CN206162195U - Agricultural machinery autopilot's controller and agricultural machinery - Google Patents
Agricultural machinery autopilot's controller and agricultural machinery Download PDFInfo
- Publication number
- CN206162195U CN206162195U CN201621031726.2U CN201621031726U CN206162195U CN 206162195 U CN206162195 U CN 206162195U CN 201621031726 U CN201621031726 U CN 201621031726U CN 206162195 U CN206162195 U CN 206162195U
- Authority
- CN
- China
- Prior art keywords
- agricultural machinery
- display
- processor
- controller
- locator
- 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.)
- Active
Links
Abstract
The utility model discloses an agricultural machinery autopilot's controller, agricultural machinery, controller wherein includes: locator, inertial sensor, treater and driver, the locator with inertial sensor's output is all connected the input of treater, the output of treater is connected the input of driver, the locator is used for rightly agricultural machinery advances line location, inertial sensor is used for acquireing the position appearance information of agricultural machinery, the treater is used for the basis the position and the position appearance information of agricultural machinery are calculated feasiblely when agricultural machinery gos forward along the target route, the operation parameter adjustment controlled quantity that agricultural machinery corresponds, the driver is used for the basis the adjustment of operation parameter adjustment controlled quantity agricultural machinery, so that agricultural machinery along go forward in the target route. Comparing and being an independent system of standing separately for in prior art each functional unit, this controller has higher integrated level, simplifies agricultural machinery mechanism, the cost is reduced.
Description
Technical field
The utility model belongs to Mechanical course field, and in particular to a kind of controller and agricultural machinery of agricultural machinery automatic Pilot.
Background technology
Precision agriculture (Precision Agriculture) is the new trend of world today's agricultural development, is by information skill
Art support according to spatial variability, positioning, timing, quantitatively implement a whole set of modernization farming operating technology with manage be
System.Agricultural machinery automated driving system is to complete that agricultural machinery is efficient, accurate farming early stage, so agricultural machinery automated driving system is accurate agriculture
The important component part of industry development, is agricultural machinery modernization, intelligentized basis.
The navigator of current agricultural machinery is an independent industrial computer, for the work of navigation software, navigator with
The communication of other controllers etc. adopts Interface for digital communication, is mainly used in the position of interactive vehicle and corresponding setting command etc..
This agricultural machinery automated driving system includes multiple processor computers, i.e. navigator computer and (serves navigation software and show UI
With), controller computer (serving control algolithm and integrated navigation), so it is of a relatively high to there is cost, using it is complicated, safeguard into
This high problem.
Utility model content
Technical problem to be solved in the utility model is how to simplify agricultural machinery mechanism, reduces cost.
For this technical problem, the utility model provides a kind of controller of agricultural machinery automatic Pilot, including：Positioning
Device, inertial sensor, processor and driver；
The output end of the locator and the inertial sensor is all connected with the input of the processor, the processor
Output end connect the input of the driver；
The locator is used to position the agricultural machinery, and the inertial sensor is used to obtain the pose of the agricultural machinery
Information；
The processor is used for the position according to the agricultural machinery and posture information, calculates and causes the agricultural machinery along target road
When footpath is advanced, the corresponding operational factor of the agricultural machinery adjusts controlled quentity controlled variable；
The driver is used to adjusting controlled quentity controlled variable according to the operational factor and adjusts the agricultural machinery so that the agricultural machinery along
The destination path advances.
Preferably, also including display；
The input of the display connects the output end of the processor, for showing the agricultural machinery location.
Preferably, the display also includes control port, and the control port connects the input of the processor；
The display is additionally operable to show the destination path, or the destination path is carried out by the display
Modification obtains new destination path, and the destination path or new destination path is transmitted to institute by the control port
State processor.
Preferably, the driver is connected by hydraulic-driven interface with steering hydraulic valve, or the driver passes through
Communication interface is connected with electric steering wheel, with the operational factor by the steering hydraulic valve or electric steering wheel to the agricultural machinery
Adjustment controlled quentity controlled variable is adjusted.
