CN106774297B - A kind of agricultural machinery automatic path planning method, apparatus and it is a kind of can automatic path planning agricultural machinery - Google Patents
A kind of agricultural machinery automatic path planning method, apparatus and it is a kind of can automatic path planning agricultural machinery Download PDFInfo
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- CN106774297B CN106774297B CN201611007032.XA CN201611007032A CN106774297B CN 106774297 B CN106774297 B CN 106774297B CN 201611007032 A CN201611007032 A CN 201611007032A CN 106774297 B CN106774297 B CN 106774297B
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- 238000012271 agricultural production Methods 0.000 description 2
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The present invention relates to automation agricultural technology fields, in particular to a kind of agricultural machinery automatic path planning method, device and it is a kind of can automatic path planning agricultural machinery, agricultural machinery automatic path planning method road increases diameter regulating step, the step provides input port to input the practical ridge spacing generated when pre- driving for user, practical farm implements width value X ' and practical farm implements deviant Y ' can either be reversely released according to the practical ridge spacing that user inputs, then according to practical farm implements width value X ' and practical farm implements deviant Y ' Lai Shengcheng planning driving path, compared with the prior art, user oneself constantly adjustment measured value is not needed using the agricultural machinery of the method for the present invention, it is only necessary to users to measure primary practical ridge spacing again after trial operation, then practical ridge spacing is submitted into agricultural machinery, agricultural machinery can be calculated automatically in conjunction with practical ridge spacing Practical farm implements width X ' and practical farm implements deviant Y '.
Description
Technical field
The present invention relates to automation agricultural technology field, in particular to a kind of agricultural machinery automatic path planning method, apparatus and
It is a kind of can automatic path planning agricultural machinery.
Background technique
Farm equipment is in operation, as soon as generally requiring in carry farm implements, such as needs carry one to broadcast at seeding time
Kind machine.In agricultural production, soil can be divided into multiple row field.The generation of field is that have the path of farm implements traveling and formed, and is led to
Often, farm implements are field along the region that column direction is advanced.It is needed, is needed between field and field reserved certain based on agricultural production
Spacing.Therefore, the travel track of agricultural machinery is usually to advance along column direction to form field, when waiting the boundary for marching to field,
Then along line direction march to another column after along column direction advance to form another column field.Specifically, agricultural machinery travel track be by
(running control system, a controller for being mounted on vehicle hydraulic valve and steering wheel, is transmitted across ECU module by positioning system
The data control hydraulic valve and steering wheel of the data and angular transducer come are to achieve the effect that automatic Pilot) Lai Shengcheng,
ECU module is needed to be determined according to the width of farm implements and desired ridge distance values and laterally be advanced when generating travel track
Distance, so that it is guaranteed that having a certain distance between field and field.The width of the specification of farm implements and disunity namely farm implements at present
It spends inconsistent, therefore needs user's manual measurement before traveling and input the width of farm implements.
In addition, farm implements are also difficult to farm implements when installing and the carry portion perfection of agricultural machinery agrees with, therefore farm implements are also difficult to phase
Symmetrical to the medium line of travelling route, i.e., farm implements are left-right asymmetry, if ignoring this asymmetry, will lead to finally formed
Ridge spacing is suddenly big or suddenly small, therefore, when planning travel track, it is also necessary to add the offset of farm implements as a reference variable
To consider.User needs also to measure the deviant of farm implements when measuring farm implements width, and deviant and farm implements width is defeated together
Enter into system, so that system plans travelling route automatically.
However, user is when measuring farm implements width and farm implements offset, unavoidably there is error in measurement result, if surveyed
There is deviation in amount farm implements width, then it is different from ideal value to will lead to ridge spacing, and if mistake occurs in farm implements offset, it can lead
Cause ridge spacing not of uniform size.In the prior art, which can only have user constantly to measure, test to correct the farm implements width of input
It is solved with offset, debugging is difficult.In addition, agricultural machinery is during traveling, due to originals such as collisions even if debugging is to accurate status
Cause, farm implements are also easy to cause and deviate again, i.e., offset changes again, and user is in need at this time debugs again again, make
It is sufficiently complex with process.
