CN112309369A - Rice transplanter unmanned system and method based on voice recognition - Google Patents
Rice transplanter unmanned system and method based on voice recognition Download PDFInfo
- Publication number
- CN112309369A CN112309369A CN202011052203.7A CN202011052203A CN112309369A CN 112309369 A CN112309369 A CN 112309369A CN 202011052203 A CN202011052203 A CN 202011052203A CN 112309369 A CN112309369 A CN 112309369A
- Authority
- CN
- China
- Prior art keywords
- voice
- module
- rice transplanter
- path
- control
- 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.)
- Withdrawn
Links
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 124
- 235000009566 rice Nutrition 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 38
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 126
- 230000003993 interaction Effects 0.000 claims abstract description 60
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 4
- 230000006870 function Effects 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000013507 mapping Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 7
- 238000003786 synthesis reaction Methods 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 22
- 230000001276 controlling effect Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000110 cooling liquid Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/005—Language recognition
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/02—Feature extraction for speech recognition; Selection of recognition unit
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/08—Speech classification or search
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Computational Linguistics (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Life Sciences & Earth Sciences (AREA)
- Strategic Management (AREA)
- Economics (AREA)
- Development Economics (AREA)
- Operations Research (AREA)
- Soil Sciences (AREA)
- Game Theory and Decision Science (AREA)
- Environmental Sciences (AREA)
- Entrepreneurship & Innovation (AREA)
- Marketing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a rice transplanter unmanned system and method based on voice recognition, which belong to the technical field of rice transplanters and are characterized by comprising the following steps: the voice interaction system performs information interaction with the control module; the voice interaction system includes: receiving voice instruction information sent by a worker, identifying the voice instruction information, and forwarding the identified voice instruction information to an uplink part of the control module; and receiving voice broadcast information sent by the control module, and synthesizing the voice broadcast information to broadcast the downlink part. The invention realizes the voice control of the rice transplanter through the voice interaction system, and utilizes the voice interaction system to plan the path before rice transplanting, so that the rice transplanter does not need to be manually operated and controlled and only needs to issue an instruction in a voice mode; compared with the traditional manual operation, the manual operation is simpler and more convenient, the hands of an operator are liberated, the rice transplanter is controlled by the control module, the possibility of misoperation is reduced, and the safety is improved.
Description
Technical Field
The invention belongs to the technical field of rice transplanters, and particularly relates to a rice transplanter unmanned system and method based on voice recognition.
Background
As is well known, a rice transplanter is an agricultural machine that plants rice seedlings in a rice field. When planting, firstly, a mechanical claw takes out a plurality of rice seedlings from a seedbed and plants the soil in a field, and in order to keep the angle between the seedbed and the ground at a right angle, the front end of the mechanical claw must adopt an elliptic action curve when moving. The motion is completed by a planetary mechanism of a rotary or deformation gear, and the advancing engine can drive the motion machines at the same time. The rice transplanter must have anti-slip wheels and a floating design when moving on the soil. If the seedlings are cut into pieces, the rice seedlings are taken out from a specific seedling box and then planted in a mechanical mode.
In recent years, with the rapid development of the unmanned technology, research on the unmanned technology of the rice transplanter is actively carried out in some universities and enterprises, and the auxiliary driving system of the rice transplanter is: the GNSS high-precision positioning system is adopted to realize centimeter-level positioning, the unmanned system of the rice transplanter is realized by combining operation control and vehicle speed control on the basis of the functions of path planning, path following and automatic turning around of the ground, and the obstacle avoidance safety needs to be considered because of adopting unmanned driving, and in the patent CN111026117A, sensors such as laser radar and the like are adopted to realize environment sensing and carry out obstacle avoidance processing; although unmanned is adopted, remote control is also needed, in a patent CN111201867A unmanned transplanter based on a Beidou navigation positioning system, a short-distance wireless remote control mode is adopted for control, and a patent CN109213167A unmanned intelligent control system of agricultural machinery and a control method thereof can also be referred to, and a 4G wireless mode is used for control. Adopt sensors such as laser radar can realize the environmental perception and then realize keeping away barrier and handling, but increase control system cost, influence unmanned technique and promote, adopt remote control mode and 4G wireless mode to carry out remote control and increase system cost equally, do not really reduce the operation personnel moreover.
Disclosure of Invention
The invention provides a voice recognition-based rice transplanter unmanned system and a voice recognition-based rice transplanter unmanned method for solving the technical problems in the prior art, wherein an operator controls a rice transplanter through voice, so that manual rice seedling supplement is not influenced, when the rice transplanter is in unmanned operation, the operator judges that safety risks exist in human beings or animals in an operation area, the rice transplanter is controlled through voice commands or decelerated or stopped, and after the safety risks are relieved, the rice transplanter is informed through voice to continue operation; the operator can realize all functions of the existing remote control mode through voice instructions, such as rice transplanter operation functions of controlling the running speed of the rice transplanter, stopping, ascending, descending and level adjustment of the transplanting part and the like, and can also perform path planning through voice control; according to the technical scheme, the unmanned function can be realized, however, obstacle avoidance sensors such as laser radars are not needed, remote control personnel and equipment are not needed, and the cost of the unmanned system and the labor cost during operation are reduced.
The invention provides a rice transplanter unmanned system based on voice recognition, which comprises:
a control module for controlling the working state of the rice transplanter; a working instruction library for controlling the working state of the rice transplanter is preset in the control module;
the voice interaction system performs information interaction with the control module; the voice interaction system comprises:
receiving voice instruction information sent by a worker, identifying the voice instruction information, and forwarding the identified voice instruction information to an uplink part of the control module;
and receiving voice broadcast information sent by the control module, and synthesizing the voice broadcast information to broadcast the downlink part.
Preferably, the uplink part comprises a microphone for converting the voice instruction information into an electric signal, a voice recognition module for receiving the electric signal of the microphone and recognizing the electric signal, and a voice wake-up module; the voice recognition module is internally preset with: the voice recognition system comprises an instruction database for storing different control instruction strips, a voice feature database for storing different voice keywords and a function database for storing the mapping relation between the control instruction strips and the voice keywords; a one-to-one mapping relation exists between the control command bar and the voice keywords; the control instruction strips and the working instruction strips of the working instruction library have a one-to-one corresponding mapping relation;
the downstream portion includes a speech synthesis module and a speaker.
Preferably, the control module comprises an unmanned controller, a steering control system, a vehicle speed control system, an inserting part lifting control system, an inserting part horizontal adjusting system, a GNSS receiver and an inertial navigation unit for measuring the heading, rolling and pitching three-dimensional space attitude angles of the rice transplanter; the unmanned controller is respectively communicated with the GNSS receiver, the inertial navigation unit, the steering controller, the vehicle speed controller, the plug-in part lifting controller and the plug-in part horizontal adjustment controller processor through RS232 or CAN buses or Ethernet or RS485 interfaces to perform data interaction.
