CN210605466U - Intelligent control antenna - Google Patents
Intelligent control antenna Download PDFInfo
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- CN210605466U CN210605466U CN201921091559.4U CN201921091559U CN210605466U CN 210605466 U CN210605466 U CN 210605466U CN 201921091559 U CN201921091559 U CN 201921091559U CN 210605466 U CN210605466 U CN 210605466U
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Abstract
The utility model discloses an intelligent control antenna relates to the communication field to solve the complicated problem of current system architecture. Intelligent control antenna is applied to on the non-road vehicle, includes: the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit; the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with an electric control steering wheel and a vehicle bus interface which are arranged on the non-road vehicle. The utility model provides a technical scheme can use at the operation in-process of non-road vehicle.
Description
Technical Field
The utility model relates to the field of communications, concretely relates to intelligent control antenna.
Background
In the prior art, the agricultural operation process is generally completed by a driver manually driving agricultural equipment (such as a seeder, a harvester, a tractor and the like). The driver needs to be familiar with the field operation path and accurately drive according to the operation path, so that the operation can be smoothly completed. The whole driving process has extremely high operation requirements on the driver, and the operation process of the agricultural machinery equipment is completed by the manual driving of the driver, so that the land utilization rate and the operation efficiency are greatly influenced by the operation proficiency of the driver.
In order to solve the above problems, the prior art provides an automatic driving System, which comprises a Global Navigation Satellite System (GNSS) antenna, an Electronic Control Unit (ECU) controller, a hydraulic proportional valve and a steering angle sensor, which are installed on an agricultural equipment; and a Real-time kinematic (RTK) base station disposed at a remote end and communicating with the ECU controller via an air link.
The GNSS antenna receives positioning data of the agricultural machinery equipment and sends the positioning data to the ECU controller; the RTK base station sends GNSS differential correction data to the ECU controller; the steering angle sensor receives wheel steering information of the agricultural machinery equipment and sends the wheel steering information to the ECU controller; the ECU controller generates high-precision positioning data according to the positioning data and the GNSS differential correction data, determines the running attitude of the agricultural equipment according to the wheel steering information, generates an automatic driving control instruction according to the high-precision positioning data, the running attitude of the agricultural equipment and preset navigation path information, and sends the automatic driving control instruction to the hydraulic proportional valve; the hydraulic proportional valve adjusts the left/right suction proportion of the electromagnetic collar according to the automatic driving control instruction so as to control the driving direction of the agricultural machinery equipment and finish the automatic driving of the agricultural machinery equipment.
In the process of implementing the present invention, the inventor finds that the autopilot system provided by the prior art has a complex structure, and not only needs to install a hardware device on the agricultural machinery equipment, but also needs to set an RTK base station at a far end; because the RTK base station and the ECU controller are communicated through an air link, signals are greatly influenced by environmental obstacles and are extremely easy to be shielded, and the operation quality and the operation efficiency of automatic driving are influenced; in addition, the installation of the steering angle sensor is limited by the vehicle type, and the shapes and the installation positions of the steering angle sensors of different vehicle types are different, so that the problem of complex system structure is further caused.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the embodiment of the utility model provides an intelligent control antenna is provided, simple structure easily realizes.
The embodiment of the utility model provides an intelligent control antenna is applied to on the non-road vehicle, include:
the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit;
the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with an electric control steering wheel and a vehicle bus interface which are arranged on the non-road vehicle.
Optionally, the high-precision positioning/orientation board card is further configured to connect to a second high-precision GNSS antenna provided on the off-road vehicle.
Optionally, the central processing unit is further configured to connect with an environment sensing unit disposed on the off-road vehicle.
Optionally, the central processing unit is further configured to connect to a display provided on the off-road vehicle.
Optionally, the smart control antenna further includes: a wireless communication unit; the central processing unit is connected with a display arranged on the non-road vehicle through the wireless communication unit.
