CN207264197U - A kind of route planning system of sugarcane planting machine - Google Patents
A kind of route planning system of sugarcane planting machine Download PDFInfo
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- CN207264197U CN207264197U CN201721126538.2U CN201721126538U CN207264197U CN 207264197 U CN207264197 U CN 207264197U CN 201721126538 U CN201721126538 U CN 201721126538U CN 207264197 U CN207264197 U CN 207264197U
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Abstract
The utility model belongs to agricultural plantation technology field, a kind of route planning system of sugarcane planting machine, including unmanned plane plotting board, planting machine and ground control unit, the planting machine includes planting machine control module and the GPS positioning transmitting module being electrically connected；The GPS positioning transmitting module is used for the positional information for detecting planting machine, the positional information of the planting machine of detection is sent to the GPS positioning receiving module by the GPS positioning transmitting module, the flight control modules are sent to after the position information process of the ARM master controllers planting machine to control unmanned plane during flying, and the positional information of planting machine is sent to by the mobile terminal by wireless communication module and is shown, the planting machine control module can control the movement of planting machine.The utility model can make rational planning for the plantation route on cane planting ground, reduce planting machine and enter planting site dead angle, reduce cost, realize the modernization control of cane planting.
Description
Technical field
The utility model belongs to agricultural plantation technology field, and in particular to a kind of route planning system of sugarcane planting machine.
Background technology
The cane planting in Guangxi is largely to open the trench work before tractor draws plough progress cane planting by worker at present.
The process of ditching mainly rule of thumb judges the line space of ditching and strain spacing by people, the ditch dug often occurs not
Directly, situations such as row and line space are unreasonable, and it is complicated due to cane planting, and plantation route is difficult to plan in advance, often goes out
Existing some local tractors cannot be introduced into, or tractor enters the problems such as dead angle can not turn.How scientificlly and effectively to select
Go out the optimal route of sugarcane ditching plantation operation, reduce planting machine and enter dead angle, preventing planting machine can not turn around or slope
Degree is too steep and can not be planted, and realizes scientific and reasonable dense planting, becomes current cane planting industry urgent problem to be solved.
Unmanned plane e measurement technology has become an emerging mapping means, it is with maneuverability, cruising time length etc.
Advantage, unmanned plane can be surveyed and drawn landform with airborne a variety of remote sensing equipments, form complete big remote sensing image information.Unmanned plane
There is unique advantage, but the design that planning of science activities is carried out by unmanned air vehicle technique not yet occur to cane planting at present.
Utility model content
, can the purpose of this utility model is to provide a kind of route planning system of sugarcane planting machine to cane planting
Plantation route make rational planning for, reduce planting machine enter planting site dead angle, reduce cost, realize the modernization of cane planting
Control.
To achieve the above object, the utility model provides following technical solution：A kind of route planning system of sugarcane planting machine
System, including unmanned plane plotting board, planting machine and ground control unit；
The unmanned plane plotting board include ARM master controllers, airborne profile mapping equipment, GPS positioning receiving module, fly
Row control module, cradle head control module, infrared thermography and wireless communication module；
The ARM master controllers control mould with the airborne profile mapping equipment, GPS positioning receiving module, flight respectively
Block and cradle head control module are electrically connected；The infrared thermography is electrically connected with the cradle head control module, described wireless
Communication module is electrically connected with the flight control modules；The ARM master controllers pass through wireless communication module and the ground
Control device is electrically connected；
The airborne profile mapping equipment is used for the image for gathering cane planting ground；The GPS positioning receiving module is used for
The planting machine is positioned；The signal of the flight control modules is sent to the ground by wireless communication module and controls
Device；The flight control modules produce the planting machine on ground by the ARM main controller controls, the infrared thermography
Thermal infrared radiation be identified, planting machine route is carried out to be accurately positioned detection with reference to the image on the cane planting ground of collection,
And signal is fed back into ARM master controllers by cradle head control module；
The planting machine includes planting machine control module and the GPS positioning transmitting module being electrically connected；The GPS determines
Position transmitting module is used for the positional information for detecting planting machine, and the GPS positioning transmitting module believes the position of the planting machine of detection
Breath is sent to the GPS positioning receiving module, and institute is sent to after the position information process of the ARM master controllers planting machine
Flight control modules are stated to control unmanned plane during flying, and by wireless communication module are sent to the positional information of planting machine described
Mobile terminal is shown that the planting machine control module controls the movement of planting machine；
The ground control unit includes mobile terminal and relay forwarding module, and the wireless communication module is by described
It is electrically connected after forwarding module and the mobile terminal, the mobile terminal is sent out control signal by the relay forwarding module
After giving wireless communication module, unmanned aerial vehicle (UAV) control module is then forwarded to remote control unmanned plane during flying, the ARM master controllers
After the image information on the cane planting ground that the infrared thermography is gathered is by the wireless communication module, then by described
Relay forwarding module is sent to the mobile terminal and shows, the mobile terminal is electrically connected with the planting machine control module and uses
To send standby signal to planting machine.
