WO2018099178A1 - Navigation method for unmanned vehicle in farmland or woodland - Google Patents
Navigation method for unmanned vehicle in farmland or woodland Download PDFInfo
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- WO2018099178A1 WO2018099178A1 PCT/CN2017/104332 CN2017104332W WO2018099178A1 WO 2018099178 A1 WO2018099178 A1 WO 2018099178A1 CN 2017104332 W CN2017104332 W CN 2017104332W WO 2018099178 A1 WO2018099178 A1 WO 2018099178A1
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- unmanned vehicle
- farmland
- navigation method
- wire
- woodland
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000002184 metal Substances 0.000 claims abstract description 33
- 239000000523 sample Substances 0.000 claims abstract description 32
- 239000013598 vector Substances 0.000 claims abstract description 20
- 239000002689 soil Substances 0.000 claims description 8
- 239000007769 metal material Substances 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 3
- 229910052755 nonmetal Inorganic materials 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 9
- 238000003971 tillage Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Definitions
- the invention relates to the field of navigation, in particular to a navigation method for an unmanned vehicle in a farmland.
- the object of the present invention is to provide a navigation method for an unmanned vehicle in a farmland forestland, which solves the problem of providing accurate navigation for an unmanned vehicle in the field in the prior art, and provides guidance for the accurate movement of the unmanned vehicle in the field. Improve the degree of automation.
- the navigation method of the unmanned vehicle in the farmland includes the following steps:
- a metal detecting probe of N horizontal cloths is arranged in the front portion of the unmanned vehicle, wherein N is a positive integer greater than or equal to 2;
- the present invention proposes a navigation method for the unmanned vehicles in the farmland. Firstly, according to the actual topographic situation and planting distribution in the farmland, the method is to plan a driving path without intersections and overlapping sections. According to the planned driving route, the wire is laid in the farmland, and the wire can be Continuous wire, or multiple wires can be joined by welding, winding or other means, but the continuity and integrity of the wire must be guaranteed.
- N metal detecting probes are arranged in the front part of the unmanned vehicle, and the N metal detecting probes are horizontally distributed, so that a wide range of scanning detection can be performed in the front area of the front head.
- the N metal detecting probes After the unmanned vehicle is placed on the driving path, the N metal detecting probes start to detect the orientation of the wire, and each metal detecting probe will get a vector facing the direction of the wire, for all The result of the metal probe is obtained by obtaining the vector sum, that is, the accurate information of the position of the wire can be obtained, and then the steering mechanism of the unmanned vehicle is controlled by the existing control module, so that the unmanned vehicle adjusts the direction of the front of the vehicle to the right direction.
- the vector and direction are obtained, so that the unmanned vehicle always moves along the pre-layed wire in the farmland forest.
- the wire is preset in advance, the unmanned vehicle has a stable movement track, and no need for the worker.
- Manual remote control greatly reduces the workload and improves automation.
- the wire is used as the guiding mechanism of the trajectory of the unmanned vehicle, which is convenient for adjusting the trajectory according to the specific conditions of the farmland, and only needs to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the traditional laying is avoided.
- the way of rails and rails is difficult to change, or the cost of changing tracks is very high.
- the steps (a) and (b) are sequentially adjustable.
- one of the metal detecting probes is located directly in front of the front of the unmanned vehicle.
- the N metal probes are evenly distributed, and when there is one located directly in front of the front, the largest vector can be obtained when the front of the head is facing the direction of advancement of the wire.
- a metal detecting probe of M horizontal cloth is disposed in the front portion of the unmanned vehicle, wherein M is an odd number greater than or equal to 3. That is, the number of metal detection probes is set to a base number of at least three. Since there is already a metal detection probe located directly in front of the front of the vehicle, the remaining even probes are symmetrically distributed on both sides thereof, thereby ensuring that the unmanned vehicle is along the metal. When the wire travels straight, the vectors acquired by the probes on both sides cancel each other out, ensuring smooth path during vertical section operation.