The intelligent control antenna provided by the utility model is arranged on a non-road vehicle, the intelligent control antenna controls the electric control steering wheel and the vehicle bus interface arranged on the non-road vehicle to complete automatic driving, the whole automatic driving system has simple structure due to the intelligent control antenna, the problem of complex system structure caused by the arrangement of an RTK base station at a far end in the prior art is solved, and the problem of poor communication quality caused by the influence of obstacles in the environment easily caused by long-distance communication is avoided due to the fact that the intelligent control antenna is arranged on the non-road vehicle, and the central processing unit in the intelligent control antenna can send an automatic driving control command to the electric control steering wheel and the vehicle bus interface to carry out automatic driving control command on the vehicle, so that the non-road vehicle can be automatically driven under the control of the electric control steering wheel and the vehicle bus interface, the problem of prior art need set up the steering angle sensor and control, steering angle sensor receives the motorcycle type restriction, installs complicacy is solved, system architecture has further been simplified, easily installation and operation.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of an intelligent control antenna according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intelligent control antenna provided in the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an intelligent control antenna provided by the third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent control antenna provided by the fourth embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not to be construed as limiting the invention. It should be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
As shown in fig. 1, the embodiment of the utility model provides an intelligent control antenna is used on non-road vehicle, include: a first high-precision GNSS antenna 11, a high-precision positioning/orientation board 12, an Inertial Measurement Unit (IMU) 13, and a central processing unit 14;
the first high-precision GNSS antenna 11 is connected with a high-precision positioning/orientation board 12, the high-precision positioning/orientation board 12 is connected with a central processing unit 14, the IMU13 is connected with the central processing unit 14, and the central processing unit 14 is respectively connected with an electric control steering wheel and a vehicle bus interface arranged on a non-road vehicle.
In this embodiment, the off-road vehicle may include: the present embodiment does not limit the specific type or model of the off-road vehicle, and the off-road vehicle may be any type of operation vehicle in the actual use process. For ease of understanding, the following examples refer to non-road vehicles as agricultural vehicles only, such as: a tractor, a seeder, a harvester, etc. will be described as an example.
In the present embodiment, the first high-precision GNSS antenna 11 is configured to receive satellite time and position data broadcast by GNSS constellation satellites, and clock error and ionosphere correction data broadcast by geosynchronous satellites; the high-precision positioning/orientation board 12 is configured to generate first high-precision position/heading information according to satellite time and position data, clock error and ionosphere correction data received by the first high-precision GNSS antenna 11; the IMU13 is used for acquiring vehicle attitude information; the central processing unit 14 is configured to modify the first high-precision position/heading information according to the vehicle posture information, generate second high-precision position/heading information, generate high-precision position/heading information of a vehicle control point according to the second high-precision position/heading information and a vehicle model parameter of the off-road vehicle input in advance according to a vehicle motion model algorithm, generate an autopilot control instruction according to the high-precision position/heading information of the vehicle control point and a preset planned path, and send the autopilot control instruction to the electric control steering wheel and the vehicle bus interface respectively, so that the electric control steering wheel and the vehicle bus interface control the off-road vehicle to perform autopilot according to the autopilot control instruction.
It should be noted that, in this embodiment, the controlling the off-road vehicle to perform the automatic driving by the electronic control steering wheel 2 according to the automatic driving control instruction may specifically include: the electric control steering wheel 2 automatically rotates the direction according to the automatic driving control instruction to drive the hydraulic steering gear of the non-road vehicle to rotate, and the hydraulic steering gear rotates to control the hydraulic oil cylinder to move leftwards or rightwards, so that the aim of controlling the steering wheel of the non-road vehicle to turn leftwards or rightwards is fulfilled, and the automatic driving direction of the non-road vehicle is controlled.
It should be noted that, in this embodiment, the controlling, by the vehicle bus interface 3, the off-road vehicle to perform the automatic driving according to the automatic driving control instruction may specifically include: the vehicle bus interface 3 controls the speed, start and stop of the non-road vehicle according to the automatic driving control instruction.
It should be noted that, in this embodiment, specific contents of the automatic driving control instruction are not limited, and in an actual use process, the specific contents of the automatic driving control instruction may be set according to a road condition requirement of automatic driving, an operation requirement of a non-road vehicle, and the like. For example: in this embodiment, the content of the automated driving control instruction interaction may include: vehicle speed, driving direction, driving time, coded data for controlling the rotation angle and direction of the electrically controlled steering wheel, and the like.