Further, the airborne profile mapping equipment is monitor camera, CCD digital cameras or laser scanner.
Further, the wireless communication module is the wireless communication module for supporting WIFI agreements.
Further, the mobile terminal is the mobile phone or computer for supporting WIFI agreements.
Further, the planting machine further includes voice playing module, the voice playing module and the planting machine control
Molding block is electrical connected.
Further, Ethernet module has been prepared on the ARM master controllers, master controller can be connected to
In Internet network.
Compared with prior art, the utility model has the advantages that：
1st, in the plantation work of sugarcane is carried out with other planting machine ditchings such as tractor, the cane planting of the utility model
The route planning system of machine can carry out sugarcane the rational close planting of science, it is ensured that the precision card of ditching.Utilize the unmanned plane
Plotting board surveys and draws sugarcane field landform to obtain remote sensing image data in advance, is subsequently sent to embedded computer
The ground control unit of system carries out the planning of optimal route, and the plantation spacing of growth is most suitable for reference to sugarcane, and cane planting is suitable
Direction, analysis obtains the row flatness and strain spacing of sugarcane planting machine planting process, the infrared thermography pair on unmanned plane
The thermal infrared radiation that the planting machine on ground produces is identified, with reference to collection cane planting ground image to planting machine route into
Row is accurately positioned detection, and the track route of planting machine is judged, guiding driver carries out plantation operation.
2nd, the route planning system of the sugarcane planting machine of the utility model it is time saving, it is laborsaving and.Planted by unmanned machine testing
The row flatness and strain spacing of machine planting process, unmanned plane are taken pictures no dead angle, and reliability is high, passes through the utility model
System guides driver carries out plantation operation and can reduce planting machine entering planting site dead angle, and convenient production, cost of labor is low, imitates
Rate is high, can scientific and reasonable dense planting, reduce it is unnecessary manually reduce cost, realize that the modernization of cane planting controls.
3rd, the route planning system of the sugarcane planting machine of the utility model, by the unmanned plane plotting board to sugarcane field
Landform is surveyed and drawn after obtaining remote sensing image data, and described image information is analyzed and processed by the mobile terminal, is calculated
The line space and strain spacing of sugarcane field plantation, generate route planning data of the layout data as planting machine of sugarcane field, and sentence
Whether the landform in the route planning data of breaking meets planting requirement, can quickly obtain the working path of planting machine, relative to
Traditional directly sets planting site work route, the sugarcane kind of the utility model without planning by Driver Vision judgement
The route planning method of plant machine improves the accuracy of cane planting operation, the plantation for sugarcane of having made rational planning for, it is possible to increase makees
Industry efficiency, reduces planting machine and enters planting site dead angle, reduce energy loss.
