CN107422731A - The arable land control method and control system of agricultural intelligent Agricultural land system - Google Patents
The arable land control method and control system of agricultural intelligent Agricultural land system Download PDFInfo
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- CN107422731A CN107422731A CN201710462277.XA CN201710462277A CN107422731A CN 107422731 A CN107422731 A CN 107422731A CN 201710462277 A CN201710462277 A CN 201710462277A CN 107422731 A CN107422731 A CN 107422731A
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- 238000012544 monitoring process Methods 0.000 claims description 12
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- 230000005540 biological transmission Effects 0.000 claims description 3
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The embodiment of the invention discloses a kind of arable land control method of agricultural intelligent Agricultural land system and control system, methods described to include：Control centre sets the running parameter of agricultural intelligent Agricultural land system；Control unit receives running parameter, and is distributed to walking unit, arable land unit；Supervising device monitors ploughing work situation, and image is sent to control centre；Obstacle information when unit collection of ploughing is ploughed, and send to control unit；Control centre sends automatic dodging barrier command to walking unit, arable land unit；If barrier alarm eliminates, ploughed according to former running parameter；If barrier alarm does not eliminate, control unit sends the instruction that is stopped to walking unit and arable land unit, and warning information is sent to control centre.What the present invention can automatically bypass setting hides region, and running into barrier can avoid automatically, and can monitor arable land area condition and farmland quality in real time, and adjustment arable land walking path, realizes automation, intelligentized arable land at any time.
Description
Technical field
The present invention relates to agricultural intelligent Agricultural land system technical field, the arable land control of especially a kind of agricultural intelligent Agricultural land system
Method and control system processed.
Background technology
Existing agricultural mechanization development is more and more faster, and science and technology is tilled the land, mechanization is tilled the land, the demand of intelligent farming is more next
Higher, the particularly fast development in intelligent apparatus field, the application of agriculture field intelligent apparatus is also more and more extensive, is led in arable land
Domain, existing arable land intelligent apparatus mainly by being suspended in the plant equipment such as tractor, by the traveling of plant equipment from
And driving arable land device to be ploughed, the traveling of tractor be unable to do without artificial operation, is also not carried out the unmanned behaviour in arable land
Make, if in addition, multiple arable land intelligent apparatus work, it is necessary to which multiple drivers driving plant equipment, thus needs more simultaneously
More human resources, although the arable land intelligent apparatus also having can plough automatically, can not solve following point：
First, running into barrier during arable land can not effectively hide, arable land equipment may be damaged；
Second, in the process of walking can not adjust automatically walking path, it is necessary to control centre implement manual control；
Third, during for the predetermined travel path of the deviation that occurs in traveling process, it is impossible to adjust automatically, do not reach arable land effect
Fruit；
Fourth, for intelligent apparatus plough and walk parameter setting can not real-time update, influence ploughing capacity and effect.
Therefore, prior art needs to improve.
The content of the invention
A technical problem to be solved of the embodiment of the present invention is：A kind of arable land control of agricultural intelligent Agricultural land system is provided
Method and control system processed, the arable land control method of the agricultural intelligent Agricultural land system include：
Control centre sets the running parameter of agricultural intelligent Agricultural land system, and the running parameter includes：Agricultural intelligent is ploughed
Walking path, the speed of travel, the tilling depth of system；
Control unit wirelessly receives the agricultural intelligent Agricultural land system running parameter of control centre's setting, and by phase
Close running parameter and be separately sent to walking unit, arable land unit；
Supervising device monitors the ploughing work situation of agricultural intelligent Agricultural land system in real time, and ploughing work image is sent out in real time
Deliver to control centre；
Obstacle information in soil when arable land unit gathers arable land in real time, and barrier warning information is sent to control list
Member；
Control centre sends automatic dodging barrier command, walking unit and arable land unit to walking unit, arable land unit
Coordinate automatic dodging barrier；
If barrier alarm eliminates, continuation is ploughed according to former running parameter；
If barrier alarm does not eliminate, control unit sends the instruction that is stopped to walking unit and arable land unit,
And send warning information to control centre, wait barrier to exclude.