Further, in the present embodiment, the first high-precision GNSS antenna 11 is provided at a roof position of the off-road vehicle; the high precision positioning/orientation board 12, the IMU13 and the central processing unit 14 may be disposed within the body of the off-road vehicle.
It should be noted that, in this embodiment, the preset method for acquiring the planned path may be: the method comprises the steps that a driver drives an off-road vehicle manually, a first high-precision GNSS antenna 11 obtains information such as satellite position and time, clock error and ionosphere correction data in real time in the driving process, a high-precision positioning/orientation board 12 generates high-precision position/course information in real time according to the information such as the satellite position and time, the clock error and the ionosphere correction data, and all the high-precision position/course information obtained in the driving process is drawn into a planned path. Of course, the above method is only an example, and in the actual using process, the planned path may also be obtained by other methods, which is not described in detail herein.
The intelligent control antenna provided by the utility model is arranged on a non-road vehicle, the intelligent control antenna controls the electric control steering wheel and the vehicle bus interface arranged on the non-road vehicle to complete automatic driving, the whole automatic driving system has simple structure due to the intelligent control antenna, the problem of complex system structure caused by the arrangement of an RTK base station at a far end in the prior art is solved, and the problem of poor communication quality caused by the influence of obstacles in the environment easily caused by long-distance communication is avoided due to the fact that the intelligent control antenna is arranged on the non-road vehicle, and the central processing unit in the intelligent control antenna can send an automatic driving control command to the electric control steering wheel and the vehicle bus interface to carry out automatic driving control command on the vehicle, so that the non-road vehicle can be automatically driven under the control of the electric control steering wheel and the vehicle bus interface, the problem of prior art need set up the steering angle sensor and control, steering angle sensor receives the motorcycle type restriction, installs complicacy is solved, system architecture has further been simplified, easily installation and operation.
Example two
As shown in fig. 2, the embodiment of the present invention provides an intelligent control antenna, which is substantially the same as the embodiment shown in fig. 1, except that the high-precision positioning/orientation board 12 is also used for connecting to a second high-precision GNSS antenna provided on a non-road vehicle.
In the embodiment, the second high-precision GNSS antenna is also disposed at the roof position of the off-road vehicle, and in order to maintain the difference in the received signals of the first high-precision GNSS antenna 11 and the second high-precision GNSS antenna, the first high-precision GNSS antenna 11 is disposed at the rear end of the roof at a position along the axis of the off-road vehicle, and the second high-precision GNSS antenna is disposed at the front end of the roof at a position along the axis of the off-road vehicle. Of course, the above is merely an example, and in an actual use process, the first high-precision GNSS antenna 11 may also be disposed at a front end of a roof of the non-road vehicle at a position along an axis of the non-road vehicle, and the second high-precision GNSS antenna may also be disposed at a rear end of the roof of the non-road vehicle at a position along the axis of the non-road vehicle, which is not described in detail herein.
In this embodiment, the second high-precision GNSS antenna is configured to receive satellite time and position data broadcast by the same GNSS constellation satellite as the first high-precision GNSS antenna 11, and clock offset and ionosphere correction data broadcast by a geosynchronous satellite; then, at this time, the high-precision positioning/orientation board 12 may generate the first high-precision position/heading information according to the satellite time and position data, the clock offset, and the ionosphere correction data received by the first high-precision GNSS antenna 11, and the satellite time and position data, the clock offset, and the ionosphere correction data received by the second high-precision GNSS antenna 4.
According to the technical scheme provided by the embodiment, on the basis of achieving all the beneficial effects brought by the embodiment, the high-precision positioning/orientation board card can generate more accurate first high-precision position/course information according to signals received by the first high-precision GNSS antenna and the second high-precision GNSS antenna, so that the positioning precision of the automatic driving process of the non-road vehicle is further improved, and the smooth completion of the whole automatic driving process is further ensured.
EXAMPLE III
As shown in fig. 3, the embodiment of the present invention provides a smart control antenna, which is substantially the same as the embodiment shown in fig. 1, except that the central processing unit 14 is further configured to be connected to an environment sensing unit disposed on a non-road vehicle.