Preferably, the locator is that GNSS positions board, and by radio frequency connector GNSS antenna is connected.
Preferably, the interface of the display and the processor is VGA, HDMI, USB or TYPEC interface.
Preferably, the locator is positioned using carrier phase difference technology.
Preferably, the display is that touch screen controls display.
Preferably, the display is additionally operable to directly set the operational factor adjustment controlled quentity controlled variable of the agricultural machinery.
On the other hand, the utility model provides a kind of agricultural machinery, including the controller of above-mentioned agricultural machinery automatic Pilot.
In the controller of the agricultural machinery automatic Pilot that the utility model is provided, by locator, inertial sensor, processor and drive
Dynamic device is integrated into an entirety, compared to each functional part being a discrete system of independence in prior art and
Speech, the controller has higher integrated level, simplifies agricultural machinery mechanism, reduces cost.On the other hand, the display of increase can
To provide human-computer interaction interface, the control to agricultural machinery is facilitated.
Description of the drawings
In order to be illustrated more clearly that the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are
Some embodiments of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work,
Can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is that the structure annexation of the controller of the agricultural machinery automatic Pilot that the utility model one embodiment is provided is illustrated
Figure；
Fig. 2 is steering hydraulic valve or the electronic side of the display of the offer of the utility model another embodiment and outside
To the connection diagram of disk；
Fig. 3 is the integrated high-level schematic functional block diagram of the controller of the offer of the utility model another embodiment；
Fig. 4 is each connecting interface schematic diagram of the display of the offer of the utility model another embodiment；
Fig. 5 is the complete structure figure of the controller of the agricultural machinery automatic Pilot of the offer of the utility model another embodiment；
Fig. 6 is driving automatically for each functional module agricultural machinery independent of each other of the offer of the utility model another embodiment
Sail the structure chart of system.
Specific embodiment
It is new below in conjunction with this practicality to make purpose, technical scheme and the advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than the embodiment of whole.Based on the enforcement in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
Fig. 1 is the structure annexation schematic diagram of the controller of the agricultural machinery automatic Pilot that the present embodiment is provided, including：Positioning
Device 101, inertial sensor 102, processor 103 and driver 104；
The output end of the locator 101 and the inertial sensor 102 is all connected with the input of the processor 103,
The output end of the processor 103 connects the input of the driver 104；
The locator 101 is used to position the agricultural machinery, and the inertial sensor 102 is used to obtain the agricultural machinery
Posture information；
The processor 103 is used for the position according to the agricultural machinery and posture information, calculates and causes the agricultural machinery along mesh
When mark path is advanced, the corresponding operational factor of the agricultural machinery adjusts controlled quentity controlled variable；
The driver 104 is used to adjust the controlled quentity controlled variable adjustment agricultural machinery according to the operational factor, so that the agricultural machinery
Advance along the destination path.
It should be noted that posture information includes speed, attitude of agricultural machinery etc., for determining the direction that agricultural machinery currently advances
It is adjusted with the operational factor such as the deviation angle of destination path adjustment controlled quentity controlled variable, and the direction of advance to agricultural machinery.
Agricultural machinery refers to that the various plant equipment used in agricultural production are referred to as, such as：Big baby tractor, machinery of leveling land
Deng equipment etc..Calculating make the agricultural machinery along destination path advance when.Agricultural machinery operational factor adjustment controlled quentity controlled variable is corresponding front rotation
Angle course changing control amount.Driver adjusts controlled quentity controlled variable and steering hydraulic valve or electric steering wheel is controlled according to operational factor,
Agricultural machinery front-wheel is adjusted so that agricultural machinery advances along destination path.
Improvement of the present utility model is to improve integrated level, by locator 101, inertial sensor 102, processor 103
It is integrated with driver 104 in a system.In addition, though processor 103 is used for the position according to the agricultural machinery and pose letter
Breath, calculate cause the agricultural machinery along destination path advances when, the corresponding operational factor of the agricultural machinery adjusts controlled quentity controlled variable, but answers
It should be appreciated that, the process that the processor is done is prior art, the improvement being not related in method.
