CN208819049U - Automatic steering control of farm mechanism positioning and orienting device - Google Patents
Automatic steering control of farm mechanism positioning and orienting device Download PDFInfo
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- CN208819049U CN208819049U CN201821473792.4U CN201821473792U CN208819049U CN 208819049 U CN208819049 U CN 208819049U CN 201821473792 U CN201821473792 U CN 201821473792U CN 208819049 U CN208819049 U CN 208819049U
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- 238000005516 engineering process Methods 0.000 description 10
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- 239000003990 capacitor Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
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- 238000007726 management method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 239000003814 drug Substances 0.000 description 1
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- 238000009313 farming Methods 0.000 description 1
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Abstract
Automatic steering control of farm mechanism positioning and orienting device described in the utility model, using GPS and GLONASS dual system for acquisition of information and implement, by two-frequency signal branch is had real-time One-Point Location, double-frequency directional and test the speed, timing function is to improve positioning and directing precision.Including RTK base station, compass in ancient China K728 GNSS board movement station, Central Control Module, receiving antenna, power conversion module and activated distributor module；The RTK base station leads to Beidou Merak C200-AT using the Big Dipper, and benchmark station radio believes that external single-shot penetrates data radio station U202 using China；The Central Control Module uses STM32F407ZGT6 chip；The compass in ancient China K728 GNSS board movement station has the double antenna input module for supporting GNSS, supports GPS L1/L2, tri- system two-frequency signal positioning and directing module of GLONASS G1/G2；The antenna includes primary antenna and from antenna.
Description
Technical field
The utility model relates to a kind of precise positioning orienting devices of agricultural machinery self-navigation, belong to agriculture intelligence equipment neck
Domain.
Background technique
With the application of China's new and high technology and the development of electronic information technology, and modernization precision agriculture requirement and
The rapid development of science and technology of the farm machinery technology.The positioning of agricultural machinery GPS satellite and self-navigation, which drive, has become one that modernizes multi-form agriculture
Important component.It is played in sowing, many agricultural machinery working projects such as apply fertilizer, spill medicine, harvest, site preparation, ridging important
Effect, and have vast potential for future development.The concept of automatic steering control of farm mechanism precise positioning orienting device is precision agriculture, is
The new trend of world today's agricultural development is to be supported by information technology, positioned according to spatial variability, timing, quantitatively implemented
The system of a whole set of modernization farming operations technology and management reaches same income or higher with investment that is least or most saving
Income, and improve environment, efficiently utilize all kinds of agricultural resources, obtain more preferable economic benefit and environmental benefit.
Automatic steering control of farm mechanism precise positioning orienting device is precision agriculture agricultural machinery self-navigation control loop.Accurate agriculture
Industry is widely used accurate positionin of the GPS system for acquisition of information and implementation.DGPS is widely used in order to improve precision
(Differential Global Positioning System) technology, i.e., so-called " difference correction global positioning satellite skill
Art ".Its feature is positioning accuracy height, and speed is fast.According to different purposes can unrestricted choice different accuracy GPS system.Essence
Quasi- agricultural Beidou agricultural machinery self-navigation control loop GIS-Geographic Information System ceases GIS.Precision agriculture be unable to do without GIS
The technical support of (GeographicalInformation System), it is to constitute crops Precision management space telecommunications databases
Powerful, field information expressed and handled by generalized information system, and it is important to be that precision agriculture is implemented.Agricultural machinery is certainly
Dynamic navigation precise positioning orienting device remote sensing system RS.Remote sensing technology (Remote Sensing) is that precision agriculture field information obtains
The key technology taken provides the skill of crop growth environment, upgrowth situation and spatial variability information in the cell of farmland for precision agriculture
Art requirement.Automatic steering control of farm mechanism precise positioning orienting device uses GNSS Global Satellite Navigation System, mainly includes the U.S.
GPS, Russian GLONASS, European Union GALILEO and Chinese Beidou satellite navigation system, wherein assessment system performance mainly has four
A technical indicator.Availability: user does the uptime of navigator fix using the system；Precision: the fortune that the system measures
Difference of the dynamic load body in boat position and actual position；Integrity: the system cannot be used for the alarm ability of navigator fix；Continuously
Property: there is the probability of interval navigation within a navigation period in the system.
And currently, can meet very well performance requirement index is GPS and GLONASS navigation according to this four technical indicators
System.At this stage, double antenna positioning and directing is mainly single system GPS, although be double frequency, the shortcomings that single system is positioning
Slowly, precision is low, poor availability, not the stabilization of dual system.