Preferably, the GNSS receiver outputs real-time coordinate information of the positioning point based on a satellite positioning differential system principle, a reference station is erected in an RTK-GNSS dual-antenna mode, the GNSS receiver is installed on the rice transplanter and serves as a mobile station, the two antennas are respectively fixed at two transverse ends of the rice transplanter, the reference station sends a calculated differential correction value to the GNSS receiver, the GNSS receiver iteratively calculates centimeter-level precision positioning information according to the differential correction value and self-calculated position information, and the GNSS receiver simultaneously gives a course angle and a roll angle based on the dual antennas; the inertial navigation unit is arranged on the axis position of the rice transplanter.
Preferably, the unmanned controller comprises:
an environment sensing module for acquiring working condition data; the environment sensing module receives position information, a course angle and a roll angle which are sent by a GNSS receiver and a three-dimensional space attitude angle sent by an inertial navigation unit, wherein the position information is WGS84 geodetic coordinates, and is converted into Gaussian plane rectangular coordinates through Gaussian projection; fusing the three-dimensional space attitude angle and attitude information obtained from a GNSS receiver through Kalman filtering to obtain attitude information of the rice transplanter; compensating the inclination error by adopting geometric trigonometric relation calculation based on the posture information of the rice transplanter to obtain real position information; the environment perception module transmits the processed plane coordinates and the processed course angle to the path following module;
planning the operation path of the transplanter according to the geometric information of the plot and the consumption model, and transmitting the path data information to a path planning module of a path following module;
and a path following module which takes the planned operation path as a target, detects the plane coordinate and the course angle in real time to carry out closed-loop algorithm processing, and outputs a steering control signal of the rice transplanter to a steering controller.
Preferably, the rice transplanter is driven by a steering wheel motor in a steering driving mode, a CAN bus is adopted to communicate with a steering controller, and a front wheel steering angle sensor is an angle sensor in a Hall detection mode; the speed controller is communicated with the electric control engine through a CAN bus, receives the position feedback of an accelerator, sends an instruction to control the accelerator of the engine, and the speed sensor is a Hall detection type rotating speed sensor with pulse output; the actuator for driving the lifting mechanism of the inserting part to act is a vehicle door motor, and the sensor of the position of the inserting part is a rotary potentiometer with 0-5V output; the actuator for driving the transverse adjusting mechanism of the inserting part to act is a vehicle door motor, and the tilt sensor is a mems accelerometer detection type tilt sensor with 0-5V or 4-20mA output; the driving motor circuit comprises a half-bridge chip BTN 8982; the voice interaction module is SYN 7318.
The invention also provides a method for the rice transplanter unmanned system based on voice recognition, which comprises the following steps:
s1, on the basis of improving the land utilization rate, based on the actual driving path of the transplanter in the field, the energy consumption of the total path is minimized, and path planning is carried out;
s2, sending a preparation instruction to the control module by the voice interaction system, and controlling the rice transplanter to reach a preset starting point to wait for starting to work by the control module;
s3, sending a starting instruction to the control module through the voice interaction module, and controlling the rice transplanter to start working according to the planned path by the control module; until the rice transplanting work is finished.
Preferably, the step S1 is specifically:
firstly, collecting boundary key points, wherein the boundary key points are intersection points of different edges of a field, sending a boundary point collecting instruction to a control module through a voice interaction system, manually driving a rice transplanter to run around the boundary of the field by an operator, and when the boundary key points reach a first boundary key point, the operator notifies 'vertex one' by voice, the voice recognition module recognizes 'vertex one', resolves the corresponding command ID to be 11, then the voice interaction module sends the 11 to the voice control module, the voice control module transmits the 11 to the path planning module after analyzing, the path planning module stores the coordinate of the vertex one after receiving, then returning the received command ID to the voice control module, the voice control module sends the received command ID to the voice interaction module, then the transplanter broadcasts 'received', and the subsequent vertex collection mode is the same as the mode of the vertex I until the seedling returns to the vertex I;
secondly, sending a 'start path planning' instruction to the control module through the voice interaction system, broadcasting 'received' by the rice transplanter, starting planning an operation path according to a path planning algorithm by the path planning module, broadcasting 'path planning completion' by the rice transplanter after the operation path planning is finished, and broadcasting an operation starting point position by voice;
the step S2 specifically includes:
the voice interaction system sends a command of 'driving to the starting point' to the control module, the transplanter broadcasts 'receiving', the path following module carries out path control according to a built-in point-to-point path planning strategy, the transplanter automatically drives to the starting point, meanwhile, the path following module carries out path control according to the vehicle body pose optimized by the path planning module to realize pose adjustment, and the transplanter broadcasts 'reaching the starting point' after the pose adjustment of the transplanter.
Preferably, the path planning algorithm consists of the following three parts:
the first part is modeling for the operation plot, obtaining and processing boundary information, and after obtaining plot boundary key point data, performing coordinate conversion and approximate point judgment processing on the data to obtain a plot model;
the second part is the parameter deployment in the earlier stage of path planning, and sets parameters required in the path planning process, including setting an agricultural machinery operation mode, a head turning mode, an optimal operation direction, an operation area and a turning area;
the third part is starting path planning, in the path planning process, determining a path starting point, a path characteristic parameter and a path track point according to related parameters deployed in the earlier stage, wherein the path characteristic point comprises an intersection point of an operation line straight line and an inner contracted polygon, a turning point of a straight line turning when a straight line goes out of a curve and turns into a curve, a turning point of a turning line when a straight line goes out of a curve and turns into a straight line, a connecting point in the turning process, a head turning exit operation point and a head turning entry operation point; the path characteristic parameters comprise the central point of the integral turning, the circle center of each turning arc, and radians corresponding to the starting point and the ending point of each turning arc; the path track points are divided into straight line track points and turning track points, and parameters required during solving comprise integral turning center coordinates, circle center coordinates of circular arcs, angles corresponding to turning starting points of each section of arc, angles corresponding to turning end points of each section of arc, turning starting point coordinates of each section of circular arc and turning end point coordinates of each section of circular arc.
Preferably, the path planning strategy specifically includes: combining a fuzzy control technology and a PID control technology, adopting sectional control, adopting a fuzzy control method when the deviation is large and the deviation needs to be rapidly corrected, and adopting a PID control algorithm when the deviation is small and the system is stable; specifically, PID control is adopted in a zero-gear interval of fuzzy control, and fuzzy control is adopted in other intervals; the input quantity of the fuzzy controller is set as the transverse deviation and the course deviation when the path of the transplanter is tracked, and the output quantity is the expected front wheel turning angle.