In the controller of the agricultural machinery automatic Pilot that the present embodiment is provided, by locator 101, inertial sensor 102, processor
103 and driver 104 be integrated into an entirety, it is discrete compared to an independence is to each functional part in prior art
System for, the controller have higher integrated level, simplify agricultural machinery mechanism, reduce cost.
Further, also including display；
The input of the display connects the output end of the processor, for showing the agricultural machinery location.
Further, the display also includes control port, and the control port connects the input of the processor；
The display is additionally operable to show the destination path, or the destination path is carried out by the display
Modification obtains new destination path, and the destination path or new destination path is transmitted to institute by the control port
State processor.
It should be noted that the signal for controlling hydraulic valve is the direct drive signal through power amplification, it is not necessary to external
Driving circuit for electromagnetic valve.
Further, the driver is connected by hydraulic-driven interface with steering hydraulic valve, or the driver is logical
Cross communication interface to be connected with electric steering wheel, joined with the operation by the steering hydraulic valve or electric steering wheel to the agricultural machinery
Number adjustment controlled quentity controlled variable is adjusted.
Further, the display is that touch screen controls display.
It should be noted that the display can also be the display being controlled by mouse.
Further, the locator is that GNSS positions board, and by radio frequency connector GNSS antenna is connected.
Further, the interface of the display and the processor is VGA, HDMI, USB or TYPEC interface.
Further, the locator is positioned using carrier phase difference technology.
Further, the display is additionally operable to directly set the operational factor adjustment controlled quentity controlled variable of the agricultural machinery.
Specifically, Fig. 2 shows the display and outside steering hydraulic valve or electric steering wheel in the utility model
Connection diagram, display is the display of mouse-based operation, connected mouse and display by USB or UART interface
Connect, realize the control to display interface.Display itself is controlled by video interfaces such as VGA or HDMI with agricultural machinery automatic Pilot
Device connection (or the processor connection in controller), the agricultural machinery positional information that locator is obtained is shown.Certainly,
Display is additionally operable to display target path, and administrative staff directly can check destination path or to destination path by display
Modify, amended path can be input into processor by the interface between display and controller, for processor root
The seat of agricultural machinery is adjusted according to new destination path.
Drive signal is delivered to the driver of agricultural machinery the steering hydraulic valve that is connected with driver or electric steering wheel (turns
Actuator is alternatively referred to as to hydraulic valve or electric steering wheel), agricultural machinery is controlled by steering hydraulic valve or electric steering wheel
Direction of advance.
Fig. 3 shows the integrated high-level schematic functional block diagram of controller, and the locator that the controller includes is that GNSS is high-precision
Degree board, IMU (Inertial Measurement Unit), hydraulic unit driver, processor and communication module.Wherein, communication module is used to realize respectively
Communication between individual module.
Fig. 4 shows each connecting interface schematic diagram of display, and the display wherein shown in Fig. 4 shows for touch-screen
Device, the display includes that input interface, control data-interface and the GNSS videos such as video display interface, touch-screen/mouse connect
Mouthful.Wherein, GNSS video interfaces are used to directly receive the agricultural machinery position and field of GPS (GNSS) acquisition
The figure of scape.
The complete structure figure of the controller of the agricultural machinery automatic Pilot that Fig. 5 is provided for the present embodiment.Referring to Fig. 5, the controller
IMU, processor, communication circuit module, hydraulic unit driver and GNSS mainboards are included, wherein between GNSS mainboards and GNSS antenna
Communication is kept, to obtain the realistic picture of agricultural machinery position.Controller further comprises by showing video interface and touch screen type
The display that number interface is communicated, for showing the automatic cultivating procedure of agricultural machinery in map, navigation and state of cultivation.Display
As the human-computer interaction interface of agricultural machinery, by using the window of agricultural machinery controller, lead with parameter setting, function setting, map
The function such as boat and display, data storage setting.