- the driving paths are connected end to end. That is to say, the driving path is set to a closed loop shape, so that the unmanned vehicle can continue to circulate along the wire that is connected end to end, avoiding the need for manual U-turn at the end of the wire to further improve the degree of automation.
- the outer casing of the unmanned vehicle is made of a non-metallic material.
- the existing metal detecting probe can be divided into three types: electromagnetic induction type, X-ray detection type and microwave detection type.
- the non-metallic material is used to make the outer casing of the unmanned vehicle, which can reduce the interference to the electromagnetic induction type metal detection probe and ensure the interference.
- the invention is applicable to a variety of metal detection probes.
- the wire is buried in the soil, and the covering depth is greater than or equal to 1 cm. Avoid the wire directly exposed on the surface, easily affected by people and animals.
- the land having the tillage operation has a soil covering depth in the soil that is greater than the depth of the tillage. Avoid turning the tillage to affect the wire.
- the metal detecting probe is of an X-ray detecting type or a microwave detecting type. Avoid the influence and interference of other metal objects in the farmland on the metal detection probe.
- the present invention has the following advantages and beneficial effects:
- the navigation method of the unmanned vehicle in the farmland of the invention as long as the wire is preset in advance, the unmanned vehicle has a stable movement track, and no manual remote control is required by the worker, which greatly reduces the workload and improves the workload. degree of automation.
- the wire is used as a guiding mechanism for the trajectory of the unmanned vehicle, and the movement trajectory is easily adjusted according to the specific conditions of the farmland forestland. It is only necessary to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the problem that the conventional laying of the guide rail and the sliding rail is difficult to change or the cost of the trajectory is high is avoided.
- the navigation method of the unmanned vehicle in the farmland of the invention wherein the driving path is connected end to end. That is to say, the driving path is set to a closed loop shape, so that the unmanned vehicle can continue to circulate along the wire that is connected end to end, avoiding the need for manual U-turn at the end of the wire to further improve the degree of automation.
- Figure 1 is a schematic flow chart of the present invention.
- the navigation method of the farmland unmanned vehicle of the present invention comprises the following steps: (a) planning the driving route of the unmanned vehicle in the farmland forestland, the driving route does not overlap and overlap; the driving path is on the ground. Laying continuous wire; (b) setting 5 metal probes for the average cloth on the front of the unmanned vehicle; (c) placing the unmanned vehicle on the driving path and sensing the vector of the N metal probes Find the vector sum; (d) control the unmanned vehicle to advance along the vector and direction sought.
- One of the metal detection probes is located directly in front of the front of the unmanned vehicle.
- the driving paths are connected end to end.
- the outer casing of the unmanned vehicle is made of a non-metallic material.
- the wire is buried in the soil and has a soil depth of 10 cm.
- the N metal detecting probes start to detect the orientation of the wire, and each metal detecting probe will get a vector oriented in the direction of the wire, and the results obtained by all the metal detecting probes are obtained.
- the vector sum that is, the accurate information of the position of the wire can be obtained, and then the steering mechanism of the unmanned vehicle is controlled by the existing control module, so that the unmanned vehicle adjusts the direction of the front of the car to the direction of the vector and direction, thereby The unmanned vehicle always moves along the wire laid in advance in the farmland forest.
- the unmanned vehicle has a stable movement track, and no manual remote control by the worker is required, which greatly reduces the number of Workload and increased automation.
- the wire is used as the guiding mechanism of the trajectory of the unmanned vehicle, which is convenient for adjusting the trajectory according to the specific conditions of the farmland, and only needs to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the traditional laying is avoided.
- the way of rails and rails is difficult to change, or the cost of changing tracks is very high.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A navigation method for an unmanned vehicle in farmland or woodland is provided, comprising: (a) planning travel routes for an unmanned vehicle in farmland or woodland, wherein the travel routes do not intersect or overlap; and laying continuous metal wires on the ground along the travel routes; (b) disposing N horizontally evenly arranged metal probes on the vehicle head of the unmanned vehicle, wherein N is a positive integer greater than or equal to 2; (c) placing the unmanned vehicle on a travel route, and calculating a vector sum of vectors sensed by the N metal probes; and (d) controlling the unmanned vehicle to move forward along the direction of the calculated vector sum. The present invention provides the navigation method for the unmanned vehicle in farmland or woodland to solve the prior-art problem in which it has not been possible to provide accurate navigation for an unmanned vehicle operating in fields, providing a guide for the unmanned vehicle to move accurately in fields and improving the degree of automation.