In another embodiment of the arable land control method based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the agriculture
Included with the planning walking path method of intelligent Agricultural land system：
Calculate the width that area, length, width and the agricultural intelligent Agricultural land system in arable land region are once ploughed；
Set starting point coordinate, terminal point coordinates, turning point coordinates, the direction of travel of agricultural intelligent Agricultural land system；
Calculate in the region of arable land and hide region area, the control point coordinates on border point coordinates and direction of travel；
Calculating is detoured path, and path of detouring includes：Direction of travel, travel distance when reaching the control point；
The walking scheme of turning point is set, angle of turn, travel distance need to be calculated when the turning point is walked, is turned again
Bending angle.
In another embodiment of the arable land control method based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the prison
Control device monitors the ploughing work situation of agricultural intelligent Agricultural land system in real time, and ploughing work image is sent into controlling in real time
Pericardium includes：
Area image behind supervising device monitoring arable land, including：The area after position linking image, arable land after ploughing twice
Domain covering image, hide region hide image, plough unit farmland quality image；
Control centre receives the image of supervising device, and automatically analyzes in the region of arable land, agricultural intelligent Agricultural land system
Farmland quality, including：Arable land, which is connected bad region, border uncovered area, hides region does not hide region, and pass through show it is single
Member highlights；
Control centre adjusts the running parameter of agricultural intelligent Agricultural land system, and sends to control unit, passes through control unit
Send to walking unit and arable land unit.
In another embodiment of the arable land control method based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the control
Center processed includes to walking unit, arable land unit transmission automatic dodging barrier command：
The tilling depth of adjustment arable land unit；
Adjust the direction of travel of walking unit；
Stop the operation of arable land unit；
The arable land direction of adjustment arable land unit；
Stop the operation of walking unit.
In another embodiment of the arable land control method based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the control
Unit processed includes locating module, positions the position of agricultural intelligent Agricultural land system in real time by locating module, when agricultural intelligent is ploughed
After system reaches the control point position of setting, start the instruction for adjusting walking unit walking parameter and ploughing unit arable land parameter,
And adjust the action of walking unit, unit of ploughing.
It is described fixed in another embodiment of the arable land control method based on the above-mentioned agricultural intelligent Agricultural land system of the present invention
Position module is at least one of dipper system positioning terminal module or GPS system positioning terminal module, and the locating module will be fixed
Position information is sent to the control centre.
Other side based on the embodiment of the present invention, a kind of control system of agricultural intelligent Agricultural land system is disclosed, including：
Control centre, control unit, walking unit, arable land unit, supervising device；
The control centre is wirelessly connected with described control unit, and the control centre is used to monitor agricultural intelligence
The working condition of energy Agricultural land system, the running parameter of agricultural intelligent Agricultural land system is set, including：The row of agricultural intelligent Agricultural land system
Walk path, the speed of travel, tilling depth, the operative scenario image that monitoring is ploughed in region；
The control instruction of control centre is acted on walking unit and arable land unit, control unit control by described control unit
The specific action of walking unit and arable land unit, and when running into barrier, pass through control algolithm cut-through thing, control unit
Location information is sent to control centre, for monitoring the location status of agricultural intelligent Agricultural land system in real time；
The walking unit and arable land unit are connected with described control unit, under the control instruction of described control unit,
Walked and ploughed according to instruction；
The supervising device and control centre's wireless connection, extremely controlled for the image in region of ploughing to be sent in real time
Center, it is easy to control centre to monitor arable land situation.
In another embodiment of the control system based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the walking is single
Member includes：Supporting structure, the first driving wheel, the second driving wheel, the first driven pulley, the second driven pulley, the first motor and the second electricity
Machine；
First driving wheel and the second driving wheel are arranged on the rear end of supporting structure side by side, for controlling running gear
Walking, first driven pulley, the second driven pulley are arranged on the front end of the supporting structure side by side, for controlling running gear
Direction of travel, first motor are connected with first driving wheel and the second driving wheel, for for the first driving wheel and second
Driving wheel provides power, and second motor is connected with first driven pulley and the second driven pulley, driven for control first
The direct of travel of wheel and the second driven pulley, the direct of travel of first driven pulley and the second driven pulley are consistent.