In view of this special to propose present patent application.
Utility model content
Automatic steering control of farm mechanism positioning and orienting device described in the utility model, it is above-mentioned existing designed for solving
The problem of with the presence of technology and use GPS and GLONASS dual system for acquisition of information and implement, by by two-frequency signal branch
To have real-time One-Point Location, double-frequency directional and test the speed and the functions such as timing function, thus reach overcome single system disadvantage,
Improve the purpose of design of positioning and directing precision.
To realize above-mentioned purpose of design, the automatic steering control of farm mechanism positioning and orienting device, including RTK base station,
Compass in ancient China K728GNSS board movement station, Central Control Module, receiving antenna, power conversion module and activated distributor module；
The RTK base station leads to Beidou Merak C200-AT using the Big Dipper, and benchmark station radio believes external single-shot using China
Penetrate data radio station U202；
The Central Control Module uses STM32F407ZGT6 chip；
The compass in ancient China K728GNSS board movement station has the double antenna input module for supporting GNSS, supports GPS L1/
L2, tri- system two-frequency signal positioning and directing module of GLONASS G1/G2；
The antenna includes primary antenna and from antenna.
Such as above-mentioned basic scheme, the application increases the hardware knot from antenna on the basis of existing single system primary antenna
Structure.By the way that it is wirelessly saturating to receive base station from the connection between antenna, benchmark station radio and compass in ancient China K728GNSS board movement station
Differential data is passed, realizes dual system (GPS+GLONASS) and double frequency (L1/L2).Again by activated distributor by GPS and
(L1/L2) two-frequency signal branch of GLONASS, to have One-Point Location in real time, double-frequency directional tests the speed and time service function
Can, so as to accurately carry out position and orientation.
Further improve with prioritization scheme is the output end and the power supply of the compass in ancient China K728GNSS board movement station
The output end of conversion module is separately connected the input terminal of Central Control Module.
The output end of the Central Control Module is connected to host computer by serial port module.
To sum up, the application automatic steering control of farm mechanism positioning and orienting device this have the advantage that, realizes based on dual system
Data information obtain and implement, system overall operation is stablized, and efficiency of the practice is higher；By by two-frequency signal branch, to have
It standby One-Point Location, double-frequency directional in real time and tests the speed and the functions such as timing function, to improve the accurate of positioning and directing
Degree.
Detailed description of the invention
Fig. 1 is the schematic diagram of the application automatic steering control of farm mechanism positioning and orienting device；
Fig. 2 is that positioning and directing implements data processing schematic diagram；
Fig. 3 is the RS232 communication module and Central Control Module connection figure of compass in ancient China K728GNSS board movement station；
Fig. 4 is the network connection diagram of compass in ancient China K728GNSS board movement station；
Specific embodiment:
The utility model is described in further detail with reference to the accompanying drawings and examples.
Embodiment 1, such as Fig. 1, the automatic steering control of farm mechanism positioning and orienting device includes RTK base station, compass in ancient China
K728GNSS board movement station, Central Control Module, receiving antenna, power conversion module and activated distributor module.Wherein,
The RTK base station leads to Beidou Merak C200-AT using the Big Dipper, and benchmark station radio believes external single-shot using China
Penetrate data radio station U202；
The Central Control Module uses STM32F407ZGT6 chip；
The compass in ancient China K728GNSS board movement station has the double antenna input module for supporting GNSS, supports GPS L1/
L2, tri- system two-frequency signal positioning and directing module of GLONASS G1/G2；
The antenna includes primary antenna and from antenna.
The output end of the compass in ancient China K728GNSS board movement station and the output end of the power conversion module, are separately connected
The input terminal of Central Control Module.
The output end of the Central Control Module is connected to host computer by serial port module.
Primary antenna connects the input terminal of activated distributor module, the output end of activated distributor module and connects respectively from antenna
The input terminal of GPS board card module is connect, GPS board card module output end and power conversion module are separately connected Central Control Module；In
Heart control module passes through RS-232 interface with GPS board card module respectively and connects host computer.
Central Control Module uses the embedded chip of STM32F407ZGT6, and STM32F407ZGT6 family chip is using Kazakhstan
Buddhist bus structures, can extend multiple interfaces, and application field is extensive.
Primary antenna and identical satellite-signal is received from antenna, primary antenna satellite-signal is used to realize positioning function, from day
Line realizes that orientating function, primary antenna are connect with activated distributor module on the basis of primary antenna positions, and passes through activated distributor
The two-frequency signal of GPS and GLONASS is divided into more by module by the two-frequency signal branch of GPS and GLONASS, activated distributor module
Road.