Summary of the invention
It is an object of the invention to avoid above-mentioned shortcoming in the prior art and use can quickly be corrected by providing one kind
The measurement error at family, thus the agricultural machinery automatic path planning method for facilitating user to debug, and corresponding agricultural machinery is provided.
The purpose of the present invention is achieved through the following technical solutions:
Provide a kind of agricultural machinery automatic path planning method, comprising:
Pre- driving step: pre- to plan according to farm implements width value X, the farm implements deviant Y of user's input and target ridge spacing T
Planning driving path, and advance according to pre- planning driving path driving agricultural machinery；
Path regulating step: input port is provided for user and inputs the practical ridge spacing generated when pre- driving, the reality
Ridge spacing includes the ridge spacing L of left handover row and the ridge spacing R of right handover row, and is counted according to the practical ridge spacing of user's input
Calculate practical farm implements width value X ' and practical farm implements deviant Y ', according to practical farm implements width value X ' and practical farm implements deviant Y ' come
Generate planning driving path.
Wherein, practical farm implements width value the X '=X- ((L+R)/2-T).
Wherein, practical farm implements deviant the Y '=Y- (L-R)/4.
Wherein, further include abnormal correction step: providing input port for user and input abnormal ridge spacing, according to farm implements reality
Width value X ' and abnormal ridge spacing calculate abnormal farm implements deviant Y ", and driving is regenerated according to abnormal farm implements deviant Y "
Path.
A kind of agricultural machinery automatic path planning device is also provided, comprising:
Pre- crane device: pre- to plan according to farm implements width value X, the farm implements deviant Y of user's input and target ridge spacing T
Planning driving path, and advance according to pre- planning driving path driving agricultural machinery；
Path regulating device: input port is provided for user and inputs the practical ridge spacing generated when pre- driving, the reality
Ridge spacing includes the ridge spacing L of left handover row and the ridge spacing R of right handover row, and is counted according to the practical ridge spacing of user's input
Calculate practical farm implements width value X ' and practical farm implements deviant Y ', according to practical farm implements width value X ' and practical farm implements deviant Y ' come
Generate planning driving path.
Wherein, practical farm implements width value the X '=X- ((L+R)/2-T).
Wherein, practical farm implements deviant the Y '=Y- (L-R)/4.
Wherein, further include abnormal correcting device: providing input port for user and input abnormal ridge spacing, according to farm implements reality
Width value X ' and abnormal ridge spacing calculate abnormal farm implements deviant Y ", and driving is regenerated according to abnormal farm implements deviant Y "
Path.
Also provide it is a kind of can automatic path planning agricultural machinery, including interactive module, main control module and ECU module, the master
It controls module and obtains farm implements width value X, the farm implements deviant Y and target ridge spacing T of user's input through interactive module, and these are counted
Value is transmitted to ECU module, and the ECU module plans pre- planning driving path accordingly, and advances according to pre- planning driving path driving agricultural machinery；It is described
Main control module also provides input port through interactive module to input the practical ridge spacing generated when pre- driving, the reality for user
Ridge spacing includes the ridge spacing L of left handover row and the ridge spacing R of right handover row, between the practical ridge that main control module is inputted according to user
Away from calculating practical farm implements width value X ' and practical farm implements deviant Y ', and by practical farm implements width X ' and practical farm implements deviant
Y ' is sent to ECU module, and the ECU module accordingly generates planning driving path.
Wherein, the interactive module is touch panel.
Beneficial effects of the present invention: agricultural machinery automatic path planning method road of the invention increases diameter regulating step, the step
It is rapid to provide input port to input the practical ridge spacing generated when pre- driving for user, due to practical ridge spacing and target ridge spacing
The difference of T be due to caused by practical farm implements width value X ' and farm implements deviant Y ' the farm implements width value that when prerun uses and
The difference of practical farm implements width value leads to practical ridge spacing and the difference of target ridge spacing numerically, the agriculture that when prerun uses
The difference of tool deviant and practical farm implements deviant causes handover row ridge spacing in left and right in practical ridge spacing not of uniform size, therefore root
Practical farm implements width value X ' and practical farm implements deviant Y ' can either be reversely released according to the practical ridge spacing that user inputs, is then existed
According to practical farm implements width value X ' and practical farm implements deviant Y ' Lai Shengcheng planning driving path, compared with the prior art, using this hair
The agricultural machinery of bright method does not need user oneself constantly adjustment measured value, it is thus only necessary to which user measures primary reality again after trial operation
Border ridge spacing, then submits to agricultural machinery for practical ridge spacing, and agricultural machinery automatically can calculate reality in conjunction with practical ridge spacing
Border farm implements width value X ' and practical farm implements deviant Y '.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is agricultural machinery travel path schematic diagram.