Either motor drive direction Pan Deng executing agencies are connected controller by hydraulic-driven interface or communication interface with hydraulic valve
Connect.
Gyro sensor of the MEMS inertial sensor comprising 3 axles, the acceleration transducer of 3 axles, the earth magnetism sensing of 3 axles
Device, for completing the measurement to agricultural machinery Inertia information, integrated navigation and control algolithm of the inertia measurement information via processor
Process obtain high precision position, speed and the attitude data of agricultural machinery.Agricultural machinery Control System Software runs on the utility model certainly
It is raw by destination path, the agricultural machinery location/velocity/attitude of actual measurement and other sensors in the processor of dynamic driving controller
Into corresponding control variables signal.After integrated hydraulic-driven circuit, direct drive is controlled the control variables signal of generation
Hydraulic pressure valve actuating mechanism completes the course changing control of agricultural machinery, is finally completed the automatic Pilot control of agricultural machinery.
Used as the embodiment of a contrast, Fig. 6 provides a kind of driving automatically for each functional module agricultural machinery independent of each other
Sail the structure chart of system.Wherein, it is an industrial computer that farm machinery navigation instrument is actual, and it includes hardware, operating system and navigates soft
The part of part three, wherein hardware serve primarily in the operation of navigation software.The auto-pilot controller of vehicle is mainly complete by controller
Into it includes inertial navigation and corresponding control process device and circuit；GNSS satellite navigation neceiver is according to different product shapes
State at present to be integrated in navigator in either controller or independently exist in receiver mode more.Totally apparently, in whole agriculture
In machine automatic drive system product, navigator, controller, GNSS satellite navigation neceiver are independent subsystem, subsystem
Each there is independent processor, the communication of data signal is carried out using corresponding communications protocol each other.Shown in Fig. 6
Although the function of the automated driving system of this agricultural machinery is enriched, due to each of which independence product comprising responsible hardware and
Software, development cost and production cost it is higher.
However, the integrated lifting of the agricultural machinery controller in Fig. 5 can reduce the cost of total system, connect by correlation
Mouth direct drive display, and form the core engineerings such as GNSS hi-Fix boards, hydraulic unit driver, Inertial Measurement Unit
Part.Automatic Pilot control box has been internally integrated Big Dipper high-acruracy survey template card, MEMS Inertial Measurement Units, core processor
And related circuit, communication module and hydraulic-driven module, as shown in figure 5, GNSS high-acruracy survey templates card can pass through RTK skills
Art realizes carrier phase differential positioning, realizes the real-time Centimeter Level high precision position measurement of tractor.MEMS Inertial Measurement Units
Real-time high precision position/speed/the attitude information of tractor is completed with the hi-Fix information of RTK through Integrated Navigation Algorithm
Measurement, corresponding Integrated Navigation Algorithm run in core processor.Controller is directly regarded by external VGA/HDMI etc.
Frequency interface connects display, and core processor runs corresponding operating system software and navigation application software, aobvious by display
The UI interfaces for showing navigation software directly interact with operator of farm machinery.Control algolithm runs on core processor, is advanced by target
Route and the vehicle location/speed/attitude information of Integrated Navigation Algorithm measurement produce corresponding control signal, through hydraulic-driven
Module production directly controls the signal of hydraulic valve, connects the steering of the hydraulic valve actuating mechanism controls vehicle for performing, so as to keep
Vehicle is advanced according to target route.
Thus, the utility model provide auto-pilot controller in addition to the functions such as navigation, the control for typically completing vehicle,
Display control computer is integrated with, externally directly exporting video clip is used for man-machine interaction, substitutes traditional farm machinery navigation instrument, also
With it is easy for installation, with low cost, reliable easy-to-use the characteristics of.
On the other hand, the utility model additionally provides a kind of agricultural machinery, including the agricultural machinery automatic Pilot described in above example
Controller.
