CN109557922A - A kind of intelligence tractor field obstruction-avoiding control system and method - Google Patents
A kind of intelligence tractor field obstruction-avoiding control system and method Download PDFInfo
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- 230000009471 action Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 5
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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 invention discloses a kind of intelligent tractor field obstruction-avoiding control system and methods, are related to intelligent tractor field, and control system includes environmental perception module, tractor information module, decision-making module and manipulation execution module；Collected information is passed to decision-making module with tractor information module by the environmental perception module, action command is simultaneously passed to lower layer's controller after being handled by the decision-making module information that receives of processing, action command is sent to manipulation execution module by lower layer's controller, and manipulation execution module manipulation tractor executes corresponding movement；Control method is obtained based on the control system, can be realized that different control algolithm and control are operated for different barriers, is not only able to satisfy control accuracy requirement in algorithm control plane, but also can simplify algorithm model, adapt to the requirement of all kinds of avoidance complex working conditions.
Description
Technical field
The invention belongs to intelligent tractor field more particularly to a kind of intelligent tractor field obstruction-avoiding control system and sides
Method.
Background technique
In recent years, the tractor of domestic agricultural mechanical field is quickly grown, and it is main that domestic tractor has occupied domestic market
Status, and with intelligent and electrified industry penetration, tractor intelligence is also the hot spot neck of tractor research now
Domain.During the practical field farming of intelligent tractor, it is most likely that meeting with field, there are one or more barriers to exist
In the farming path the case where, common barrier includes field marker, electric pole etc..Therefore developing a set of can accurately know
Not this kind of barrier and to make the control system accurately responded most important for the further development of intelligent tractor.
Summary of the invention
To solve the above problems, the present invention provides a kind of intelligent tractor field obstruction-avoiding control systems, to a certain degree
On solve the problems, such as intelligent tractor field intelligent barrier avoiding, different barrier-avoiding methods can be carried out for barrier, due to
Under different obstacle identities, the calculating of actuator control amount is carried out using different algorithms, so that intelligent tractor is in algorithm
Control plane is not only able to satisfy control accuracy requirement, but also can simplify algorithm model, adapts to the requirement of all kinds of complex working conditions.
The present invention is achieved by following technical solution:
A kind of intelligence tractor field obstruction-avoiding control system, including environmental perception module, tractor information module, decision model
Block and manipulation execution module；Collected information is passed to decision model with tractor information module by the environmental perception module
Action command is simultaneously passed to lower layer's controller, lower layer's controller after being handled by block, the decision-making module information that receives of processing
Action command is sent to manipulation execution module, manipulation execution module manipulation tractor executes corresponding movement.
Further, the environmental perception module includes ultrasonic sensor and laser radar；The ultrasonic sensor
For detecting tractor at a distance from front obstacle；Laser radar is for detecting front obstacle shape, height relevant information.
Further, the tractor information module includes GPS sensor and vehicle speed sensor；GPS sensor is for examining
Measuring car is used to detect the current speed of service of vehicle in the location information of map coordinates system, vehicle speed sensor.
Further, the manipulation execution module include can lifting machinery suspension, dynamoelectric accelerograph, electric brake, turn to it is electric
Machine and shift-position changing mechanism；Can lifting machinery suspension for after obtaining decision-making module instruction, promoted mounted equipment execute it is corresponding
Movement；Dynamoelectric accelerograph and electric brake are used for after obtaining decision-making module instruction, execute corresponding operation, and it is dilatory to control intelligence
Locomotive speed；Steering motor is used for after obtaining decision-making module instruction, executes corresponding operation, controls intelligent tractor steering；Shelves
Position switching mechanism is used for after obtaining decision-making module instruction, executes corresponding operation, is controlled before intelligent tractor gear switches to
Into gear or reverse drive gear.
Further, decision-making module includes upper controller and lower layer's controller；Lower layer's controller passes through upper controller
The control amount provided controls manipulation execution module；Upper controller is used to pass through environmental perception module and tractor information
Control amount needed for the information that module provides provides lower layer's controller using different algorithms.
Further, upper controller includes estimator Fusion Module, mixes controller and planning module；Estimator is melted
Molding block is used to carry out the calculating for mixing controller amount of switched according to the information of external world's detection；Mix controller for according to switching
Amount switches corresponding control algolithm；Path planning module is used to cook up the optimal path in given area according to obstacle signal
That is left-hand rotation travel path and right-hand rotation travel path.