In conjunction with the figures above, activated distributor is defeated by 10 roads by the two-frequency signal of the GPS of primary antenna signal and GLONASS
Outgoing interface carries out signal output.10 tunnel output signals connect multiple satellite receiver, for assist measuring and calculating target to satellite away from
From to facilitate registration, activated distributor output after excessive times is amplified ensures that signal is not lost completely completely, utilizes
Multiple-channel output realizes the accurate of orientation.The power conversion chip partial circuit of power module, including power conversion chip, polarity electricity
Hold, polar capacitor is in parallel, connects between the power input and ground of power conversion chip；Capacitor is connected on power conversion chip
Between power input and 5V voltage output end；Using URB2405 chip as power conversion chip, module turns input power
It changes 5V into, powers to Central Control Module.
In Fig. 3, MAX232 chip is to use+5V exclusively for the interface circuit of the rs-232 standard serial ports design of computer
Single supply power supply.Internal structure can divide three parts substantially: first part is charge pump circuit, by pin 1, pin 2, pin 3,
Pin 4, pin 5, pin 6 and 4 capacitor are constituted.Function is generation+12V and two power supplys of -12V, is supplied to RS-232 serial ports
The needs of level.Second part is data conversion channel, by pin 7, pin 8, pin 9, pin 10, pin 11, pin 12, is drawn
Foot 13, pin 14 constitute two data channel.COM RXD-PC connection COM TXD, COM TXD-PC connection COM RXD.Power supply
26V power supply is converted into 5V power supply by conversion chip, is powered to Central Control Module, is made its normal operation.
In Fig. 4, ETH TD- is connect with TXP, and ETH_TD- is connect with TXN, and ETH RD- is connect with RXP, ETH_TD- with
RXN connection, GND ground connection.Pin 9 connects power supply indicator, the one 1K resistance of series connection of pin 10 and LED SPD lamp, this LED SPD
Lamp is data transmission indicator light.The one 2K resistance of series connection of pin 11 and LED DET lamp, this LED DET lamp refer to for packet error
Show lamp.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Claims (3)
1. a kind of automatic steering control of farm mechanism positioning and orienting device, it is characterised in that: include RTK base station, compass in ancient China K728
GNSS board movement station, Central Control Module, receiving antenna, power conversion module and activated distributor module；
The RTK base station leads to Beidou Merak C200-AT using the Big Dipper, and benchmark station radio believes that external single-shot penetrates number using China
Conduct electricity platform U202；
The Central Control Module uses STM32F407ZGT6 chip；
The compass in ancient China K728 GNSS board movement station, have support GNSS double antenna input module, support GPS L1/L2,
Tri- system two-frequency signal positioning and directing module of GLONASS G1/G2；
The antenna includes primary antenna and from antenna.
2. automatic steering control of farm mechanism positioning and orienting device according to claim 1, it is characterised in that: the compass in ancient China K728
The output end of GNSS board movement station and the output end of the power conversion module, are separately connected the input of Central Control Module
End.
3. automatic steering control of farm mechanism positioning and orienting device according to claim 2, it is characterised in that: the center control
The output end of module is connected to host computer by serial port module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821473792.4U CN208819049U (en) | 2018-09-10 | 2018-09-10 | Automatic steering control of farm mechanism positioning and orienting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821473792.4U CN208819049U (en) | 2018-09-10 | 2018-09-10 | Automatic steering control of farm mechanism positioning and orienting device |
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| Publication Number | Publication Date |
|---|---|
| CN208819049U true CN208819049U (en) | 2019-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821473792.4U Expired - Fee Related CN208819049U (en) | 2018-09-10 | 2018-09-10 | Automatic steering control of farm mechanism positioning and orienting device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262525A (en) * | 2019-08-15 | 2019-09-20 | 雷沃重工股份有限公司 | Self-navigation control loop and method for farm machinery |
| CN111399007A (en) * | 2020-04-21 | 2020-07-10 | 江苏农林职业技术学院 | Automatic navigation, positioning and orientation system of agricultural machine |
-
2018
- 2018-09-10 CN CN201821473792.4U patent/CN208819049U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262525A (en) * | 2019-08-15 | 2019-09-20 | 雷沃重工股份有限公司 | Self-navigation control loop and method for farm machinery |
| CN111399007A (en) * | 2020-04-21 | 2020-07-10 | 江苏农林职业技术学院 | Automatic navigation, positioning and orientation system of agricultural machine |
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Granted publication date: 20190503 |