Brief description of the drawings
Fig. 1 is a kind of system block diagram of the route planning system of sugarcane planting machine of the utility model.
Wherein, in attached drawing mark for：1- unmanned plane plotting boards；2- planting machines；3- ground control units；4-ARM master controls
Device processed；5- airborne profile mapping equipments；6-GPS position receiver modules；7- flight control modules；8- cradle head control modules；9- is red
Outer thermal imaging system；10- wireless communication modules；11- planting machine control modules；12-GPS localizing emission modules；13- mobile terminals；
14- relay forwarding modules；15- voice playing modules.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of route planning system of sugarcane planting machine, including unmanned plane plotting board 1,2 and of planting machine
Ground control unit 3；
Unmanned plane plotting board 1 include ARM master controllers 4, airborne profile mapping equipment 5, GPS positioning receiving module 6, fly
Row control module 7, cradle head control module 8, infrared thermography 9 and wireless communication module 10；
ARM master controllers 4 respectively with airborne profile mapping equipment 5, GPS positioning receiving module 6, flight control modules 7 and
Cradle head control module 8 is electrically connected；Infrared thermography 9 is electrically connected with cradle head control module 8, and wireless communication module 10 is with flying
Row control module 7 is electrically connected；ARM master controllers 4 are electrically connected by wireless communication module 10 and ground control unit 3；
Airborne profile mapping equipment 5 is used for the image for gathering cane planting ground；GPS positioning receiving module 6 is used for plantation
Machine 2 is positioned；The signal of flight control modules 7 is sent to ground control unit 3 by wireless communication module 10；Flight control
Molding block 7 is controlled by ARM master controllers 4, and the thermal infrared radiation that infrared thermography 9 produces the planting machine 2 on ground is known
Not, the image with reference to the cane planting ground of collection carries out 2 route of planting machine to be accurately positioned detection, and passes through cradle head control module
Signal is fed back to ARM master controllers 4 by 8；
Planting machine 2 includes planting machine control module 11 and the GPS positioning transmitting module 12 being electrically connected；GPS positioning
Transmitting module 12 is used for the positional information for detecting planting machine 2, and GPS positioning transmitting module 12 believes the position of the planting machine 2 of detection
Breath is sent to GPS positioning receiving module 6, and flight control is sent to after the position information process of the planting machine 2 of ARM master controllers 4
To control unmanned plane during flying, ARM master controllers 4 are sent the positional information of planting machine 2 by wireless communication module 10 molding block 7
Shown to mobile terminal 13, planting machine control module 11 controls the movement of planting machine 2；
Ground control unit 3 includes mobile terminal 13 and relay forwarding module 14, and wireless communication module 10 is turned by relaying
Hair module 14 is electrically connected with mobile terminal 13, and mobile terminal 13 is sent control signals to wirelessly by relay forwarding module 14
After communication module 10, be then forwarded to flight control modules 7 with remote control unmanned plane during flying, ARM master controllers 4 by infrared heat into
After the image information on the cane planting ground gathered as instrument 9 is by wireless communication module 10, then send by relay forwarding module 14
Shown to mobile terminal 13, mobile terminal 13 is electrically connected with planting machine control module 11 to send prompting letter to planting machine 2
Number.
The utility model in advance surveys and draws sugarcane field landform by unmanned plane plotting board 1 to obtain remote sensing image money
Material, is subsequently sent to the planning of the progress optimal route of ground control unit 3 with embedded computer system, with reference to sugarcane most
Be adapted to growth plantation spacing, the suitable direction of cane planting, analysis obtain 2 planting process of sugarcane planting machine row flatness and
Strain spacing, the thermal infrared radiation that infrared thermography 9 produces the planting machine 2 on ground is identified, with reference to the sugarcane kind of collection
The image for planting ground carries out being accurately positioned detection to 2 route of planting machine, and the track route of planting machine 2 is judged, guiding drives
Member carries out plantation operation.