The present embodiment provide agricultural machinery, include the controller of agricultural machinery automatic Pilot, this by locator, inertial sensor,
Processor and driver are integrated into an entirety, discrete compared to an independence is to each functional part in prior art
System for, the controller have higher integrated level, simplify agricultural machinery mechanism, reduce cost.On the other hand, increase
Display can provide human-computer interaction interface, facilitate the control to agricultural machinery.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of controller of agricultural machinery automatic Pilot, it is characterised in that include：Locator, inertial sensor, processor and driving
Device；
The output end of the locator and the inertial sensor is all connected with the input of the processor, the processor it is defeated
Go out the input of the end connection driver；
The locator is used to position the agricultural machinery, and the inertial sensor is used to obtain the pose letter of the agricultural machinery
Breath；
The processor is used for the position according to the agricultural machinery and posture information, calculates so that the agricultural machinery is along before destination path
When entering, the corresponding operational factor of the agricultural machinery adjusts controlled quentity controlled variable；
The driver is used to adjusting controlled quentity controlled variable according to the operational factor and adjusts the agricultural machinery, so that the agricultural machinery is along described
Destination path advances.
2. according to the controller described in claim 1, it is characterised in that also including display；
The input of the display connects the output end of the processor, for showing the agricultural machinery location.
3. according to the controller described in claim 2, it is characterised in that the display also includes control port, the control
Port processed connects the input of the processor；
The display is additionally operable to show the destination path, or the destination path is modified by the display
New destination path is obtained, and the destination path or new destination path is transmitted to the place by the control port
Reason device.
4. according to the controller described in claim 2, it is characterised in that the driver is by hydraulic-driven interface and steering
Hydraulic valve connects, or the driver is connected by communication interface with electric steering wheel, with pass through the steering hydraulic valve or
Electric steering wheel is adjusted to the operational factor adjustment controlled quentity controlled variable of the agricultural machinery.
5. according to the controller described in claim 2, it is characterised in that the locator is that GNSS positions board, by penetrating
Frequency connector connects GNSS antenna.
6. according to the controller described in claim 2, it is characterised in that the interface of the display and the processor is
VGA, HDMI, USB or TYPEC interface.
7. according to the controller described in claim 2, it is characterised in that the locator is entered using carrier phase difference technology
Row positioning.
8. according to the controller described in claim 3, it is characterised in that the display is that touch screen controls display.
9. according to the controller described in claim 8, it is characterised in that the display is additionally operable to directly set the agricultural machinery
Operational factor adjustment controlled quentity controlled variable.
10. a kind of agricultural machinery, it is characterised in that including the control of the agricultural machinery automatic Pilot any one of claim 1 to 9
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031726.2U CN206162195U (en) | 2016-08-31 | 2016-08-31 | Agricultural machinery autopilot's controller and agricultural machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031726.2U CN206162195U (en) | 2016-08-31 | 2016-08-31 | Agricultural machinery autopilot's controller and agricultural machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206162195U true CN206162195U (en) | 2017-05-10 |
Family
ID=58651009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621031726.2U Active CN206162195U (en) | 2016-08-31 | 2016-08-31 | Agricultural machinery autopilot's controller and agricultural machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206162195U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315345A (en) * | 2017-06-23 | 2017-11-03 | 华南农业大学 | Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model |