Description
本发明涉及导航领域，具体涉及农田林地无人车的导航方法。The invention relates to the field of navigation, in particular to a navigation method for an unmanned vehicle in a farmland.
在田间作业中，无人车的运用越来越广泛，人们通过在无人车上附加各种设备，控制无人车在农田林地里运动，从而实现自动的翻耕作业、喷施药剂、货物转运等工作，极大的降低了人力劳动的强度。然而现有的，由于常规民用卫星定位的定位精度大都只有50m的精范围，而对于农田、林地、果园等地，50m的控制精度显然过大、无法准确对无人车进行定位、无法通过卫星定位控制其运动，因此无人车在农田林地里的运动也需要由人工通过遥控的方式来进行控制，工人仍然需要在场甚至跟随无人车来回走动，自动化程度有限。In field operations, the use of unmanned vehicles is becoming more and more extensive. People attach automatic equipment to the unmanned vehicles to control the movement of unmanned vehicles in farmland forests, thereby realizing automatic tillage operations, spraying chemicals and goods. Work such as transshipment greatly reduces the intensity of human labor. However, due to the conventional positioning of conventional civil satellite positioning, the accuracy of the positioning is only 50m. For farmland, woodland, orchard, the control accuracy of 50m is obviously too large, and it is impossible to accurately locate the unmanned vehicle and cannot pass the satellite. Positioning controls its movement, so the movement of unmanned vehicles in farmland forests also needs to be controlled by manual remote control. Workers still need to walk around and even follow the drones, and the degree of automation is limited.
发明内容Summary of the invention
本发明的目的在于提供一种农田林地无人车的导航方法，以解决现有技术中无法为田间作业的无人车提供精确导航的问题，实现为无人车在田间的准确运动提供引导、提高自动化程度的目的。The object of the present invention is to provide a navigation method for an unmanned vehicle in a farmland forestland, which solves the problem of providing accurate navigation for an unmanned vehicle in the field in the prior art, and provides guidance for the accurate movement of the unmanned vehicle in the field. Improve the degree of automation.
本发明通过下述技术方案实现：The invention is achieved by the following technical solutions:
农田林地无人车的导航方法，包括以下步骤：The navigation method of the unmanned vehicle in the farmland includes the following steps:
(a)在农田林地内规划无人车的行车路径，所述行车路径不交叉重叠；沿着行车路径在地面铺设连续的金属丝；(a) planning the driving path of the unmanned vehicle in the farmland forestland, the driving paths are not overlapped; and the continuous wire is laid on the ground along the driving path;
(b)在无人车的车头部位设置N个水平均布的金属探测探头，其中N为大于等于2的正整数；(b) A metal detecting probe of N horizontal cloths is arranged in the front portion of the unmanned vehicle, wherein N is a positive integer greater than or equal to 2;
(c)将无人车放在行车路径上，对N个金属探测探头所感应的矢量求取矢量和；(c) placing the unmanned vehicle on the driving path and obtaining a vector sum for the vector induced by the N metal detecting probes;
(d)控制无人车沿着所求取的矢量和方向前进。(d) Control the unmanned vehicle to advance along the vector and direction sought.