The invention has the advantages and positive effects that:
by adopting the technical scheme, the voice control of the rice transplanter is realized through the voice interaction system, so that the rice transplanter is controlled by the voice interaction system to plan the path before rice transplanting, and workers do not need to manually operate and control the rice transplanter and only need to issue instructions in a voice mode; compared with the traditional manual operation, the automatic rice transplanter is simpler and more convenient, meanwhile, the hands of an operator are liberated, the automation of the rice transplanter process is realized through the control module, the possibility of misoperation is reduced, and the safety is improved. By adopting the voice broadcasting mode, when a special condition or a fault occurs, a worker is timely reminded to carry out advanced treatment in a voice mode, and the trouble is prevented.
Drawings
FIG. 1 is a block diagram of the preferred embodiment of the present invention;
FIG. 2 is a block diagram of a portion of the structure of the preferred embodiment of the present invention; used for displaying the concrete structure of the voice interaction system.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in fig. 1 and fig. 2, the technical solution of the present invention is:
a rice transplanter unmanned system based on voice recognition comprises:
a control module for controlling the working state of the rice transplanter; a working instruction library for controlling the working state of the rice transplanter is preset in the control module;
the voice interaction system performs information interaction with the control module; the voice interaction system comprises:
receiving voice instruction information sent by a worker, identifying the voice instruction information, and forwarding the identified voice instruction information to an uplink part of the control module;
and receiving voice broadcast information sent by the control module, and synthesizing the voice broadcast information to broadcast the downlink part.
The uplink part comprises a microphone for converting the voice instruction information into an electric signal, a voice recognition module for receiving the electric signal of the microphone and recognizing the electric signal, and a voice awakening module; the voice recognition module is internally preset with: the voice recognition system comprises an instruction database for storing different control instruction strips, a voice feature database for storing different voice keywords and a function database for storing the mapping relation between the control instruction strips and the voice keywords; a one-to-one mapping relation exists between the control command bar and the voice keywords; the control instruction strips and the working instruction strips of the working instruction library have a one-to-one corresponding mapping relation;
the downlink part comprises a voice synthesis module and a loudspeaker; on the basis, in order to realize better sound quality output: the lower limit part also comprises an MP3 player and a power amplifier.
In the technical scheme of the application: the voice recognition function is mainly used in the early-stage path planning, emergency obstacle avoidance and other special conditions, automatic driving is adopted when the rice transplanter works normally, and the voice recognition module is an auxiliary role at the moment;
the rice transplanter unmanned system based on voice recognition mainly comprises an unmanned controller, a voice interaction system, a steering control system, a vehicle speed control system, an inserting part lifting control system, an inserting part horizontal adjusting system, a GNSS receiver and an inertial navigation unit, and in addition, a mobile terminal (integrated APP) is adopted to set voice control related parameters.
The GNSS receiver outputs real-time high-precision coordinate information of a positioning point based on a satellite positioning differential system principle, the real-time high-precision coordinate information is realized by adopting an RTK-GNSS double-antenna mode, a reference station is erected, the GNSS receiver is installed on the transplanter and serves as a mobile station, the two antennas are respectively fixed at the two transverse ends of the transplanter, the connecting line is perpendicular to the traveling direction (longitudinal direction) of the transplanter, the reference station sends a calculated differential correction value to the GNSS receiver through radio, the GNSS receiver iteratively calculates centimeter-level high-precision positioning information according to the differential correction value and self-calculated position information, and the GNSS receiver can simultaneously give a course angle and a transverse rolling angle.
An IMU (inertial navigation unit) is installed on the central axis of the transplanter to measure the heading, the rolling and the pitching three-dimensional attitude angles of the transplanter in real time.
The unmanned controller is provided with an environment sensing module, a path planning module, a path following module, a voice control module and a wireless configuration module. The environment sensing module receives position information, a course angle and a roll angle which are sent by the GNSS receiver, receives a three-dimensional space attitude angle sent by the inertial navigation unit, and converts the position information into a Gaussian plane rectangular coordinate through Gaussian projection, wherein the position information is a geodetic coordinate (longitude and latitude) of WGS 84; fusing the three-dimensional space attitude angle and attitude information obtained from a GNSS receiver through Kalman filtering to obtain high-precision transplanter attitude information; when the transplanter operates in a mud field, the ground of the mud field can enable a vehicle body to incline left and right and front and back, so that the position information inclines left and right and front and back relative to the position of a middle shaft of the transplanter, and the inclination error is compensated by adopting geometric trigonometric relation solution based on high-precision posture information of the transplanter, so that real position information is obtained; and the environment perception module transmits the processed plane coordinate and the processed course angle to the path following module.
The path planning module plans the operation path of the transplanter according to the geometric information of the land parcel and the consumption model, and transmits the path data information to the path following module, and the path planning algorithm of the module is mainly based on the actual driving path of the transplanter in the field on the basis of improving the land utilization rate, so that the energy consumption of the total path is minimum. The path planning algorithm mainly comprises three parts: specifically, the first part models the work parcel. The module has the functions of acquiring and processing boundary information, and after the platform acquires the key point data of the field boundary, the platform performs coordinate conversion, approximate point judgment and other processing on the data to obtain a field model. Specifically, the second part is the parameter deployment in the earlier stage of the path planning. The module sets parameters required in the path planning process, and mainly comprises the steps of setting an agricultural machine operation mode, a ground turning mode, an optimal operation direction, an operation area, a turning area and the like. Specifically, the third part is to start path planning. And in the path planning process, determining a path starting point, a path characteristic parameter and a path track point according to the related parameters deployed in the earlier stage. The path characteristic points mainly comprise the intersection point of an operation line straight line and an inner contracted polygon, a turning point of a straight line changing into a turning when the straight line goes out of the curve and goes into the curve, a turning point of a turning line changing into a turning when the straight line goes out of the curve and goes into the curve, a connecting point (such as a tangent point between different arcs (curves)) in the turning process, a ground head turning exit operation point and a ground head turning entry operation point; the path characteristic parameters mainly comprise a central point of the integral turning, the circle center of each turning arc, and radians corresponding to a starting point and an ending point of each turning arc; the path track points are divided into straight line track points and turning track points, and parameters required during solving mainly comprise integral turning center coordinates, circle center coordinates of circular arcs, angles corresponding to turning starting points of all sections of arcs, angles corresponding to turning end points of all sections of arcs, turning starting point coordinates of all sections of circular arcs and turning end point coordinates of all sections of circular arcs.
The path following module takes a planned operation path as a target, detects plane coordinates and a course angle in real time, carries out closed-loop algorithm processing, outputs a rice transplanter steering control signal to a steering controller, and the path following control algorithm of the system specifically comprises the following steps: the fuzzy control technology and the PID control technology are combined, a sectional control method is adopted in the whole control process, the fuzzy control method is adopted when the deviation is large and the deviation needs to be corrected quickly, and the PID control algorithm is adopted when the deviation is small and the system is stable. The fuzzy control method is characterized in that PID control is adopted in a zero gear interval of the fuzzy control, the defects that the fuzzy control is rough in a control system and cannot be accurately controlled are overcome, and the fuzzy control is adopted in other intervals. The fuzzy controller is specifically designed as follows: the input quantity of the fuzzy controller is set as the transverse deviation and the course deviation when the path of the transplanter is tracked, and the output quantity is the expected front wheel turning angle.