The control method of intelligent tractor field obstruction-avoiding control system, includes the following steps:
Step 1: the ultrasonic sensor in environmental perception module constantly measures front obstacle signal, passes in ultrasonic wave
After the front obstacle distance signal that sensor obtains reaches certain distance, laser radar sensor starts to measure front obstacle knot
Structure size；
Step 2: the estimator Fusion Module in upper controller obtains front obstacle distance by ultrasonic sensor
S, obtains front obstacle structure size by laser radar, obtains tractor speed v by tractor information module；
Step 3: estimator Fusion Module is carried out according to the obstacle signal of ultrasonic sensor, laser radar sensor
Processing, and obstacle identity is judged, and obstacle identity signal is passed to and mixes controller, while the signal being passed
Pass path planning module；
Step 4: path planning module gives signal to carry out optimum path planning according to estimator Fusion Module institute, and by road
Diameter program results, which pass to, mixes controller；
Step 5: mix controller and receive estimator Fusion Module signal and path planning module signal and speed biography
Sensor signal is carried out with making policy decision:
Mix controller first and carry out obstacle signal judgement: if obstacle can be gone beyond by being judged as, mixing controller for machine
Tool Uplifting amount signal is transmitted to lower layer's controller, and lower layer's controller controls equipment suspension and completes lifting movement: if being judged as can not exceed
Obstacle-overpass then determines tractor turning side according to path planning length according to the path planning signal that path planning module obtains
To, and the path planning signal chosen in this direction is used as practical travel path；
Then mix the tractor state that controller calculates each time point according to the path of planning in advance, detect these states
In with the presence or absence of the insecurity factors such as excessive steering wheel angle: if being all satisfied security requirement, carry out execution machine according to algorithm 1
Structure control amount calculates, and obtains lifting machinery height value and the moment turning angle of steering wheel, and signal is transmitted to lower layer's controller, under
Layer controller control equipment is promoted, and is controlled steering wheel and turned to: if being unsatisfactory for security requirement, according to algorithm 2
Under the premise of considering motor energy recycling, electric brake path increment and lifting machinery height value are calculated, and by the signal
Lower layer's controller is passed to, lower layer's controller controls electric brake and required movement is completed in equipment suspension；Upper controller simultaneously
Issue capacitor charging circuit enable signal.At this point, power recovery apparatus starts to charge；
Step 6: mixing after controller stops tractor according to algorithm 2, tractor be retracted into it is original execute to turn to sentences
The rear certain distance of breakpoint, back operation carry out execution module operation according to algorithm 3；Repeat step 1) to five), until intelligence
Energy tractor passes through obstacle.
Further, the algorithm 1 is pid algorithm, and algorithm 1 is for completing to be travelled according to the path planned, institute
The operation needed determines turning angle of steering wheel for lifting machinery to proper height and according to path.
Further, the algorithm 2 uses fuzzy control, and algorithm 2 mainly considers tractor electricity after power recovery apparatus
The driving safety of brake force needed for dynamic brake and tractor is braked.
Further, the algorithm 3 is optimal control algorithm, and algorithm 3 mainly completes tractor back operation, required behaviour
As reversing back and speed control；Intelligent tractor gear is switched into reverse drive gear using shift-position changing mechanism；Utilize electricity
Dynamic throttle and electric brake complete tractor speed control.
The invention has the benefit that
1) present invention can make corresponding decision scheme for field barrier, for the further hair of intelligent tractor
Exhibition has positive effect.
2) present invention uses suitable algorithm according to different tractor operating conditions respectively, to utilize more simplification
Algorithm model adapts to the requirement of barrier and field avoidance, and algorithm selects operational security, the efficiency for combining tractor
Equal many factors can more obtain excellent avoidance effect for being controlled using single algorithm.
3) it joined power recovery system in Control system architecture, it, can be compared in the case that in field, barrier is more
Braking energy is significantly recycled, to improve the cruise duration of tractor.
Detailed description of the invention
Fig. 1 is a kind of intelligent tractor field obstruction-avoiding control system and method control system and method structural schematic diagram；
Fig. 2 is decision-making module structural schematic diagram in Fig. 1；
Fig. 3 is decision-making module algorithm flow chart in Fig. 1；
Fig. 4 is power recovery system construction drawing.
Specific embodiment
To be understood the present invention is further, done described below now in conjunction with attached drawing:
In conjunction with shown in attached drawing 1, a kind of based on the intelligent tractor field obstruction-avoiding control system for mixing controller includes environment
Sensing module, tractor information module, decision-making module, manipulation execution module.Environmental perception module includes ultrasonic sensor, swashs
Optical radar.Tractor information module includes GPS sensor, vehicle speed sensor.Manipulate execution module include can lifting machinery suspension,
Dynamoelectric accelerograph, electric brake, steering motor.