In another embodiment of the control system based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the arable land is single
Member includes：3rd motor, plough plough control wheel, plough plough；
3rd motor is connected with control unit, controls the opening and closing of the 3rd motor by control unit, and described the
Three motors, which are used to drive, ploughs plough control wheel；
The cultivated plough control wheel contacts ground level by controlling, and controls the depth in arable land, the cultivated plough control wheel and institute
To state control unit to connect, the contact ground level for ploughing plough control wheel is set by control unit, the cultivated plough control wheel setting is multiple,
At work, the ground connection of all cultivated plough control wheels is highly consistent；
The cultivated plough setting is multigroup, for ploughing.
In another embodiment of the control system based on the above-mentioned agricultural intelligent Agricultural land system of the present invention, the cultivated plough control
Hydraulic means is set on ratch, after cultivated plough control wheel receives the tilling depth parameter of control unit, hydraulic means regulation liquid
Pressure value, so as to adjust the contact ground level for ploughing plough control wheel, the tilling depth for making to plough plough meets sets requirement.
Compared with prior art, the present invention has advantages below：
The agricultural intelligent Agricultural land system of the present invention is a collection environment description, make decisions on one's own and plan, Behavior- Based control etc. is more
Kind function is in the integrated system of one, particularly suitable for being worked under the conditions of the terrain environment of complexity and severe weather, intelligence dress
Put in traveling process, can automatically bypass setting hides region, and during arable land, running into barrier can avoid automatically, and
Arable land area condition and farmland quality can be monitored in real time, at any time adjustment arable land walking path, realize automation, it is intelligentized to plough
Ground, the present invention have the characteristics of intelligence degree is high, man-machine interaction is good, stable and positional precision is high.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
The accompanying drawing of a part for constitution instruction describes embodiments of the invention, and is used to explain together with description
The principle of the present invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood, wherein：
Fig. 1 is the structural representation of one embodiment of the control system of the agricultural intelligent Agricultural land system of the present invention.
Fig. 2 is the flow chart of one embodiment of the arable land control method of the agricultural intelligent Agricultural land system of the present invention.
Fig. 3 is the flow chart of another embodiment of the arable land control method of the agricultural intelligent Agricultural land system of the present invention.
In figure：1 control centre, 2 control units, 3 walking units, 31 supporting structures, 32 first driving wheels, 33 second drivings
Wheel, 34 first driven pulleys, 35 second driven pulleys, 36 first motors, 37 second motors, 4 arable land units, 41 the 3rd motors, 42 are ploughed
Plough control wheel, 43 cultivated ploughs, 5 supervising devices.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless have in addition
Body illustrates that the unlimited system of part and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The scope of invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as part for specification.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Fig. 1 is the structural representation of control system one embodiment of the agricultural intelligent Agricultural land system of the present invention, such as Fig. 1 institutes
Show, the control system of the agricultural intelligent Agricultural land system of the embodiment includes：
Control centre 1, control unit 2, walking unit 3, arable land unit 4, supervising device 5；
The control centre 1 is wirelessly connected with described control unit 2, and the control centre 1 is used to monitor agriculture
With the working condition of intelligent Agricultural land system, the running parameter of agricultural intelligent Agricultural land system is set, including：Agricultural intelligent Agricultural land system
Walking path, the speed of travel, tilling depth, monitoring arable land region in operative scenario image；
The control instruction of control centre 1 is acted on walking unit 3 and arable land unit 4, control unit by described control unit 2
The specific action of 2 control walking units 3 and unit 4 of ploughing, and when running into barrier, by control algolithm cut-through thing,
Control unit 2 sends location information to control centre 1, for monitoring the location status of agricultural intelligent Agricultural land system in real time；
The walking unit 3 and arable land unit 4 are connected with described control unit 2, in the control instruction of described control unit 2
Under, walked and ploughed according to instruction；
The supervising device 5 and the wireless connection of control centre 1, extremely controlled for the image in region of ploughing to be sent in real time
Center 1 processed, it is easy to control centre 1 to monitor arable land situation.