The voice control module receives a voice control instruction sent by the voice interaction system, and sends different control instructions to different controllers in the unmanned system after algorithm processing, the voice control module sends information to be broadcasted to the voice interaction system, and the voice control module sends configuration information for realizing voice control to the voice interaction system; the wireless configuration module is communicated with the mobile terminal, receives the parameters and information for realizing voice control sent by the mobile terminal, stores the parameters and information and provides the parameters and information for the voice control module to call.
The voice interaction system consists of a voice interaction module, a microphone, a power amplifier and a loudspeaker, wherein the voice interaction module receives a voice command of an operator collected by the microphone, and the voice command is recognized by an internal voice recognition module and then converted into a corresponding control command to be sent to the unmanned controller; the voice interaction system receives voice broadcast information sent by the unmanned controller, synthesizes voice after the voice broadcast information is analyzed by an internal voice synthesis module, and plays the voice through a loudspeaker; and the voice interaction system receives the configuration information for realizing voice control sent by the unmanned controller, processes data and stores parameters.
The steering control system consists of a steering controller, a front wheel steering angle sensor and a steering wheel driving motor. The steering controller and the unmanned controller are communicated through a CAN bus to receive a target steering angle, current front wheel angle information is obtained through a front wheel steering angle sensor, after an angle deviation value is calculated, PID adjustment is adopted, the steering controller outputs PWM signals through an H-bridge circuit to drive a motor to rotate, the steering angle of a front wheel is adjusted, and the target steering angle is achieved.
The vehicle speed control system consists of a vehicle speed controller, an HST swash plate position sensor, an accelerator position sensor, an engine rotating speed sensor, a brake pedal position sensor, a rear wheel rotating speed sensor, an HST driving motor, an engine accelerator adjusting motor and a brake motor. The vehicle speed controller receives a target speed or a braking instruction set by the unmanned controller, and controls the vehicle speed and braking through the sensor and the execution motor.
The vehicle speed control mode is as follows: the vehicle speed controller receives the target speed, acquires the pulse frequency through the rear wheel rotating speed sensor, and calculates and processes the vehicle speed into the vehicle speed with m/s as a unit. And based on the deviation of the vehicle speed, the HST displacement and the engine speed are jointly controlled, and the vehicle speed is dynamically adjusted. The system calculates the target position of the HST swash plate and the increment and decrement of the target engine rotating speed, acquires the current swash plate angle through an HST swash plate position sensor, controls the HST driving motor to rotate by adopting a PWM signal, and drives the HST swash plate to accurately reach the target angle; and then, acquiring the flywheel rotation pulse frequency through an engine rotation speed sensor, converting the flywheel rotation pulse frequency into a rotation speed with r/min as a unit, detecting the size of a current accelerator through an accelerator position sensor according to the deviation of the current rotation speed and a target rotation speed, and driving an accelerator adjusting motor to adjust the size of the accelerator, so that the increase and decrease of the rotation speed of the engine are controlled in a closed loop mode, the running speed reaches the target speed, and meanwhile, the vehicle speed controller sends the current vehicle speed to the unmanned controller.
The braking control mode is as follows: the brake pedal position sensor marks a brake position, a brake release position and a middle invalid area according to the installation condition, when the vehicle speed controller receives a brake instruction, the current position of the brake pedal position sensor is detected, and if the current position does not reach the brake position, the brake motor is controlled to rotate in the forward direction to brake; and after receiving a brake release instruction, controlling the brake motor to rotate reversely until the brake pedal position sensor reaches a brake release position.
The lifting control system of the transplanting part comprises a lifting controller, a transplanting part lifting angle sensor, a lifting cam position sensor and a lifting motor, wherein the lifting controller receives an instruction sent by the unmanned controller to control the transplanting part to be at three positions of lifting, descending and stopping and control the transplanting clutch to be at two positions of separation and combination, the posture of the current transplanting part is determined by detecting position signals output by the transplanting part lifting angle sensor and the lifting cam position sensor, the transplanting part lifting angle sensor is responsible for detecting whether the transplanting part is lifted to the highest position and whether the transplanting part is lifted or descended, the lifting cam position sensor is responsible for detecting that a lifting hydraulic valve of the transplanting part is lifted, fixed and descended and the transplanting clutch is separated and combined to the two positions
If the target position is different from the current position and the inserting part is not in the lifting process, the lifting controller drives the lifting motor to rotate, so that the lifting cam is driven to rotate to the target position, the lifting and the clutch are realizedAnd controlling the action.
The horizontal adjusting system of the inserting part comprises a horizontal adjusting controller, a horizontal tilt angle sensor, a horizontal adjusting motor, a left lower limit switch, a right lower limit switch and the like. And when the inserting and planting part deflects left and right, the horizontal adjusting controller drives the horizontal adjusting motor to rotate according to the current deviation value, eliminates the deviation and realizes the left and right horizontal of the inserting and planting part. When the left and right deflection angles of the vehicle body are too large, the limit switches in the corresponding directions are triggered, and after the horizontal adjustment controller receives the limit signals, the motor stops rotating in the directions.
When the transplanter is in unmanned operation, firstly, path planning is carried out, firstly, boundary key points, namely intersection points of different edges of a field are collected, the transplanter is manually driven to travel around the field for a circle, and operators and the transplanter perform voice interaction to confirm the positions of the intersection points at the different intersection points; if fixed facilities and the like such as electric poles are arranged in the field, the rice transplanter is manually driven to travel around the fixed facilities for a circle, and the operator and the rice transplanter interactively confirm the position of the fixed barrier by voice; and secondly, notifying the transplanter of path planning by voice by operators, confirming the rice transplanter to receive and starting to plan the operation path, finishing the path planning by voice broadcasting of the transplanter after the operation path planning is finished, and broadcasting the position of the operation starting point by voice. Then the rice transplanter is controlled by voice to automatically travel to the position of the initial point, and the rice transplanter can automatically adjust the pose. Then setting the speed of the rice transplanter by voice control, starting operation, following the path from the starting point by the rice transplanter, controlling the speed of the rice transplanter, controlling the transplanting part to enter a transplanting state when the rice transplanter runs to a position for starting transplanting operation in a path planning area, simultaneously sending a horizontal adjusting instruction of the transplanting part, starting to execute a horizontal adjusting function, following according to the set path of the ground area in the path planning area when the rice transplanter runs to the ground area of the path planning area and starts to turn around, simultaneously reducing the speed of the rice transplanter, controlling the transplanting part to ascend, and stopping horizontal adjustment; when the transplanter turns around and then drives to the next row of transplanting operation position in the path planning area, the actions are repeatedly executed until the transplanter traverses all the planned paths to reach the end point, the voice broadcasting transplanting operation of the transplanter is finished, the transplanter can automatically stop, the engine accelerator is controlled to idle, the transplanting part is automatically controlled to ascend, and the horizontal adjustment is stopped.