In conjunction with shown in attached drawing 2, decision-making module includes upper controller and lower layer's controller.Lower layer's controller is controlled by upper layer
The control amount that device processed provides controls manipulation execution module.Upper controller is used to pass through environmental perception module and tractor
Control amount needed for the information that information module provides provides lower layer's controller using different algorithms.Upper controller includes estimation
Amount Fusion Module mixes controller.Estimator Fusion Module is used to be carried out according to the information of external world's detection to mix controller switching
The calculating of amount.Mix controller for switching corresponding control algolithm according to amount of switched.Decision-making module in upper controller is estimated
Step counting is suddenly in conjunction with shown in attached drawing 3.
Step 1: estimator Fusion Module obtains front obstacle distance s by ultrasonic sensor, passes through laser radar
Cube range length locating for front obstacle is obtained, tractor speed v is obtained by tractor information module；
Step 2: estimator Fusion Module mixes controller amount of switched with the determination of following method:
A) barrier estimator.Barrier, impassable can be gone beyond by being divided into barrier according to barrier length
Barrier；
If b) taking braking immediately, current tractor traffic direction is taken, required minimum deceleration degree is
The minimum deceleration degree is generated according to brake energy recovering system and electric brake, passes through calculating by upper controller
Obtain the brake travel executed needed for final electric brake
Step 3: estimator Fusion Module is carried out according to the obstacle signal of ultrasonic sensor, laser radar sensor
Processing, and obstacle identity is judged, and obstacle identity signal is passed to and mixes controller, while the signal being passed
Pass path planning module；
Step 4: path planning module is estimated to believe according to ultrasonic sensor, radar signal and tractor operating status
Number and route programming result passed to mix controller；
Step 5: mix controller and receive estimator Fusion Module signal and path planning module signal and speed biography
Sensor signal is carried out with making policy decision:
Mix controller first and carry out obstacle signal judgement: if obstacle can be gone beyond by being judged as, mixing controller for machine
Tool Uplifting amount signal is transmitted to lower layer's controller, and lower layer's controller controls equipment suspension and completes lifting movement: if being judged as can not exceed
Obstacle-overpass then determines tractor turning side according to path planning length according to the path planning signal that path planning module obtains
To, and the path planning signal chosen in this direction is used as practical travel path；
Next mixes the tractor state that controller calculates each time point according to the path of planning in advance, detects these states
In with the presence or absence of the insecurity factors such as excessive steering wheel angle.If being all satisfied security requirement, execution machine is carried out according to algorithm 1
Structure control amount calculates, and obtains lifting machinery height value and the moment turning angle of steering wheel, and signal is transmitted to lower layer's controller, under
Layer controller control equipment is promoted, and is controlled steering wheel and turned to: if being unsatisfactory for security requirement, according to algorithm 2
Under the premise of considering motor energy recycling, electric brake path increment and lifting machinery height value are calculated, and by the signal
Lower layer's controller is passed to, lower layer's controller controls electric brake and required movement is completed in equipment suspension；Upper controller simultaneously
Issue capacitor charging circuit enable signal.At this point, power recovery apparatus starts to charge；
Step 6: mixing after controller stops tractor according to algorithm 2, tractor be retracted into it is original execute to turn to sentences
The rear certain distance of breakpoint, back operation carry out execution module operation according to algorithm 3；Repeat step 1) to five), until intelligence
Energy tractor passes through obstacle.
Be given below algorithm 1, algorithm 2, algorithm 3 specific algorithm for reference.
Algorithm 1 is mainly completed to be travelled according to the path planned, required operation is lifting machinery to proper height
Turning angle of steering wheel is determined with according to path.Since each amount has provided, it is relatively low that precision can be used, but control simpler
Single pid algorithm is controlled.
Algorithm 2 is mainly braked by minimum deceleration degree and tractor safety, since this control accuracy requirement is not high,
And preferable control effect can be obtained by more qualitative result, therefore can be controlled using fuzzy control method,
The driving safety of brake force needed for tractor electric brake and tractor is braked after consideration power recovery apparatus.