The walking unit 3 includes：Supporting structure 31, the first driving wheel 32, the second driving wheel 33, the first driven pulley 34,
Second driven pulley 35, the first motor 36 and the second motor 37；
The driving wheel 33 of first driving wheel 32 and second is arranged on the rear end of supporting structure 31 side by side, is walked for controlling
The walking of device 3, first driven pulley 34, the second driven pulley 35 are arranged on the front end of the supporting structure 31, are used for side by side
The direction of travel of running gear 3 is controlled, first motor 36 is connected with the driving wheel 33 of the first driving wheel 32 and second, is used
In providing power, second motor 37 and first driven pulley 34 and second for the first driving wheel 32 and the second driving wheel 33
Driven pulley 35 connects, for controlling the direct of travel of the first driven pulley 34 and the second driven pulley 35, the He of the first driven pulley 34
The direct of travel of second driven pulley 35 is consistent.
The arable land unit 4 includes：3rd motor 41, plough plough control wheel 42, plough plough 43；
3rd motor 41 is connected with control unit 2, and the opening and closing of the 3rd motor 41 are controlled by control unit 2,
3rd motor 41, which is used to drive, ploughs plough control wheel 42；
The cultivated plough control wheel 42 contacts ground level by controlling, and controls the depth in arable land, the cultivated plough control wheel 42
It is connected with described control unit 2, the contact ground level for ploughing plough control wheel, the cultivated plough control wheel 42 is set by control unit 2
Set it is multiple, at work, it is all it is cultivated plough control wheels 42 ground connection it is highly consistent；
The cultivated setting of plough 43 is multigroup, for ploughing.
Hydraulic means is set in the cultivated plough control wheel 42, when the arable land that cultivated plough control wheel 42 receives control unit 2 is deep
After spending parameter, hydraulic means regulation hydraulic pressure value, so as to adjust the contact ground level for ploughing plough control wheel 42, make the arable land for ploughing plough 43
Depth meets sets requirement.
Fig. 2 be the present invention agricultural intelligent Agricultural land system arable land control method one embodiment flow chart, such as Fig. 2
Shown, the arable land control method of the agricultural intelligent Agricultural land system includes：
10, control centre 1 sets the running parameter of agricultural intelligent Agricultural land system, and the running parameter includes：Agricultural intelligent
Walking path, the speed of travel, the tilling depth of Agricultural land system；
20, control unit 2 wirelessly receives the agricultural intelligent Agricultural land system running parameter of the setting of control centre 1,
And relevant operating parameter is separately sent to walking unit 3, arable land unit 4；
30, supervising device 5 monitors the ploughing work situation of agricultural intelligent Agricultural land system in real time, and ploughing work image is real
When send to control centre 1；
40, obstacle information in soil when arable land unit 4 gathers arable land in real time, and barrier warning information is sent to control
Unit 2 processed；
50, control centre 1 to walking unit 3, arable land unit 4 send automatic dodging barrier command, walking unit 3 and plough
Ground unit 4 coordinates automatic dodging barrier；
60, if barrier alarm eliminates, continuation is ploughed according to former running parameter；
70, if barrier alarm does not eliminate, control unit 2 sends and is stopped to walking unit 3 and arable land unit 4
Instruction, and warning information is sent to control centre 1, wait barrier to exclude.
Fig. 3 is the flow chart of another embodiment of the arable land control method of the agricultural intelligent Agricultural land system of the present invention, such as
Shown in Fig. 3, the planning walking path method of the agricultural intelligent Agricultural land system includes：
101, calculate the width that area, length, width and the agricultural intelligent Agricultural land system in arable land region are once ploughed；
102, set starting point coordinate, terminal point coordinates, turning point coordinates, the direction of travel of agricultural intelligent Agricultural land system；
103, calculate in the region of arable land and hide region area, the control point coordinates on border point coordinates and direction of travel；
104, path of detouring is calculated, path of detouring includes：Direction of travel, travel distance when reaching the control point；
105, the walking scheme of turning point is set, angle of turn, travel distance, again need to be calculated when the turning point is walked
Secondary angle of turn.