In the operation process of the rice transplanter, if dynamic obstacles such as people or animals enter an operation area, an operator judges the safety level or informs the rice transplanter in a voice mode, the rice transplanter gives out an alarm through voice broadcasting, or controls the rice transplanter to decelerate in a voice mode, or controls the rice transplanter to stop running in a voice mode. After the safety risk is relieved, the rice transplanter is controlled by voice to continue to perform normal operation.
In the operation process of the rice transplanter, if a fault occurs or an event needing reminding occurs, the rice transplanter gives an alarm or prompt through voice broadcasting, an operator judges according to voice information, and then the rice transplanter is controlled by voice to execute corresponding actions.
In the operation process of the rice transplanter, if other conditions occur, the operator can control the rice transplanter to perform corresponding actions at any time by voice, such as seedling supplement on the ground. Voice control then returns to continue normal operations.
The information can be inquired in a voice mode, such as fuel quantity and fault information, and the rice transplanter broadcasts the corresponding information through voice.
In the embodiment of the invention, the transplanter adopts an electric control engine, adopts a Bluetooth mode to carry out voice control on related parameter setting, and has an unmanned controller: the processor selects a chip AM3358(ARM Cortex-A8 inner core, 32 bits, dominant frequency 1GHz), adopts a 1GB DDR3 memory, 4G eMMC, and the Bluetooth module selects USR-BLE101 and is connected with the AM3358 through a serial port; the unmanned controller is communicated with an electric control engine through a CAN bus to obtain parameters such as engine rotating speed, cooling liquid temperature and engine oil pressure, the unmanned controller collects physical parameters such as fuel oil quantity through an analog quantity interface, the unmanned controller is communicated with a steering controller, a vehicle speed controller, an inserting part lifting controller and an inserting part horizontal adjusting controller through the CAN bus in a networking mode, the unmanned controller is respectively communicated with a GNSS receiver and an inertial navigation unit through an RS232 interface, the processors of the steering controller, the vehicle speed controller, the inserting part lifting controller and the inserting part horizontal adjusting controller are MC9S12XeA, the GNSS receiver is m600, the inertial navigation unit is HDA536T, a steering drive mode of a rice transplanter is a steering wheel motor, and the CAN bus is communicated with the steering controller, the CAN bus is independently networked, and has no relation with the CAN bus, and the front wheel steering angle sensor adopts a Hall detection mode angle sensor with 4-20mA output; an actuator for driving the main speed change mechanism to act selects a 500N push rod motor, an actuator for driving the brake mechanism to act selects a 200N push rod motor, a sensor for detecting the position of the main speed change mechanism and a sensor for detecting the position of the brake mechanism select a rotary potentiometer with 0-5V output, a vehicle speed controller is communicated with an electric control engine through a CAN bus, receives the position feedback of an accelerator and sends an instruction to control the accelerator of the engine, and the vehicle speed sensor selects a rotating speed sensor in a Hall detection mode of pulse output; the actuator for driving the lifting mechanism of the inserting part to act is a vehicle door motor, and the position sensor of the inserting part is a rotary potentiometer with 0-5V output; the actuator for driving the transverse adjusting mechanism of the inserting part to act is a vehicle door motor, and the inclination angle sensor is an inclination angle sensor which outputs 4-20mA and adopts a mems accelerometer detection mode; the driving motor circuits are all built by using a half-bridge chip BTN 8982; in the voice interaction system, a voice interaction module selects SYN7318, is integrated in the unmanned controller and is connected with AM3358 through a serial port, and a microphone selects a microphone array, so that the environmental noise can be effectively inhibited. The mobile terminal adopts a smart phone (with a Bluetooth function) and designs a voice control parameter setting APP.
The implementation principle of the voice interaction system is explained as follows: firstly, voice interaction function setting is carried out, a Bluetooth opening/closing button is arranged on the rice transplanter through mobile phone APP setting, the button is connected with the unmanned controller, after the system Bluetooth function is opened, the mobile phone is connected with the system Bluetooth, and the voice recognition function and the voice awakening function can be set in the APP. After the voice recognition function is started, the transplanter can be controlled by voice to turn on/off the Bluetooth function.
The voice recognition function mainly sets some recognition entries related to the operation of the rice transplanter, namely voice features such as ' collecting boundary point 10 ', ' vertex one 11 ', ' vertex two 12 ', … ', ' vertex ten 20 ', ' starting path planning 21 ', ' driving to starting point 22 ', ' starting rice transplanting 23 ', ' default speed 24 ', ' acceleration 25 ', ' deceleration 26 ', ' rapid acceleration 27 ', ' rapid deceleration 28 ', ' transplanting part rising 29 ' and the like, and explains: for example, "collection boundary point 10" is the content that needs speech recognition, "10" is the command ID, and other similar reasons can be understood; the 'top points' are the key points of the boundary of the field block, 10 are set here, the middle is replaced by ellipses, and if the number of the actual field block is more than 10, the actual situation can be set; the default speed of the rice transplanter is the running speed of rice transplanter operation set in the APP and is sent to the wireless configuration module for storage in a Bluetooth mode, and the default speed is set to be 1m/s (the operation of the rice transplanter is generally 0-2 m/s); the 'acceleration' represents that the vehicle speed is increased by 0.1m/s every time, the 'deceleration' represents that the vehicle speed is reduced by 0.1m/s every time, the 'jerk' represents that the vehicle speed is increased by 0.5m/s every time, the 'jerk' represents that the vehicle speed is reduced by 0.5m/s every time, and when the vehicle speed is increased or reduced to or exceeds a boundary value, the boundary value is used, and the convention meanings are set in the APP and are sent to the wireless configuration module for storage and can be changed; the above-mentioned discernment vocabulary entry sets up in APP, then launches the wireless configuration module, and the pronunciation control module is passed to after the wireless configuration module is analyzed, and the pronunciation control module passes the pronunciation interaction module according to the speech recognition agreement that makes between with the pronunciation interaction module with the order that sets up the discernment vocabulary entry, and the pronunciation interaction module receives the back, handles, returns after the processing success or failure state and gives the pronunciation control module.