In conjunction with attached drawing 4, under algorithm 2, power recovery system starts: according to the ideal deceleration of tractor, controller
Control brake pedal works, and is also turned on the super capacitor charging circuit being connected with tractor wheel shaft, at this time due to dilatory
The brake force of machine consists of two parts, and the brake force and generator shaft that brake pedal provides overcome the drag force of magnetic field generation to carry out
Braking.Power recovery system is in parallel with storage battery power supply system: power recovery system includes being installed on the power generation of tractor wheel shaft
Machine, super capacitor charging circuit, super capacitor, super capacitor discharge circuit.
Power recovery system work step is as follows:
Step 1: upper controller control super capacitor charging circuit in it is enabled close the switch, generator is super at this time
Grade capacitor charges；
Step 2: when braking process terminates, super capacitor charging process terminates, and upper controller controls super capacitor charging
The enabled switch of circuit disconnects；
Step 3: when meeting three kinds of following situations, whether super capacitor internal capacity reaches at this time for controller judgement
Electric discharge requires；If reaching electric discharge to require, according to the electrical energy demands under different operating conditions, adjusted using super capacitor discharge circuit super
Grade capacitor output power makes it meet electric discharge working condition requirement；If not up to electric discharge requires, super capacitor discharge circuit is disconnected,
Super capacitor does not work.
The electric energy of super capacitor is used for following three kinds of situations
The first situation: since in farming, the output power of general electric tractor is smaller compared with for conventional fuel oil car,
Under farming environment, since the consolidation degree of soil is different, when according to common farming control strategy farming, the required electricity of operation
It is changed greatly the output power of machine, and the electricity of super capacitor storage at this time makes up the amplitude of variation of output power of motor；
Second situation: when needing to carry out enhancing action, the promotion for electric hang equipment provides electric hang equipment
Electric energy；
The third situation: tractor is after completing farming operating condition, and under common comfortable property, super capacitor can be assisted
Power supply, to extend the cruise duration of tractor.
Algorithm 3 mainly completes tractor back operation, and required operation is reversing back and speed control.Due to dilatory
Machine reversing could involve ceasing in more accurate parking position, to provide conveniently for following operation, improve operational efficiency.Therefore it adopts
To control with optimal control algorithm more accurate.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of intelligence tractor field obstruction-avoiding control system, which is characterized in that including environmental perception module, tractor information mould
Block, decision-making module and manipulation execution module；The environmental perception module transmits collected information with tractor information module
To decision-making module, action command is simultaneously passed to lower layer's controller after being handled by the decision-making module information that receives of processing, under
Action command is sent to manipulation execution module by layer controller, and manipulation execution module manipulation tractor executes corresponding movement.
2. intelligence tractor field according to claim 1 obstruction-avoiding control system, which is characterized in that the environment sensing mould
Block includes ultrasonic sensor and laser radar；The ultrasonic sensor be used to detect tractor and front obstacle away from
From；Laser radar is for detecting front obstacle shape, height relevant information.
3. intelligence tractor field according to claim 1 obstruction-avoiding control system, which is characterized in that the tractor information
Module includes GPS sensor and vehicle speed sensor；GPS sensor is for detecting location information, vehicle of the vehicle in map coordinates system
Fast sensor is for detecting the current speed of service of vehicle.
4. intelligence tractor field according to claim 1 obstruction-avoiding control system, which is characterized in that the manipulation executes mould
Block includes can lifting machinery suspension, dynamoelectric accelerograph, electric brake, steering motor and shift-position changing mechanism；It can lifting machinery suspension
Corresponding movement is executed for after obtaining decision-making module instruction, promoting mounted equipment；Dynamoelectric accelerograph and electric brake are used for
After obtaining decision-making module instruction, corresponding operation is executed, controls intelligent tractor speed；Steering motor is used to obtain decision model
After block instruction, corresponding operation is executed, controls intelligent tractor steering；Shift-position changing mechanism is used to obtain decision-making module instruction
Afterwards, corresponding operation is executed, intelligent tractor gear is controlled and switches to forward gear or reverse drive gear.
5. intelligence tractor field according to claim 1 obstruction-avoiding control system, which is characterized in that decision-making module includes upper
Layer controller and lower layer's controller；The control amount that lower layer's controller is provided by upper controller controls manipulation execution module
System；Upper controller is used to provide from the information that tractor information module provides using different algorithms by environmental perception module
Control amount needed for lower layer's controller.