Wherein, arm processor is Acorn computers Co., Ltd towards the micro- places of first item RISC of low budget Market Design
Manage device.It is referred to as Acorn RISC Machine earlier.ARM master controllers 4 use arm processor, and arm processor is one 32
First reduced instruction set computer (RISC) processor architecture, it is widely used in many Embedded System Designs.Using arm processor as
The Embedded Hardware Platform of host CPU almost has become the hardware standard of information industry.The utility model mobile terminal 13 with
Linux is embedded OS, is the planting machines 2 such as tractor by analyzing the image data that unmanned plane is surveyed and drawn
Optimal route is cooked up in trench work, and by the detection of infrared thermography 9, guiding driver, which plants carry out ditching, to be made
Industry, prompting correction can be carried out in time when larger deviation occur in 2 kinds of plant routes of planting machine.
Wherein, airborne profile mapping equipment 5 is monitor camera, CCD digital cameras or laser scanner.The utility model
Embodiment carries out mapping work using CCD digital cameras, obtains being sent in computer system after image data, should
CCD digital cameras have it is small, it is light-weight, it is low in energy consumption, the characteristics of high resolution.
It is low in energy consumption, safe and reliable in order to make the applicable surface of system wider, the advantages of accessing whenever and wherever possible, wireless communication
Module 10 is to support the wireless communication module 10 of WIFI agreements, and mobile terminal 13 is the mobile phone or computer for supporting WIFI agreements.
Wherein, planting machine 2 further includes voice playing module 15, and voice playing module 15 and planting machine control module 11 are electrical
It is connected, voice playing module 15 is used to guide driver to drive planting machine 2.
Wherein, Ethernet module has been prepared on ARM master controllers 4, master controller can be connected to
On Internet networks.
Further, mobile terminal 13 is equipped with display screen, and display screen can receive GPS positioning receiving module 6 and infrared
The data of the transmission of thermal imaging system 9 are simultaneously shown.
A kind of route planning method of sugarcane planting machine 2 of the utility model comprises the following steps：
(1) flight control modules 7 control unmanned plane to fly above sugarcane field, and ARM master controllers 4 control airborne profile to survey
Equipment 5 is painted to work, airborne profile mapping equipment 5 gather sugarcane field image information after by image information be transferred to mobile terminal 13 into
Row processing；
(2) mobile terminal 13 analyzes and processes image information, calculates the line space and strain spacing of sugarcane field plantation, raw
Into route planning data of the layout data as planting machine 2 of sugarcane field；
(3) judge whether the landform in route planning data meets planting requirement；
(4) when the landform in the route planning data meets planting requirement, mobile terminal 13 is advised according to the route
The design parameter such as data and terrain data is drawn to be handled and the optimal route of cane planting is calculated；
(5) planting machine 2 carries out sugarcane field ditching, and GPS positioning receiving module 6 is according to GPS positioning transmitting module 12 to kind
After plant machine 2 carries out Primary Location；Unmanned plane during flying to the top of planting machine 2, infrared thermography 9 produces the planting machine 2 on ground
Thermal infrared radiation be identified, 2 route of planting machine is carried out being accurately positioned detection with reference to the image on the cane planting ground of collection,
And it will be accurately positioned signal by cradle head control module 8 and feed back to ARM master controllers 4；
(6) ARM master controllers 4, which will be accurately positioned signal and be sent to mobile terminal 13 by wireless communication module 10, is shown
Show；Mobile terminal 13 to optimal route layout data compared with 2 running route data of planting machine, when planting machine 2 run road
For line number according to when not being consistent with optimal route layout data, mobile terminal 13 sends voice prompt letter to planting machine control module 11
Number, prompt driver that planting machine 2 is sailed back optimal route.
Described above is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the equal change or modification completed under the technical spirit suggested by all the utility model
Change, should all belong to the utility model and cover the scope of the claims.