The supervising device 5 monitors the ploughing work situation of agricultural intelligent Agricultural land system in real time, and by ploughing work image
Sending in real time to control centre 1 includes：
Area image behind the monitoring of supervising device 5 arable land, including：After position linking image, arable land after ploughing twice
Region overlay image, hide region hide image, plough unit farmland quality image；
Control centre 1 receives the image of supervising device, and automatically analyzes in the region of arable land, agricultural intelligent Agricultural land system
Farmland quality, including：Arable land, which is connected bad region, border uncovered area, hides region does not hide region, and pass through show it is single
Member highlights；
Control centre 1 adjusts the running parameter of agricultural intelligent Agricultural land system, and sends to control unit 2, single by controlling
Member 2 is sent to walking unit 3 and arable land unit 4.
The control centre 1 includes to walking unit 3, the arable land transmission automatic dodging barrier command of unit 4：
The tilling depth of adjustment arable land unit 4；
Adjust the direction of travel of walking unit 3；
Stop the operation of arable land unit 4；
The arable land direction of adjustment arable land unit 4；
Stop the operation of walking unit 3.
Described control unit 2 includes locating module, positions the position of agricultural intelligent Agricultural land system in real time by locating module,
After agricultural intelligent Agricultural land system reaches the control point position of setting, start adjustment walking unit 3 walking parameter and arable land unit 4
The instruction for parameter of ploughing, and adjust the action of walking unit 3, unit 4 of ploughing.
The locating module is at least one of dipper system positioning terminal module or GPS system positioning terminal module, institute
Locating module is stated to send location information to the control centre 1.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and its
The difference of its embodiment, same or analogous part cross-reference between each embodiment.For system embodiment
For, because it is substantially corresponding with embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation
Defend oneself bright.
Description of the invention provides for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
State embodiment and be to more preferably illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed
The present invention is solved so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (10)
- A kind of 1. arable land control method of agricultural intelligent Agricultural land system, it is characterised in that including：Control centre sets the running parameter of agricultural intelligent Agricultural land system, and the running parameter includes：Agricultural intelligent Agricultural land system Walking path, the speed of travel, tilling depth；Control unit wirelessly receives the agricultural intelligent Agricultural land system running parameter of control centre's setting, and by related work Walking unit, arable land unit are separately sent to as parameter；Supervising device monitors the ploughing work situation of agricultural intelligent Agricultural land system in real time, and ploughing work image is sent extremely in real time Control centre；Obstacle information in soil when arable land unit gathers arable land in real time, and barrier warning information is sent to control unit；Control centre sends automatic dodging barrier command, walking unit and arable land unit matching to walking unit, arable land unit Automatic dodging barrier；If barrier alarm eliminates, continuation is ploughed according to former running parameter；If barrier alarm does not eliminate, control unit sends the instruction that is stopped to walking unit and arable land unit, and will Warning information is sent to control centre, waits barrier to exclude.
- 2. the arable land control method of agricultural intelligent Agricultural land system according to claim 1, it is characterised in that the agricultural intelligence The planning walking path method of energy Agricultural land system includes：Calculate the width that area, length, width and the agricultural intelligent Agricultural land system in arable land region are once ploughed；Set starting point coordinate, terminal point coordinates, turning point coordinates, the direction of travel of agricultural intelligent Agricultural land system；Calculate in the region of arable land and hide region area, the control point coordinates on border point coordinates and direction of travel；Calculating is detoured path, and path of detouring includes：Direction of travel, travel distance when reaching the control point；The walking scheme of turning point is set, angle of turn, again travel distance, turning angle need to be calculated when the turning point is walked Degree.
- 3. the arable land control method of agricultural intelligent Agricultural land system according to claim 1, it is characterised in that the monitoring dress The ploughing work situation of monitoring agricultural intelligent Agricultural land system in real time is put, and ploughing work image is sent to control centre in real time and wrapped Include：Area image behind supervising device monitoring arable land, including：Cover in the region after position linking image, arable land after ploughing twice Lid image, hide region hide image, plough unit farmland quality image；Control centre receives the image of supervising device, and automatically analyzes in the region of arable land, the arable land of agricultural intelligent Agricultural land system Quality, including：Arable land, which is connected bad region, border uncovered area, hides region does not hide region, and is dashed forward by display unit Go out display；Control centre adjusts the running parameter of agricultural intelligent Agricultural land system, and sends to control unit, is sent by control unit To walking unit and arable land unit.