针对现有的民用卫星定位精度有限，无法为无人车在空间狭小的田间作业提供导航，导致无人车自动化程度有限的问题，本发明提出农田林地无人车的导航方法。本方法首先根据农田林地内的实际地形情况与种植分布情况，规划出一条无交叉点、无重叠段的行车路径，沿着所规划的行车路径，在农田林地内铺设金属丝，金属丝可以一条连续的金属丝，也可以多条金属丝通过焊接、绕接或其他方式连接起来，但必须保证金属丝的连续与完整性。同时，在无人车的车头部位设置N个金属探测探头，N个金属探测探头水平均布，能够对车头前方区域内进行范围较广的扫描探测。将无人车放在行车路径上后，N个金属探测探头开始探测金属丝所在方位，每个金属探测探头都会得到一个朝向金属丝所在方向的矢量，对所有
的金属探测探头得到的结果求取矢量和，即能够得出金属丝位置的准确信息，再通过现有的控制模块控制无人车的转向机构，使无人车调整车头所朝方向至正对所求取的矢量和方向，从而使得无人车始终沿着提前铺设的金属丝在农田林地里运动，只要提前预设好金属丝，无人车则有了稳定的运动轨迹，不用再由工人进行手动的遥控，极大降低了工作量、提高了自动化程度。采用金属丝作为无人车运动轨迹的引导机构，便于根据农田林地的具体情况对运动轨迹进行调整，仅需调整铺设的金属丝轨迹，即能够调整无人车的运动路径，避免了传统的铺设导轨、滑轨的方式难以进行更改、或更改轨迹成本很高的问题。In view of the limited positioning accuracy of the existing civilian satellites, it is impossible to provide navigation for the unmanned vehicles in the field operation with narrow space, which leads to the problem that the degree of automation of the unmanned vehicles is limited. The present invention proposes a navigation method for the unmanned vehicles in the farmland. Firstly, according to the actual topographic situation and planting distribution in the farmland, the method is to plan a driving path without intersections and overlapping sections. According to the planned driving route, the wire is laid in the farmland, and the wire can be Continuous wire, or multiple wires can be joined by welding, winding or other means, but the continuity and integrity of the wire must be guaranteed. At the same time, N metal detecting probes are arranged in the front part of the unmanned vehicle, and the N metal detecting probes are horizontally distributed, so that a wide range of scanning detection can be performed in the front area of the front head. After the unmanned vehicle is placed on the driving path, the N metal detecting probes start to detect the orientation of the wire, and each metal detecting probe will get a vector facing the direction of the wire, for all
The result of the metal probe is obtained by obtaining the vector sum, that is, the accurate information of the position of the wire can be obtained, and then the steering mechanism of the unmanned vehicle is controlled by the existing control module, so that the unmanned vehicle adjusts the direction of the front of the vehicle to the right direction. The vector and direction are obtained, so that the unmanned vehicle always moves along the pre-layed wire in the farmland forest. As long as the wire is preset in advance, the unmanned vehicle has a stable movement track, and no need for the worker. Manual remote control greatly reduces the workload and improves automation. The wire is used as the guiding mechanism of the trajectory of the unmanned vehicle, which is convenient for adjusting the trajectory according to the specific conditions of the farmland, and only needs to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the traditional laying is avoided. The way of rails and rails is difficult to change, or the cost of changing tracks is very high.
优选的，所述步骤(a)和步骤(b)顺序可调。Preferably, the steps (a) and (b) are sequentially adjustable.
优选的，其中一个金属探测探头位于无人车的车头正前方。N个金属探测探头均匀分布，当有一个位于车头正前方时，能够在车头正对金属丝的前进方向时获取到最大的矢量。Preferably, one of the metal detecting probes is located directly in front of the front of the unmanned vehicle. The N metal probes are evenly distributed, and when there is one located directly in front of the front, the largest vector can be obtained when the front of the head is facing the direction of advancement of the wire.
优选的，在无人车的车头部位设置M个水平均布的金属探测探头，其中M为大于等于3的奇数。即是金属探测探头的数量设置为基数且至少为3个，由于已经有一个金属探测探头位于车头正前方，因此剩余的偶数个探头会对称分布在其两侧，从而确保无人车在沿金属丝直线行驶时，两侧探头所获取的矢量能够互相抵消，确保在竖直段运行时路径的平稳。Preferably, a metal detecting probe of M horizontal cloth is disposed in the front portion of the unmanned vehicle, wherein M is an odd number greater than or equal to 3. That is, the number of metal detection probes is set to a base number of at least three. Since there is already a metal detection probe located directly in front of the front of the vehicle, the remaining even probes are symmetrically distributed on both sides thereof, thereby ensuring that the unmanned vehicle is along the metal. When the wire travels straight, the vectors acquired by the probes on both sides cancel each other out, ensuring smooth path during vertical section operation.