The voice awakening function is set, the awakening name is the same as the awakening name of 'small-scale' in a small-scale intelligent sound box (hundred-scale products), voice conversation can be carried out after awakening through the awakening name, a 'small-scale housekeeper' built in the system can be selected, then the voice awakening name is sent to the wireless configuration module through Bluetooth, the wireless configuration module analyzes and then sends the voice awakening name to the voice control module, the voice control module sends a command for setting the 'small-scale housekeeper' voice awakening name to the voice interaction module according to a protocol format established between the voice control module and the voice interaction module, the voice interaction module receives the command and processes the command, a success state or a failure state is returned to the voice control module after processing, the unmanned controller sends information to the mobile phone through the Bluetooth. The voice awakening name can also be customized, such as 'householder for transplanting rice', and the voice awakening name can be executed according to a corresponding protocol and a corresponding flow. Of course, the voice wake-up function can be turned off to directly perform voice control.
The voice interaction function realizes interpretation, for example, an operator says 'acquisition boundary point', voice broadcast 'receives', firstly, a voice interaction module processes received voice signals 'acquisition boundary point', then identifies, sends a corresponding command ID to a voice control module after identification, the voice control module transmits the command ID to a path planning module after analysis processing, the path planning module executes a program corresponding to an ID condition in a built-in program after receiving the command ID, the preparation is carried out for a thread for acquiring the boundary point, meanwhile, the 'received' command ID is returned to the voice control module, the voice control module converts 'received' into a code in an appointed coding format according to a voice synthesis protocol, then sends the 'received' command to the voice interaction module, and the voice synthesis module analyzes the command and carries out voice synthesis after receiving the command and then broadcasts. The size of broadcasting the volume can set up through APP, also can set up through pronunciation, realizes the principle on the same side.
When the transplanter is in unmanned operation, firstly, path planning is carried out, firstly, boundary key points, namely intersection points of different edges of a field block, are collected, an operator notifies 'collecting boundary points' through voice, the transplanter broadcasts 'receives', then the operator drives the transplanter to travel around the field block boundary, when the operator reaches the first boundary key point, the operator notifies 'vertex one' through voice, a voice recognition module recognizes 'vertex one' and analyzes a corresponding command ID to be 11, then the voice interaction module sends 11 to a voice control module, the voice control module analyzes and then sends 11 to a path planning module, the path planning module stores the coordinate of the vertex one after receiving the command ID, then returns 'receiving' to the voice control module, the voice control module sends 'receiving' to the voice interaction module, then the transplanter broadcasts 'receiving', and the follow-up vertex collecting mode is the same as the follow-up vertex collecting mode, until vertex one is returned; and secondly, the operator notifies 'start path planning' through voice, the transplanter broadcasts 'receives' and the path planning module starts to plan the operation path, and after the operation path planning is finished, the transplanter broadcasts 'path planning is finished' and broadcasts the operation starting point position through voice. Then the operator informs the operator of 'driving to the starting point' through voice, the transplanter broadcasts 'receiving', the path following module carries out path control according to a built-in point-to-point path planning strategy, the transplanter automatically drives to the starting point, meanwhile, the path following module carries out path control according to the vehicle body pose optimized by the path planning module to realize pose adjustment, and after the pose of the transplanter is adjusted, the transplanter broadcasts 'reaching the starting point'. Then the operator informs the operator of 'starting to plant rice', the transplanter broadcasts 'receiving', then the transplanter follows the path from the starting point, the speed of the transplanter is controlled by the default speed, and the transplanting part is controlled to descend, when the transplanter runs to the position of starting to plant rice in the path planning area, the transplanting part is controlled to enter the transplanting state, and simultaneously the horizontal adjusting instruction of the transplanting part is sent, the horizontal adjusting function is started to be executed, when the transplanter runs to the ground area of the path planning area to start turning and turning around, the transplanting part is followed according to the set path of the ground area in the path planning area, and simultaneously the speed of the transplanter is reduced, the transplanting part is controlled to ascend, and the horizontal adjusting is stopped; when the transplanter turns around and then runs to the next row of transplanting operation position in the path planning area, the actions are repeatedly executed until the transplanter traverses all planning paths to reach the end point, the transplanter broadcasts the 'transplanting end' by voice, the transplanter automatically stops at the same time, the engine accelerator is controlled to idle, the horizontal adjustment is stopped, and the transplanting part automatically rises.
In the operation process of the rice transplanter, if dynamic obstacles such as people or animals enter an operation area, an operator judges the safety level, or informs the front of the rice transplanter of people through voice, the rice transplanter gives out a warning through voice broadcasting of safety attention, or controls the rice transplanter to slow down or fast slow down or controls the rice transplanter to stop through voice, and after the safety risk is relieved, the rice transplanter is controlled to continue to perform normal operation through voice.
In the operation process of the rice transplanter, if a fault occurs or an event needing reminding occurs, the rice transplanter gives an alarm or prompt through voice broadcasting, an operator judges according to voice information, and then the rice transplanter is controlled by voice to execute corresponding actions.
During the operation of the transplanter, if other conditions occur, the operator can control the transplanter to perform corresponding actions such as seedling supplement on the ground and oil supplement on the ground by voice at any time. Voice control then returns to continue normal operations.
The information can be inquired in a voice mode, such as fuel quantity and fault information, and the rice transplanter broadcasts the corresponding information through voice.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. A rice transplanter unmanned system based on voice recognition comprises a control module for controlling the working state of a rice transplanter; a working instruction library for controlling the working state of the rice transplanter is preset in the control module; it is characterized by at least comprising:
the voice interaction system performs information interaction with the control module; the voice interaction system comprises:
receiving voice instruction information sent by a worker, identifying the voice instruction information, and forwarding the identified voice instruction information to an uplink part of the control module;
and receiving voice broadcast information sent by the control module, and synthesizing the voice broadcast information to broadcast the downlink part.
2. The rice transplanter unmanned system based on voice recognition according to claim 1, wherein the uplink part comprises a microphone for converting voice command information into an electric signal, a voice recognition module for receiving the electric signal of the microphone and recognizing the electric signal, and a voice wake-up module; the voice recognition module is internally preset with: the voice recognition system comprises an instruction database for storing different control instruction strips, a voice feature database for storing different voice keywords and a function database for storing the mapping relation between the control instruction strips and the voice keywords; a one-to-one mapping relation exists between the control command bar and the voice keywords; the control instruction strips and the working instruction strips of the working instruction library have a one-to-one corresponding mapping relation;
the downstream portion includes a speech synthesis module and a speaker.
3. The rice transplanter unmanned system based on voice recognition according to claim 1, wherein the control module comprises an unmanned controller, a steering control system, a vehicle speed control system, an inserting part lifting control system, an inserting part horizontal adjusting system, a GNSS receiver, and an inertial navigation unit for measuring the heading, rolling and pitching three-dimensional space attitude angles of the rice transplanter; the unmanned controller is respectively communicated with the GNSS receiver, the inertial navigation unit, the steering controller, the vehicle speed controller, the plug-in part lifting controller and the plug-in part horizontal adjustment controller processor through RS232 or CAN buses or Ethernet or RS485 interfaces to perform data interaction.