Note: dotted line is agricultural machinery path in figure, and perforated line then indicates between the ridge spacing L of left handover row and the ridge of right handover row
Away from R.
Specific embodiment
The invention will be further described with the following Examples.
One kind of the present invention can automatic path planning agricultural machinery specific embodiment, the agricultural machinery 1 include interactive module, master control
Module and ECU module, the main control module through interactive module obtain user input 2 width value X of farm implements, 2 deviant Y of farm implements and
Target ridge spacing T, and by these data transfers to ECU module, the ECU module plan pre- planning driving path accordingly, and according to carrying out ahead of schedule
Vehicle path drives agricultural machinery 1 is advanced.Specifically, the special operation following methods of the agricultural machinery 1:
Pre- driving step: 2 width value X of farm implements, 2 deviant Y of farm implements and the target ridge spacing that ECU module is inputted according to user
T advances to plan pre- planning driving path according to pre- planning driving path driving agricultural machinery 1；
Path regulating step: main control module provides input port to interactive module and inputs the reality generated when pre- driving for user
Border ridge spacing, practical ridge spacing includes the ridge spacing L of left handover row and the ridge spacing R of right handover row, as shown in Figure 1, left handover
Row refers to that farm implements 2 are distributed in the junction of field formed by the left part of agricultural machinery 1, and right handover row refers to that farm implements 2 are distributed in agriculture
The junction of field formed by the right part of machine 1, then master control calculates practical agriculture according to the practical ridge spacing that user inputs
Have 2 deviant Y ' of 2 width value X ' and practical farm implements, and the 2 width value X ' of practical farm implements and practical farm implements 2 that are calculated are deviated
Value Y ' is sent to ECU module, wherein 2 width value X ' of practical farm implements=X- ((L+R)/2-T), practical 2 deviant Y ' of farm implements=Y-
(L-R)/4, ECU module is then according to 2 deviant Y ' Lai Shengcheng planning driving path of practical 2 width value X ' of farm implements and practical farm implements.
Abnormal step of correcting: main control module provides input port to interactive module and inputs abnormal ridge spacing for user, then
Abnormal 2 deviant Y " of farm implements, and the abnormal agriculture that will be calculated are calculated according to 2 developed width value X ' of farm implements and abnormal ridge spacing
Have 2 deviant Y " and send an ECU module, ECU module regenerates planning driving path according to abnormal 2 deviant Y " of farm implements.
It is illustrated below with actual numerical value, if the developed width value for the farm implements 2 that certain agricultural machinery 1 loads is X '=100；Dress
2 deviant of farm implements (actual shifts value) Y '=4 when load, that is, 2 width value of farm implements for being distributed in 1 left side of agricultural machinery is 54, is distributed in
2 width value of farm implements on 1 right side of agricultural machinery is 46, the desired target ridge spacing T=20 of peasant.