In the embodiment, the environment sensing unit is used for monitoring the environment on the automatic driving path of the non-road vehicle and acquiring the information of obstacles in the environment; at this time, the central processing unit 14 is further configured to generate an automatic driving control instruction according to the high-precision position/heading information of the vehicle control point and the preset planned path, in combination with the obstacle information acquired by the environment sensing unit.
It should be noted that, the specific type of the environment sensing unit is not limited in this embodiment, and the environment sensing unit may be a camera or a sensor for sensing a surrounding object in an actual use process, which is not described herein in detail. The specific type of the environment sensing unit 5 can be selected according to factors such as the actual working object and the working environment.
According to the technical scheme provided by the embodiment, on the basis of achieving all the beneficial effects brought by the embodiment, the central processing unit can combine with the obstacle information when generating the automatic driving control instruction, so that the non-road vehicle can avoid the obstacle on the path in the automatic driving process, and the problem that the automatic driving cannot be normally finished when the obstacle exists on the automatic driving path in the prior art is solved. Owing to introduced the environmental perception unit, make the embodiment of the utility model provides an autopilot system can use in the operational environment who has the barrier, to having reduced requirement and restriction to the operational environment, adaptability is wider.
Example four
As shown in fig. 4, the embodiment of the present invention provides a smart control antenna, which is substantially the same as the embodiment shown in fig. 1, except that the cpu 14 is also used for connecting to a display provided on a non-road vehicle.
Further, the intelligent control antenna further comprises: a wireless communication unit 15; the central processing unit 15 is connected to a display provided on the non-road vehicle through the wireless communication unit 15.
It should be noted that, this embodiment does not limit the wireless communication unit 15, and in an actual use process, the wireless communication unit 15 may be a bluetooth module, a WIFI module, or another module with a wireless communication function, which is not described herein again.
In the embodiment, the display has an interface for human-computer interaction with the driver, and the display 6 can display information related to automatic driving, such as a driving path, driving parameters of the non-road vehicle during automatic driving, fault information and the like, to the driver; the display can also receive control commands input by a driver during automatic driving, such as: stopping automated driving, a running period of automated driving, restarting automated driving, and the like, and sending the control instruction to the central processing unit 14 so that the central processing unit 14 can generate an automated driving control instruction in conjunction with the control instruction.
The technical scheme that this embodiment provided, on the basis of reaching all beneficial effects that the embodiment brought, because central processing unit can communicate with the display, receive the driver's that the display sent control command for the driver can control whole autopilot process, makes the embodiment of the utility model provides an intelligent control antenna is more humanized in the in-process that control non-road vehicle carries out autopilot.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as claimed in the present application is not limited to the embodiments with specific combinations of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (5)
1. An intelligent control antenna is applied to non-road vehicles and is characterized by comprising:
the system comprises a first high-precision global navigation satellite system GNSS antenna, a high-precision positioning/orientation board card, an inertial measurement unit IMU and a central processing unit;
the first high-precision GNSS antenna is connected with the high-precision positioning/orientation board card, the high-precision positioning/orientation board card is connected with the central processing unit, the IMU is connected with the central processing unit, and the central processing unit is respectively connected with an electric control steering wheel and a vehicle bus interface which are arranged on the non-road vehicle.
2. A smart control antenna as recited in claim 1, wherein the high-precision positioning/orientation board is further configured to connect to a second high-precision GNSS antenna disposed on the off-road vehicle.
3. A smart control antenna as recited in claim 1, wherein the central processing unit is further configured to couple to a context awareness unit disposed on the off-road vehicle.
4. A smart antenna as claimed in any one of claims 1 to 3, wherein the central processing unit is further adapted to be connected to a display provided on the off-road vehicle.
5. A smart control antenna as recited in claim 4, further comprising: a wireless communication unit; the central processing unit is connected with a display arranged on the non-road vehicle through the wireless communication unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921091559.4U CN210605466U (en) | 2019-07-12 | 2019-07-12 | Intelligent control antenna |
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| CN201921091559.4U CN210605466U (en) | 2019-07-12 | 2019-07-12 | Intelligent control antenna |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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