优选的，所述行车路径首尾相接。即是行车路径设置为封闭循环状，使得无人车能够沿着首尾相接的金属丝一直做循环运动，避免在金属丝尽头需要人工掉头反向，进一步提高自动化程度。Preferably, the driving paths are connected end to end. That is to say, the driving path is set to a closed loop shape, so that the unmanned vehicle can continue to circulate along the wire that is connected end to end, avoiding the need for manual U-turn at the end of the wire to further improve the degree of automation.
优选的，所述无人车的外壳由非金属材料制作而成。现有的金属探测探头根据原理可分为电磁感应型、X射线检测型、微波检测型三种，使用非金属材质制作无人车的外壳，能够降低对电磁感应型金属探测探头的干扰，确保本发明适用于各种金属探测探头。Preferably, the outer casing of the unmanned vehicle is made of a non-metallic material. According to the principle, the existing metal detecting probe can be divided into three types: electromagnetic induction type, X-ray detection type and microwave detection type. The non-metallic material is used to make the outer casing of the unmanned vehicle, which can reduce the interference to the electromagnetic induction type metal detection probe and ensure the interference. The invention is applicable to a variety of metal detection probes.
优选的，所述金属丝埋入泥土内，覆土深度大于等于1cm。避免金属丝直接裸露在地表，容易受到人、畜的影响。Preferably, the wire is buried in the soil, and the covering depth is greater than or equal to 1 cm. Avoid the wire directly exposed on the surface, easily affected by people and animals.
优选的，有翻耕作业的土地，金属丝埋入泥土内的覆土深度大于翻耕深度。避免翻耕作业对金属丝产生影响。Preferably, the land having the tillage operation has a soil covering depth in the soil that is greater than the depth of the tillage. Avoid turning the tillage to affect the wire.
优选的，所述金属探测探头为X射线检测型或微波检测型。避免农田林地内其他金属物品对金属探测探头的影响与干扰。Preferably, the metal detecting probe is of an X-ray detecting type or a microwave detecting type. Avoid the influence and interference of other metal objects in the farmland on the metal detection probe.
本发明与现有技术相比，具有如下的优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
1、本发明农田林地无人车的导航方法，只要提前预设好金属丝，无人车则有了稳定的运动轨迹，不用再由工人进行手动的遥控，极大降低了工作量、提高了自动化程度。采用金属丝作为无人车运动轨迹的引导机构，便于根据农田林地的具体情况对运动轨迹进行调整，
仅需调整铺设的金属丝轨迹，即能够调整无人车的运动路径，避免了传统的铺设导轨、滑轨的方式难以进行更改、或更改轨迹成本很高的问题。1. The navigation method of the unmanned vehicle in the farmland of the invention, as long as the wire is preset in advance, the unmanned vehicle has a stable movement track, and no manual remote control is required by the worker, which greatly reduces the workload and improves the workload. degree of automation. The wire is used as a guiding mechanism for the trajectory of the unmanned vehicle, and the movement trajectory is easily adjusted according to the specific conditions of the farmland forestland.
It is only necessary to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the problem that the conventional laying of the guide rail and the sliding rail is difficult to change or the cost of the trajectory is high is avoided.
2、本发明农田林地无人车的导航方法，所述行车路径首尾相接。即是行车路径设置为封闭循环状，使得无人车能够沿着首尾相接的金属丝一直做循环运动，避免在金属丝尽头需要人工掉头反向，进一步提高自动化程度。2. The navigation method of the unmanned vehicle in the farmland of the invention, wherein the driving path is connected end to end. That is to say, the driving path is set to a closed loop shape, so that the unmanned vehicle can continue to circulate along the wire that is connected end to end, avoiding the need for manual U-turn at the end of the wire to further improve the degree of automation.