4. The rice transplanter unmanned system based on voice recognition according to claim 3, wherein the GNSS receiver outputs real-time coordinate information of a positioning point based on a satellite positioning differential system principle, an RTK-GNSS dual antenna mode is adopted to erect a reference station, the GNSS receiver is installed on the rice transplanter as a mobile station, two antennas are respectively fixed at two transverse ends of the rice transplanter, the reference station sends a calculated differential correction value to the GNSS receiver, the GNSS receiver iteratively calculates centimeter-level precision positioning information according to the differential correction value and self-calculated position information, and the GNSS receiver simultaneously gives a course angle and a roll angle based on the dual antennas; the inertial navigation unit is arranged on the axis position of the rice transplanter.
5. The voice recognition based rice transplanter unmanned system of claim 3, wherein the unmanned controller comprises:
an environment sensing module for acquiring working condition data; the environment sensing module receives position information, a course angle and a roll angle which are sent by a GNSS receiver and a three-dimensional space attitude angle sent by an inertial navigation unit, wherein the position information is WGS84 geodetic coordinates, and is converted into Gaussian plane rectangular coordinates through Gaussian projection; fusing the three-dimensional space attitude angle and attitude information obtained from a GNSS receiver through Kalman filtering to obtain attitude information of the rice transplanter; compensating the inclination error by adopting geometric trigonometric relation calculation based on the posture information of the rice transplanter to obtain real position information; the environment perception module transmits the processed plane coordinates and the processed course angle to the path following module;
planning the operation path of the transplanter according to the geometric information of the plot and the consumption model, and transmitting the path data information to a path planning module of a path following module;
and a path following module which takes the planned operation path as a target, detects the plane coordinate and the course angle in real time to carry out closed-loop algorithm processing, and outputs a steering control signal of the rice transplanter to a steering controller.
6. The unmanned system of rice transplanter based on voice recognition as claimed in claim 3, characterized in that the rice transplanter is driven by steering wheel motor in steering driving mode, and is communicated with steering controller by CAN bus, and the front wheel steering angle sensor is Hall angle sensor; the speed controller is communicated with the electric control engine through a CAN bus, receives the position feedback of an accelerator, sends an instruction to control the accelerator of the engine, and the speed sensor is a Hall detection type rotating speed sensor with pulse output; the actuator for driving the lifting mechanism of the inserting part to act is a vehicle door motor, and the sensor of the position of the inserting part is a rotary potentiometer with 0-5V output; the actuator for driving the transverse adjusting mechanism of the inserting part to act is a vehicle door motor, and the tilt sensor is a mems accelerometer detection type tilt sensor with 0-5V or 4-20mA output; the driving motor circuit comprises a half-bridge chip BTN 8982; the voice interaction module is SYN 7318.
7. A method of the rice transplanter unmanned system based on voice recognition as claimed in claim 1, comprising the steps of:
s1, on the basis of improving the land utilization rate, based on the actual driving path of the transplanter in the field, the energy consumption of the total path is minimized, and path planning is carried out;
s2, sending a preparation instruction to the control module by the voice interaction system, and controlling the rice transplanter to reach a preset starting point to wait for starting to work by the control module;
s3, sending a starting instruction to the control module through the voice interaction module, and controlling the rice transplanter to start working according to the planned path by the control module; until the rice transplanting work is finished.
8. The method of the rice transplanter unmanned system based on voice recognition as claimed in claim 7, wherein the step S1 is specifically as follows:
firstly, collecting boundary key points, wherein the boundary key points are intersection points of different edges of a field, sending a boundary point collecting instruction to a control module through a voice interaction system, manually driving a rice transplanter to run around the boundary of the field by an operator, and when the boundary key points reach a first boundary key point, the operator notifies 'vertex one' by voice, the voice recognition module recognizes 'vertex one', resolves the corresponding command ID to be 11, then the voice interaction module sends the 11 to the voice control module, the voice control module transmits the 11 to the path planning module after analyzing, the path planning module stores the coordinate of the vertex one after receiving, then returning the received command ID to the voice control module, the voice control module sends the received command ID to the voice interaction module, then the transplanter broadcasts 'received', and the subsequent vertex collection mode is the same as the mode of the vertex I until the seedling returns to the vertex I;
secondly, sending a 'start path planning' instruction to the control module through the voice interaction system, broadcasting 'received' by the rice transplanter, starting planning an operation path according to a path planning algorithm by the path planning module, broadcasting 'path planning completion' by the rice transplanter after the operation path planning is finished, and broadcasting an operation starting point position by voice;
the step S2 specifically includes:
the voice interaction system sends a command of 'driving to the starting point' to the control module, the transplanter broadcasts 'receiving', the path following module carries out path control according to a built-in point-to-point path planning strategy, the transplanter automatically drives to the starting point, meanwhile, the path following module carries out path control according to the vehicle body pose optimized by the path planning module to realize pose adjustment, and the transplanter broadcasts 'reaching the starting point' after the pose adjustment of the transplanter.
9. The method of the rice transplanter unmanned system based on voice recognition of claim 8, wherein the path planning algorithm consists of the following three parts:
the first part is modeling for the operation plot, obtaining and processing boundary information, and after obtaining plot boundary key point data, performing coordinate conversion and approximate point judgment processing on the data to obtain a plot model;
the second part is the parameter deployment in the earlier stage of path planning, and sets parameters required in the path planning process, including setting an agricultural machinery operation mode, a head turning mode, an optimal operation direction, an operation area and a turning area;
the third part is starting path planning, in the path planning process, determining a path starting point, a path characteristic parameter and a path track point according to related parameters deployed in the earlier stage, wherein the path characteristic point comprises an intersection point of an operation line straight line and an inner contracted polygon, a turning point of a straight line turning when a straight line goes out of a curve and turns into a curve, a turning point of a turning line when a straight line goes out of a curve and turns into a straight line, a connecting point in the turning process, a head turning exit operation point and a head turning entry operation point; the path characteristic parameters comprise the central point of the integral turning, the circle center of each turning arc, and radians corresponding to the starting point and the ending point of each turning arc; the path track points are divided into straight line track points and turning track points, and parameters required during solving comprise integral turning center coordinates, circle center coordinates of circular arcs, angles corresponding to turning starting points of each section of arc, angles corresponding to turning end points of each section of arc, turning starting point coordinates of each section of circular arc and turning end point coordinates of each section of circular arc.