Claims (6)
1. a kind of route planning system of sugarcane planting machine, including unmanned plane plotting board, planting machine and ground control unit；Its
It is characterized in that：
The unmanned plane plotting board includes ARM master controllers, airborne profile mapping equipment, GPS positioning receiving module, flight control
Molding block, cradle head control module, infrared thermography and wireless communication module；
The ARM master controllers respectively with the airborne profile mapping equipment, GPS positioning receiving module, flight control modules and
Cradle head control module is electrically connected；The infrared thermography is electrically connected with the cradle head control module, the wireless communication
Module is electrically connected with the flight control modules；The ARM master controllers are controlled by wireless communication module and the ground
Device is electrically connected；
The airborne profile mapping equipment is used for the image for gathering cane planting ground；The GPS positioning receiving module is used for institute
Planting machine is stated to be positioned；The signal of the flight control modules is sent to the ground control dress by wireless communication module
Put；The flight control modules produce the planting machine on ground by the ARM main controller controls, the infrared thermography
Thermal infrared radiation is identified, and planting machine route is carried out to be accurately positioned detection with reference to the image on the cane planting ground of collection, and
Signal is fed back into ARM master controllers by cradle head control module；
The planting machine includes planting machine control module and the GPS positioning transmitting module being electrically connected；The GPS positioning hair
The positional information that module is used to detect planting machine is penetrated, the GPS positioning transmitting module sends out the positional information of the planting machine of detection
The GPS positioning receiving module is given, described fly is sent to after the position information process of the ARM master controllers planting machine
The positional information of planting machine is sent to the ground by row control module to control unmanned plane during flying by wireless communication module
Control device is shown that the planting machine control module controls the movement of planting machine；
The ground control unit includes mobile terminal and relay forwarding module, and the wireless communication module is turned by the relaying
Send out module to be electrically connected with the mobile terminal, the mobile terminal is sent control signals to by the relay forwarding module
After wireless communication module, unmanned aerial vehicle (UAV) control module is then forwarded to remote control unmanned plane during flying, and the ARM master controllers are by institute
After the image information on the cane planting ground of infrared thermography collection is stated by the wireless communication module, then by the relaying
Forwarding module is sent to the mobile terminal and shows, the mobile terminal and the planting machine control module be electrically connected to
Planting machine sends standby signal.
A kind of 2. route planning system of sugarcane planting machine according to claim 1, it is characterised in that：The airborne profile
Mapping equipment is monitor camera, CCD digital cameras or laser scanner.
A kind of 3. route planning system of sugarcane planting machine according to claim 1, it is characterised in that：The wireless communication
Module is to support the wireless communication module of WIFI agreements.
A kind of 4. route planning system of sugarcane planting machine according to claim 1, it is characterised in that：The mobile terminal
It is the mobile phone or computer for supporting WIFI agreements.
A kind of 5. route planning system of sugarcane planting machine according to claim 1, it is characterised in that：The planting machine is also
Including voice playing module, the voice playing module is electrical connected with the mobile terminal.
A kind of 6. route planning system of sugarcane planting machine according to claim 1, it is characterised in that：The ARM master controls
Ethernet module has been prepared on device processed, master controller can have been made to be connected in Internet network.
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| CN201721126538.2U CN207264197U (en) | 2017-09-04 | 2017-09-04 | A kind of route planning system of sugarcane planting machine |
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| CN201721126538.2U CN207264197U (en) | 2017-09-04 | 2017-09-04 | A kind of route planning system of sugarcane planting machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099925A (en) * | 2018-08-31 | 2018-12-28 | 江苏大学 | A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device |
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2017
- 2017-09-04 CN CN201721126538.2U patent/CN207264197U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099925A (en) * | 2018-08-31 | 2018-12-28 | 江苏大学 | A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device |
| CN109099925B (en) * | 2018-08-31 | 2021-07-20 | 江苏大学 | Unmanned agricultural machine navigation path planning and operation quality evaluation method and device |
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