- 4. the arable land control method of agricultural intelligent Agricultural land system according to claim 1, it is characterised in that in the control The heart includes to walking unit, arable land unit transmission automatic dodging barrier command：The tilling depth of adjustment arable land unit；Adjust the direction of travel of walking unit；Stop the operation of arable land unit；The arable land direction of adjustment arable land unit；Stop the operation of walking unit.
- 5. the arable land control method of the agricultural intelligent Agricultural land system according to any one of Claims 1-4, it is characterised in that Described control unit includes locating module, the position of agricultural intelligent Agricultural land system is positioned in real time by locating module, when agricultural intelligence Adjustment walking unit walking parameter can be started and unit arable land parameter of ploughing after Agricultural land system reaches the control point position of setting Instruction, and adjust the action of walking unit, unit of ploughing.
- 6. the arable land control method of agricultural intelligent Agricultural land system according to claim 5, it is characterised in that the positioning mould Block is at least one of dipper system positioning terminal module or GPS system positioning terminal module, and the locating module, which will position, to be believed Breath is sent to the control centre.
- A kind of 7. control system of agricultural intelligent Agricultural land system, it is characterised in that including：Control centre, control unit, walking unit, arable land unit, supervising device；The control centre is wirelessly connected with described control unit, and the control centre ploughs for monitoring agricultural intelligent The working condition of ground system, the running parameter of agricultural intelligent Agricultural land system is set, including：The walking road of agricultural intelligent Agricultural land system Footpath, the speed of travel, tilling depth, the operative scenario image that monitoring is ploughed in region；The control instruction of control centre is acted on walking unit and arable land unit, control unit control walking by described control unit The specific action of unit and arable land unit, and when running into barrier, by control algolithm cut-through thing, control unit will be fixed Position information is sent to control centre, for monitoring the location status of agricultural intelligent Agricultural land system in real time；The walking unit and arable land unit are connected with described control unit, under the control instruction of described control unit, according to Instruction is walked and ploughed；The supervising device and control centre's wireless connection, for the image in region of ploughing to be sent into controlling in real time The heart, it is easy to control centre to monitor arable land situation.
- 8. the control system of agricultural intelligent Agricultural land system according to claim 7, it is characterised in that the walking unit bag Include：Supporting structure, the first driving wheel, the second driving wheel, the first driven pulley, the second driven pulley, the first motor and the second motor；First driving wheel and the second driving wheel are arranged on the rear end of supporting structure side by side, for controlling the row of running gear Walk, first driven pulley, the second driven pulley are arranged on the front end of the supporting structure side by side, for controlling the row of running gear Direction is walked, first motor is connected with first driving wheel and the second driving wheel, for being driven for the first driving wheel and second Driving wheel provides power, and second motor is connected with first driven pulley and the second driven pulley, for controlling the first driven pulley It is consistent with the direct of travel of the second driven pulley, the direct of travel of first driven pulley and the second driven pulley.
- 9. the control system of agricultural intelligent Agricultural land system according to claim 7, it is characterised in that the arable land unit bag Include：3rd motor, plough plough control wheel, plough plough；3rd motor is connected with control unit, and the opening and closing of the 3rd motor, the 3rd electricity are controlled by control unit Machine, which is used to drive, ploughs plough control wheel；The cultivated plough control wheel contacts ground level by controlling, and controls the depth in arable land, the cultivated plough control wheel and the control Unit processed connects, and the contact ground level for ploughing plough control wheel is set by control unit, the cultivated plough control wheel setting is multiple, in work When making, the ground connection of all cultivated plough control wheels is highly consistent；The cultivated plough setting is multigroup, for ploughing.
- 10. the control system of agricultural intelligent Agricultural land system according to claim 9, it is characterised in that the cultivated plough control Hydraulic means is set on wheel, after cultivated plough control wheel receives the tilling depth parameter of control unit, hydraulic means regulation hydraulic pressure Value, so as to adjust the contact ground level for ploughing plough control wheel, the tilling depth for making to plough plough meets sets requirement.
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