However, 2 width value X=98 of farm implements, the 2 deviant Y=6 of farm implements of input are led to due to the error of peasant's measurement,
System thinks that being distributed in 2 width value of farm implements in 1 left side of agricultural machinery is 55 at this time, and 2 width value of farm implements for being distributed in 1 right side of agricultural machinery is
43, target ridge spacing is the predetermined amount of user's input, therefore the amount will not be influenced by measurement error, remain as 20.In such feelings
Under condition, ECU has planned travel path and agricultural machinery 1 is driven to drive a vehicle in advance, above-mentioned data is based on, when ECU planning path, when agricultural machinery 1 is complete
When preparing transverse shifting after the operation of Cheng Yilie to be transferred to another column, agricultural machinery 1 judges currently to prepare the place that transverse shifting is crossed
It is that left handover is capable or right handover row, if it is left handover row, in order to ensure there is 20 ridge spacing, then it is assumed that need to advance 130
(i.e. 55*2+20) goes, then it is assumed that need to advance 106 (i.e. 43*2+20) if it is right handover.However, due to being actually distributed in
2 width value of farm implements in the left side of agricultural machinery 1 and 2 width value of farm implements for being distributed in 1 right side of agricultural machinery are not 55 and 43, but 54 and 46,
Therefore actually left handover row ridge spacing is 22 after pre- driving, and the ridge spacing of right handover row is 14, this undoubtedly exists with desired value
Very big deviation.Peasant, there are deviation week, according to the conventional method, then needs to re-measure and adjust in discovery ridge spacing and desired value
2 deviation of 2 width value of farm implements and farm implements of whole input, but this be difficult to ensure measure again just necessarily accurately.And use the party
Method then calculates and corrects 2 width value X of farm implements, 2 deviant Y of farm implements using practical ridge spacing, thus obtain actual value X ' and
Practical 2 deviant Y ' of farm implements.
According to the method for above-mentioned path set-up procedure, user provides the input of low income port according to agricultural machinery 1 and measures left handover row
Ridge spacing 22 and the ridge spacing of right handover row are 14.System can calculate to obtain practical 2 width value X ' of farm implements=X- according to calculation formula
((L+R)/2-T)=98- ((22+14)/2-20)=100, practical 2 deviant Y ' of farm implements=Y- (L-R)/4=6- (22-14)/4
=4.Therefore accurate 2 width value of practical farm implements and practical 2 deviant of farm implements have been obtained, ECU is according to accurate practical farm implements 2
Width value and 2 deviant of practical farm implements and accurate route can be cooked up.
It is expert at during machine in addition, this method is additionally contemplates that, due to vibration etc., practical 2 deviant of farm implements is possible to
Variation is generated, and then ridge spacing is caused to change again, for the situation, this method also provides abnormal step of correcting and comes again
2 deviant of farm implements is corrected, correct algorithm is actually similar to above, and details are not described herein.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (10)
1. a kind of agricultural machinery automatic path planning method, characterized by comprising:
Pre- driving step: pre- driving is planned according to farm implements width value X, the farm implements deviant Y of user's input and target ridge spacing T
Path, and advance according to pre- planning driving path driving agricultural machinery；
Path regulating step: input port is provided for user and inputs the practical ridge spacing generated when pre- driving, between the practical ridge
Ridge spacing R away from the ridge spacing L and right handover row that include left handover row, and reality is calculated according to the practical ridge spacing of user's input
Border farm implements width value X ' and practical farm implements deviant Y ', according to practical farm implements width value X ' and practical farm implements deviant Y ' Lai Shengcheng
Planning driving path.
2. a kind of agricultural machinery automatic path planning method as described in claim 1, it is characterised in that: the practical farm implements width value
X '=X- ((L+R)/2-T).
3. a kind of agricultural machinery automatic path planning method as described in claim 1, it is characterised in that: the practical farm implements deviant
Y '=Y- (L-R)/4.
4. a kind of agricultural machinery automatic path planning method as described in claim 1, it is characterised in that further include abnormal correction step:
Input port is provided and inputs abnormal ridge spacing for user, abnormal agriculture is calculated according to farm implements developed width value X ' and abnormal ridge spacing
Have deviant Y ", planning driving path is regenerated according to abnormal farm implements deviant Y ".
5. a kind of agricultural machinery automatic path planning device, characterized by comprising:
Pre- crane device: pre- driving is planned according to farm implements width value X, the farm implements deviant Y of user's input and target ridge spacing T
Path, and advance according to pre- planning driving path driving agricultural machinery；
Path regulating device: input port is provided for user and inputs the practical ridge spacing generated when pre- driving, between the practical ridge
Ridge spacing R away from the ridge spacing L and right handover row that include left handover row, and reality is calculated according to the practical ridge spacing of user's input
Border farm implements width value X ' and practical farm implements deviant Y ', according to practical farm implements width value X ' and practical farm implements deviant Y ' Lai Shengcheng
Planning driving path.
6. a kind of agricultural machinery automatic path planning device as claimed in claim 5, it is characterised in that: the practical farm implements width value
X '=X- ((L+R)/2-T).
7. a kind of agricultural machinery automatic path planning device as claimed in claim 6, it is characterised in that: the practical farm implements deviant
Y '=Y- (L-R)/4.
8. a kind of agricultural machinery automatic path planning device as claimed in claim 7, it is characterised in that further include abnormal correcting device:
Input port is provided and inputs abnormal ridge spacing for user, abnormal agriculture is calculated according to farm implements developed width value X ' and abnormal ridge spacing
Have deviant Y ", planning driving path is regenerated according to abnormal farm implements deviant Y ".
9. one kind can automatic path planning agricultural machinery, including interactive module, main control module and ECU module, the main control module warp
Interactive module obtains farm implements width value X, the farm implements deviant Y and target ridge spacing T of user's input, and extremely by these data transfers
ECU module, the ECU module plans pre- planning driving path accordingly, and advances according to pre- planning driving path driving agricultural machinery；It is characterized by:
The practical ridge spacing that the main control module also provides input port through interactive module to generate when inputting pre- drive a vehicle for user, it is described
Practical ridge spacing includes the ridge spacing L of left handover row and the ridge spacing R of right handover row, the reality that main control module is inputted according to user
Ridge spacing calculates practical farm implements width value X ' and practical farm implements deviant Y ', and practical farm implements width X ' and practical farm implements is inclined
Shifting value Y ' is sent to ECU module, and the ECU module accordingly generates planning driving path.
10. one kind as claimed in claim 9 can automatic path planning agricultural machinery, it is characterised in that: the interactive module be touching
Control panel.
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| CN107918387A (en) * | 2017-11-07 | 2018-04-17 | 北京勇搏科技有限公司 | A kind of unpiloted cultivated complete machine |
| CN107885205A (en) * | 2017-11-07 | 2018-04-06 | 北京勇搏科技有限公司 | A kind of cultivated complete machine based on unmanned technology |
| CN107831770A (en) * | 2017-11-07 | 2018-03-23 | 北京勇搏科技有限公司 | A kind of unmanned harvester |
| CN108021130A (en) * | 2017-11-07 | 2018-05-11 | 北京勇搏科技有限公司 | A kind of unpiloted harvester |
| CN109945813B (en) * | 2019-03-26 | 2020-11-24 | 首都师范大学 | Method for determining mounting offset of agricultural machinery and tool |
| CN111998852B (en) * | 2020-07-17 | 2021-03-16 | 无锡卡尔曼导航技术有限公司 | Method for automatically adjusting cross-over of agricultural machinery |
| CN111994078B (en) * | 2020-09-04 | 2024-01-26 | 深圳冰河导航科技有限公司 | Driving deviation correcting method, device and equipment applied to automatic driving and storage medium |
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| US6236924B1 (en) * | 1999-06-21 | 2001-05-22 | Caterpillar Inc. | System and method for planning the operations of an agricultural machine in a field |
| CN202496194U (en) * | 2011-02-09 | 2012-10-24 | 井关农机株式会社 | Transplanter |
| CN102890706B (en) * | 2012-08-27 | 2015-12-02 | 首都师范大学 | Data processing method and device |
| CN203012509U (en) * | 2012-12-24 | 2013-06-19 | 郑州中电新能源汽车有限公司 | Electronic control system of driverless tractor |
| CN105035164B (en) * | 2015-06-29 | 2017-03-01 | 吉林大学 | Ridge culture field automatic aligning device |
| CN105607634B (en) * | 2015-12-30 | 2018-07-24 | 广州中海达定位技术有限公司 | A kind of agricultural machinery automatic navigation control system |
| CN205611160U (en) * | 2016-04-29 | 2016-10-05 | 重庆华世丹机械制造有限公司 | Tie ridger with adjustable |
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Effective date of registration: 20230315 Address after: 510000 Room 202, building 13, Tian'an headquarters center, No. 555, North Panyu Avenue, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU HI-TARGET SURVEYING INSTRUMENT Co.,Ltd. Address before: Building 13, headquarters center, Panyu energy saving science and Technology Park, 555 Panyu Avenue North, Panyu District, Guangzhou, Guangdong 510000 Patentee before: HI-TARGET POSITIONING TECHNOLOGY CO.,LTD. |