10. The method of a rice transplanter unmanned system based on voice recognition as claimed in claim 8, wherein the path planning strategy is specifically: combining a fuzzy control technology and a PID control technology, adopting sectional control, adopting a fuzzy control method when the deviation is large and the deviation needs to be rapidly corrected, and adopting a PID control algorithm when the deviation is small and the system is stable; specifically, PID control is adopted in a zero-gear interval of fuzzy control, and fuzzy control is adopted in other intervals; the input quantity of the fuzzy controller is set as the transverse deviation and the course deviation when the path of the transplanter is tracked, and the output quantity is the expected front wheel turning angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011052203.7A CN112309369A (en) | 2020-09-29 | 2020-09-29 | Rice transplanter unmanned system and method based on voice recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011052203.7A CN112309369A (en) | 2020-09-29 | 2020-09-29 | Rice transplanter unmanned system and method based on voice recognition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112309369A true CN112309369A (en) | 2021-02-02 |
Family
ID=74488190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011052203.7A Withdrawn CN112309369A (en) | 2020-09-29 | 2020-09-29 | Rice transplanter unmanned system and method based on voice recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112309369A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341985A (en) * | 2021-06-16 | 2021-09-03 | 北京博创联动科技有限公司 | High-quality operation rice transplanter and navigation control method thereof |
| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
| CN114051781A (en) * | 2021-12-07 | 2022-02-18 | 清博（昆山）智能科技有限公司 | Intelligent navigation system for cooperative operation agricultural mechanical equipment |
| CN117008608A (en) * | 2023-07-11 | 2023-11-07 | 盐城华曜农业生物科技有限公司 | Unmanned transplanter operation path planning method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6371449A (en) * | 1986-09-12 | 1988-03-31 | Iseki & Co Ltd | Voice remote control method for agricultural machine |
| JP2000135007A (en) * | 1998-10-30 | 2000-05-16 | Kubota Corp | Sulky working machine |
| CN101078935A (en) * | 2007-06-28 | 2007-11-28 | 华南农业大学 | Agricultural machine path tracking control method based on nerve network |
| CN101477799A (en) * | 2009-01-19 | 2009-07-08 | 北京农业信息技术研究中心 | System for controlling agricultural apparatus by voice and control method |
| CN104699090A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic control system of high-speed transplanter |
| CN107972732A (en) * | 2017-12-04 | 2018-05-01 | 安徽农业大学 | A kind of unmanned rice transplanter automatic steering control system and its control method |
| CN108305625A (en) * | 2018-01-29 | 2018-07-20 | 深圳春沐源控股有限公司 | Voice control method and device, electronic equipment and computer readable storage medium |
-
2020
- 2020-09-29 CN CN202011052203.7A patent/CN112309369A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6371449A (en) * | 1986-09-12 | 1988-03-31 | Iseki & Co Ltd | Voice remote control method for agricultural machine |
| JP2000135007A (en) * | 1998-10-30 | 2000-05-16 | Kubota Corp | Sulky working machine |
| CN101078935A (en) * | 2007-06-28 | 2007-11-28 | 华南农业大学 | Agricultural machine path tracking control method based on nerve network |
| CN101477799A (en) * | 2009-01-19 | 2009-07-08 | 北京农业信息技术研究中心 | System for controlling agricultural apparatus by voice and control method |
| CN104699090A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Automatic control system of high-speed transplanter |
| CN107972732A (en) * | 2017-12-04 | 2018-05-01 | 安徽农业大学 | A kind of unmanned rice transplanter automatic steering control system and its control method |
| CN108305625A (en) * | 2018-01-29 | 2018-07-20 | 深圳春沐源控股有限公司 | Voice control method and device, electronic equipment and computer readable storage medium |
Non-Patent Citations (4)
| Title |
|---|
| 伟利国等: "XDNZ630型水稻插秧机GPS自动导航系统", 《农业机械学报》 * |
| 吴卫国等: "基于云平台的无人驾驶插秧机远程路径规划研究", 《工程机械》 * |
| 郭九霄: "基于GPS无人驾驶插秧机控制系统及路径规划研究", 《中国优秀博硕士学位论文全文数据库(硕士)农业科技辑》 * |
| 顾小川等: "自动驾驶车辆路径跟踪控制方法", 《汽车工程师》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341985A (en) * | 2021-06-16 | 2021-09-03 | 北京博创联动科技有限公司 | High-quality operation rice transplanter and navigation control method thereof |
| CN113341985B (en) * | 2021-06-16 | 2023-09-22 | 北京博创联动科技有限公司 | High-quality operation rice transplanter and navigation control method thereof |
| CN113348830A (en) * | 2021-06-29 | 2021-09-07 | 中国农业大学 | Information feedback-based unmanned control system and control method for rice transplanter |
| CN114051781A (en) * | 2021-12-07 | 2022-02-18 | 清博（昆山）智能科技有限公司 | Intelligent navigation system for cooperative operation agricultural mechanical equipment |
| CN117008608A (en) * | 2023-07-11 | 2023-11-07 | 盐城华曜农业生物科技有限公司 | Unmanned transplanter operation path planning method and system |
| CN117008608B (en) * | 2023-07-11 | 2024-01-26 | 盐城华曜农业生物科技有限公司 | Unmanned transplanter operation path planning method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112309369A (en) | Rice transplanter unmanned system and method based on voice recognition | |
| CN105137997B (en) | Water conservancy construction vibroroller cmpacting machine automatic drive system and method | |
| CN107992049B (en) | Modularized automatic driving control device of rice direct seeding machine and control method thereof | |
| CN109910878B (en) | Automatic driving vehicle obstacle avoidance control method and system based on track planning | |
| CN106462164B (en) | System is coordinated by Operation Van | |
| WO2019096264A1 (en) | Smart lawn mowing system | |
| CN102393744B (en) | Navigation method of pilotless automobile | |
| WO2021022728A1 (en) | Control system of land-air amphibious unmanned vehicle | |
| CN107390703A (en) | A kind of intelligent blind-guidance robot and its blind-guiding method | |
| EP3069204B1 (en) | Improved navigation for a robotic working tool | |
| CN207281590U (en) | A kind of intelligence blind-guidance robot device | |
| EP3845049A1 (en) | Automatic travel system for work vehicles | |
| CN112435496B (en) | Vehicle and ship intelligent navigation control early warning device and method based on multiple sensors | |
| CN113647262B (en) | Tree geometric shaping and trimming robot system and operation method thereof | |
| CN109407653B (en) | Indoor general multi-mobile-robot algorithm verification system | |
| WO2020137135A1 (en) | Obstacle detection system for work vehicle | |
| CN113190020A (en) | Mobile robot queue system and path planning and following method | |
| KR20220031542A (en) | Automated driving systems for work vehicles | |
| CN109508006A (en) | A kind of automated driving system of the autocrane based on Beidou | |
| CN111823213B (en) | Agricultural robot and walking control method thereof | |
| EP4218379A1 (en) | Automatic traveling system, automatic traveling method, and automatic traveling program | |
| CN106382916B (en) | The double hexapod robot complicated landform 3 D stereo mapping systems and method of self-built referential | |
| CN211293747U (en) | Autonomous operation control system of PZ60DT of well-closing rice transplanter | |
| CN113120076A (en) | Automatic turning method of agricultural machine, automatic turning system of agricultural machine and application | |
| CN112947503A (en) | Cooperative control method for underwater glider formation |
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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210202 |