| CN107479562A (en) * | 2017-10-12 | 2017-12-15 | 北京耘华科技有限公司 | A kind of agricultural machinery automatic Pilot safety protection system and method |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN108334083A (en) * | 2018-01-19 | 2018-07-27 | 上海肆鑫信息科技中心 | A kind of automated driving system based on farm implements position |
| CN108657164A (en) * | 2018-06-04 | 2018-10-16 | 中职北方智扬(北京)教育科技有限公司 | A kind of automatic vehicle control system |
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN110488808A (en) * | 2019-07-12 | 2019-11-22 | 北京合众思壮科技股份有限公司 | Automatic Pilot method and intelligent control antenna |
| CN114475768A (en) * | 2020-10-28 | 2022-05-13 | 西安合众思壮导航技术有限公司 | Automatic driving system and method and electric steering wheel |
-
2016
- 2016-08-31 CN CN201621031726.2U patent/CN206162195U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315345A (en) * | 2017-06-23 | 2017-11-03 | 华南农业大学 | Take aim at based on double antenna GNSS and in advance the agricultural machinery self-navigation control method of tracing model |
| CN107315345B (en) * | 2017-06-23 | 2020-10-09 | 华南农业大学 | Agricultural machinery automatic navigation control method based on double-antenna GNSS and preview tracking model |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN107479562A (en) * | 2017-10-12 | 2017-12-15 | 北京耘华科技有限公司 | A kind of agricultural machinery automatic Pilot safety protection system and method |
| CN108334083A (en) * | 2018-01-19 | 2018-07-27 | 上海肆鑫信息科技中心 | A kind of automated driving system based on farm implements position |
| CN108657164A (en) * | 2018-06-04 | 2018-10-16 | 中职北方智扬(北京)教育科技有限公司 | A kind of automatic vehicle control system |
| CN108958260A (en) * | 2018-07-30 | 2018-12-07 | 黑龙江惠达科技发展有限公司 | A kind of agricultural machinery automated driving system based on farm implements position |
| CN110488808A (en) * | 2019-07-12 | 2019-11-22 | 北京合众思壮科技股份有限公司 | Automatic Pilot method and intelligent control antenna |
| CN114475768A (en) * | 2020-10-28 | 2022-05-13 | 西安合众思壮导航技术有限公司 | Automatic driving system and method and electric steering wheel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206162195U (en) | Agricultural machinery autopilot's controller and agricultural machinery | |
| US11802769B2 (en) | Lane line positioning method and apparatus, and storage medium thereof | |
| WO2021258327A1 (en) | Unmanned aerial vehicle visual semi-physical simulation system and simulation method thereof | |
| CN105005196B (en) | Agri-vehicle independent navigation rotating direction control method | |
| CN105867377B (en) | A kind of automatic steering control of farm mechanism control method | |
| US10352829B2 (en) | Automatic calibration method of an angle sensor for an automatic drive control system of a farm machine | |
| CN105352495B (en) | Acceleration and light stream Data Fusion of Sensor unmanned plane horizontal velocity control method | |
| CN105987696A (en) | Low-cost vehicle automatic driving design realization method | |
| CN104536453B (en) | The control method and device of aircraft | |
| CN105700533A (en) | Agricultural machinery automatic driving control system based on Beidou navigation and method thereof | |
| CN101872196B (en) | Control system of vehicle-mounted pick-up stable platform | |
| CN106843062B (en) | Intelligent variable fertilization control system and control method | |
| CN109074038A (en) | agricultural machine control method, device and agricultural machine | |
| CN112835085B (en) | Method and device for determining vehicle position | |
| CN107272740A (en) | A kind of new four rotor wing unmanned aerial vehicles control system | |
| CN103885076A (en) | Multi-sensor information fusion method based on GPS for agricultural machine navigation | |
| CN106627753A (en) | Agricultural machinery automatic driving tillage control system guided by Beidou navigation system and control method | |
| CN106705936A (en) | Method and device for optimizing altitude of unmanned aerial vehicle | |
| US20180017975A1 (en) | Flight path setting apparatus, flight path setting method, and computer readable medium | |
| CN110955261A (en) | Simulation method of fixed-wing unmanned aerial vehicle autopilot based on ROS | |
| CN105974456A (en) | Autonomous underwater robot combined navigation system | |
| CN105629973A (en) | RTK technology-based agricultural machinery straight driving method and RTK technology-based agricultural machinery straight driving device | |
| CN102968123A (en) | Automatic pilot of unmanned aerial vehicle | |
| CN106647756A (en) | Beidou farm machinery automatic navigation driving control system | |
| CN109828587A (en) | A kind of obstacle avoidance system and barrier-avoiding method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |