector; meanwhile, the collection times of the collection personnel are increased once;
step three: after the acquisition personnel reach the initial position of the tractor, the acquisition personnel firstly control the tractor to clockwise detour the boundary to be acquired for a circle, and a GPS is turned on in the detour process; in the bypassing process of the tractor, the left wheel of the tractor is tightly attached to the boundary to be mined, and the bypassing speed is kept at a low constant speed; obtaining a boundary curve of a farmland plot;
step four: calculating the time difference between the acquisition ending time and the acquisition starting time to obtain the acquisition duration of the acquisition personnel, and marking the acquisition duration as R1; setting the score value input by a user as A; the collection duration and the input score are subjected to dequantization processing and the values are obtained, and public information is utilizedFormula (II)
Figure DEST_PATH_IMAGE008
Acquiring single values of the acquired personnel, summing all the single values of the acquired personnel and averaging to obtain an inefficient value QT of the acquired personnel; and b1 and b2 are both preset proportionality coefficients.
3. The unmanned tractor automatic navigation steering system of claim 1, wherein the whole machine control module is further configured to transmit an early warning signal and tractor position information to an early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and distributes the early warning signal and the position information to corresponding managers for processing; the method comprises the following specific steps:
s41: acquiring a manager on duty at the current time, marking the manager as a primary selection person, and representing the primary selection person by using a symbol Hj, wherein j =1, 2, … …, m;
s42: setting the total time length of the primary selection personnel in the current day as T1Hj(ii) a Calculating the time difference between the time of entry of the primary election and the current time of the system to obtain the time length of entry of the primary election and marking the time length as T2Hj(ii) a Setting the age of the primary selected person to be NHj；
S43: using formulas
Figure DEST_PATH_IMAGE010
Calculating to obtain a management value DF of the primary selection personnel; wherein T3HjThe auxiliary time length of the primary selection personnel; r1, r2, r3 and r4 are all preset factors;
s44: selecting the primary selected person with the largest management value as a selected person; the early warning management module sends an early warning signal and position information of the tractor to a mobile phone terminal of a selected person;
s45: after receiving the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal and sends the picture of the tractor and a management starting instruction to the early warning management module;
s46: the early warning management module marks the tractor as an early warning machine after receiving the management starting instruction and the picture of the tractor, and when the deviation value of the early warning machine is less than or equal to a preset threshold value, the early warning management module generates a management completion instruction and sends the management completion instruction to a mobile phone terminal of a selected person;
s47: the early warning management module marks the moment of receiving the management starting instruction as the management starting moment of the selected personnel, the moment of generating the management finishing instruction is the management finishing moment of the selected personnel, and the time difference between the management finishing moment and the management starting moment is calculated to obtain the single management duration;
summing the single management time length of the selected person in the current day to obtain the total management time length T1 of the selected person in the current dayHj(ii) a Meanwhile, all single management time lengths of the selected personnel within thirty days of the current time of the system are obtained and summed, and the average value is obtained to obtain the auxiliary time length T3 of the selected personnelHj。
4. The unmanned tractor automatic navigation steering system of claim 1, further comprising a radar module; the radar module is composed of a millimeter wave radar arranged at the front part of the tractor, the radar module is used for detecting whether an obstacle exists or not and sending position information of the obstacle to the data processing module when the obstacle exists, the data processing module generates avoidance instructions and path navigation information according to the position information of the obstacle and sends the avoidance instructions and the path navigation information to the whole machine control module, and the whole machine control module controls the tractor according to the avoidance instructions and the path navigation information.
5. The unmanned tractor autopilot steering system of claim 1 wherein the pose information includes position information, acceleration, speed, and heading angle; the farmland plot boundary information comprises a farmland plot boundary curve; the road boundary information comprises road edge line position information, and a road central line is obtained according to the road edge line position information.
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