此处所说明的附图用来提供对本发明实施例的进一步理解，构成本申请的一部分，并不构成对本发明实施例的限定。在附图中：The drawings are intended to provide a further understanding of the embodiments of the present invention, and are not intended to limit the embodiments of the invention. In the drawing:
图1为本发明的流程示意图。Figure 1 is a schematic flow chart of the present invention.
为使本发明的目的、技术方案和优点更加清楚明白，下面结合实施例和附图，对本发明作进一步的详细说明，本发明的示意性实施方式及其说明仅用于解释本发明，并不作为对本发明的限定。The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings. As a limitation of the invention.
实施例1：Example 1:
如图1所示，本发明农田林地无人车的导航方法，包括以下步骤：(a)在农田林地内规划无人车的行车路径，所述行车路径不交叉重叠；沿着行车路径在地面铺设连续的金属丝；(b)在无人车的车头部位设置5个水平均布的金属探测探头；(c)将无人车放在行车路径上，对N个金属探测探头所感应的矢量求取矢量和；(d)控制无人车沿着所求取的矢量和方向前进。其中一个金属探测探头位于无人车的车头正前方。所述行车路径首尾相接。所述无人车的外壳由非金属材料制作而成。所述金属丝埋入泥土内，覆土深度为10cm。将无人车放在行车路径上后，N个金属探测探头开始探测金属丝所在方位，每个金属探测探头都会得到一个朝向金属丝所在方向的矢量，对所有的金属探测探头得到的结果求取矢量和，即能够得出金属丝位置的准确信息，再通过现有的控制模块控制无人车的转向机构，使无人车调整车头所朝方向至正对所求取的矢量和方向，从而使得无人车始终沿着提前铺设的金属丝在农田林地里运动，只要提前预设好金属丝，无人车则有了稳定的运动轨迹，不用再由工人进行手动的遥控，极大降低了工作量、提高了自动化程度。采用金属丝作为无人车运动轨迹的引导机构，便于根据农田林地的具体情况对运动轨迹进行调整，仅需调整铺设的金属丝轨迹，即能够调整无人车的运动路径，避免了传统的铺设导轨、滑轨的方式难以进行更改、或更改轨迹成本很高的问题。As shown in FIG. 1 , the navigation method of the farmland unmanned vehicle of the present invention comprises the following steps: (a) planning the driving route of the unmanned vehicle in the farmland forestland, the driving route does not overlap and overlap; the driving path is on the ground. Laying continuous wire; (b) setting 5 metal probes for the average cloth on the front of the unmanned vehicle; (c) placing the unmanned vehicle on the driving path and sensing the vector of the N metal probes Find the vector sum; (d) control the unmanned vehicle to advance along the vector and direction sought. One of the metal detection probes is located directly in front of the front of the unmanned vehicle. The driving paths are connected end to end. The outer casing of the unmanned vehicle is made of a non-metallic material. The wire is buried in the soil and has a soil depth of 10 cm. After the unmanned vehicle is placed on the driving path, the N metal detecting probes start to detect the orientation of the wire, and each metal detecting probe will get a vector oriented in the direction of the wire, and the results obtained by all the metal detecting probes are obtained. The vector sum, that is, the accurate information of the position of the wire can be obtained, and then the steering mechanism of the unmanned vehicle is controlled by the existing control module, so that the unmanned vehicle adjusts the direction of the front of the car to the direction of the vector and direction, thereby The unmanned vehicle always moves along the wire laid in advance in the farmland forest. As long as the wire is preset in advance, the unmanned vehicle has a stable movement track, and no manual remote control by the worker is required, which greatly reduces the number of Workload and increased automation. The wire is used as the guiding mechanism of the trajectory of the unmanned vehicle, which is convenient for adjusting the trajectory according to the specific conditions of the farmland, and only needs to adjust the trajectory of the laid wire, that is, the movement path of the unmanned vehicle can be adjusted, and the traditional laying is avoided. The way of rails and rails is difficult to change, or the cost of changing tracks is very high.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说
明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
The specific embodiments described above further explain the objectives, technical solutions and beneficial effects of the present invention.
It is to be understood that the foregoing is only illustrative of specific embodiments of the invention, and is not intended to limit the scope of the invention And improvements, etc., are all included in the scope of protection of the present invention.
Claims (9)
- 农田林地无人车的导航方法，其特征在于，包括以下步骤：The navigation method for the unmanned vehicle in the farmland forestland is characterized in that it comprises the following steps:(a)在农田林地内规划无人车的行车路径，所述行车路径不交叉重叠；沿着行车路径在地面铺设连续的金属丝；(a) planning the driving path of the unmanned vehicle in the farmland forestland, the driving paths are not overlapped; and the continuous wire is laid on the ground along the driving path;(b)在无人车的车头部位设置N个水平均布的金属探测探头，其中N为大于等于2的正整数；(b) A metal detecting probe of N horizontal cloths is arranged in the front portion of the unmanned vehicle, wherein N is a positive integer greater than or equal to 2;(c)将无人车放在行车路径上，对N个金属探测探头所感应的矢量求取矢量和；(c) placing the unmanned vehicle on the driving path and obtaining a vector sum for the vector induced by the N metal detecting probes;(d)控制无人车沿着所求取的矢量和方向前进。(d) Control the unmanned vehicle to advance along the vector and direction sought.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，所述步骤(a)和步骤(b)顺序可调。The method for navigating an unmanned vehicle in a farmland woodland according to claim 1, wherein the steps (a) and (b) are sequentially adjustable.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，其中一个金属探测探头位于无人车的车头正前方。The method for navigating a farmland woodland unmanned vehicle according to claim 1, wherein one of the metal detecting probes is located directly in front of the front of the unmanned vehicle.
- 根据权利要求3所述的农田林地无人车的导航方法，其特征在于，在无人车的车头部位设置M个水平均布的金属探测探头，其中M为大于等于3的奇数。The navigation method for an unmanned vehicle in an agricultural land according to claim 3, wherein a metal detecting probe of M horizontal cloth is disposed in a front portion of the unmanned vehicle, wherein M is an odd number greater than or equal to 3.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，所述行车路径首尾相接。The navigation method for an unmanned vehicle for farmland in accordance with claim 1, wherein the driving path is connected end to end.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，所述无人车的外壳由非金属材料制作而成。The navigation method for an unmanned vehicle in a farmland according to claim 1, wherein the outer casing of the unmanned vehicle is made of a non-metal material.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，所述金属丝埋入泥土内，覆土深度大于等于1cm。The navigation method for an unmanned vehicle in an agricultural land of claim 1, wherein the wire is buried in the soil, and the covering depth is greater than or equal to 1 cm.
- 根据权利要求7所述的农田林地无人车的导航方法，其特征在于，有翻耕作业的土地，金属丝埋入泥土内的覆土深度大于翻耕深度。The method for navigating an unmanned vehicle in a farmland according to claim 7, characterized in that, in the land with tilling operation, the depth of the covering soil in which the wire is buried in the soil is greater than the depth of tilling.
- 根据权利要求1所述的农田林地无人车的导航方法，其特征在于，所述金属探测探头为X射线检测型或微波检测型。 The navigation method for an unmanned vehicle in a farmland according to claim 1, wherein the metal detecting probe is of an X-ray detecting type or a microwave detecting type.
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| CN201611094688.X | 2016-12-01 | ||
| CN201611094688.XA CN106774311A (en) | 2016-12-01 | 2016-12-01 | The air navigation aid of farmland forest land unmanned vehicle |
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| CN109213167A (en) * | 2018-09-14 | 2019-01-15 | 双峰县湘源金穗收割机制造有限公司 | A kind of unmanned wisdom control system of agricultural machinery and its control method |
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| CN106774311A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | The air navigation aid of farmland forest land unmanned vehicle |
| CN107175663B (en) * | 2017-06-07 | 2019-08-30 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107943035A (en) * | 2017-11-23 | 2018-04-20 | 安徽师范大学 | Navigate mobile devices |
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