6. intelligence tractor field according to claim 5 obstruction-avoiding control system, which is characterized in that upper controller includes
Estimator Fusion Module mixes controller and path planning module；Estimator Fusion Module is used for the letter according to external world's detection
Breath carries out the calculating for mixing controller amount of switched；Mix controller for switching corresponding control algolithm according to amount of switched；Path
Planning module is used to cook up the optimal road in given area according to obstacle signal and tractor operating status estimation signal
Diameter, that is, left-hand rotation travel path and right-hand rotation travel path.
7. the control method of intelligence tractor field as claimed in any one of claims 1 to 6 obstruction-avoiding control system, feature exist
In including the following steps:
Step 1: the ultrasonic sensor in environmental perception module constantly measures front obstacle signal, in ultrasonic sensor
After the front obstacle distance signal of acquisition reaches certain distance, laser radar sensor starts to measure front obstacle structure ruler
It is very little；
Step 2: the estimator Fusion Module in upper controller obtains front obstacle distance s by ultrasonic sensor, leads to
It crosses laser radar and obtains front obstacle structure size, tractor speed v is obtained by tractor information module；
Step 3: estimator Fusion Module is handled according to the obstacle signal of ultrasonic sensor, laser radar sensor,
And obstacle identity is judged, and obstacle identity signal is passed to and mixes controller, while the signal being passed to
Path planning module；
Step 4: path planning module estimates that signal will according to ultrasonic sensor, radar signal and tractor operating status
Route programming result, which passes to, mixes controller；
Step 5: mix controller and receive estimator Fusion Module signal and path planning module signal and vehicle speed sensor
Signal is carried out with making policy decision:
Mix controller first and carry out obstacle signal judgement: if obstacle can be gone beyond by being judged as, mixing controller and lift equipment
Rising amount signal is transmitted to lower layer's controller, and lower layer's controller controls equipment suspension and completes lifting movement: if being judged as impassable barrier
Hinder, then tractor turn direction determined according to path planning length according to the path planning signal that path planning module obtains,
And the path planning signal chosen in this direction is used as practical travel path；
Then mix the tractor state that controller calculates each time point according to the path of planning in advance, detecting in these states is
No there are the insecurity factors such as excessive steering wheel angle: if being all satisfied security requirement, carrying out executing agency's control according to algorithm 1
Amount processed calculates, and obtains lifting machinery height value and the moment turning angle of steering wheel, and signal is transmitted to lower layer's controller, lower layer's control
Device control equipment processed is promoted, and is controlled steering wheel and turned to: if being unsatisfactory for security requirement, being examined according to algorithm 2
Under the premise of considering motor energy recycling, electric brake path increment and lifting machinery height value are calculated, and the signal is transmitted
Lower layer's controller is given, lower layer's controller controls electric brake and required movement is completed in equipment suspension；Upper controller issues simultaneously
Capacitor charging circuit enable signal.At this point, power recovery apparatus starts to charge；
Step 6: mixing after controller stops tractor according to algorithm 2, tractor be retracted into it is original execute to turn to judges a little
Rear certain distance, back operation according to algorithm 3 carry out execution module operation；Repeat step 1) to five), it is dragged up to intelligent
Machine drawing passes through obstacle.
8. the control method of intelligence tractor field according to claim 7 obstruction-avoiding control system, which is characterized in that described
Algorithm 1 is pid algorithm, and for algorithm 1 for completing to be travelled according to the path planned, required operation is that lifting machinery extremely closes
Suitable height determines turning angle of steering wheel with according to path.
9. the control method of intelligence tractor field according to claim 7 obstruction-avoiding control system, which is characterized in that described
Algorithm 2 uses fuzzy control, algorithm 2 mainly consider after power recovery apparatus brake force needed for tractor electric brake and
The driving safety of tractor is braked.
10. the control method of intelligence tractor field according to claim 7 obstruction-avoiding control system, which is characterized in that institute
Stating algorithm 3 is optimal control algorithm, and algorithm 3 mainly completes tractor back operation, and required operation is reversing back and speed
Degree control；Intelligent tractor gear is switched into reverse drive gear using shift-position changing mechanism；It is complete with electric brake using dynamoelectric accelerograph
It is controlled at tractor speed.
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Cited By (8)
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|---|---|---|---|---|
| CN110032193A (en) * | 2019-04-30 | 2019-07-19 | 盐城工业职业技术学院 | A kind of intelligence tractor field obstruction-avoiding control system and method |
| CN110100508A (en) * | 2019-04-23 | 2019-08-09 | 丰疆智能科技股份有限公司 | Equipment of ploughing and its plough tool protection system and guard method |
| CN110209156A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The driving path planning system and its method of automatic harvester |
| CN111026117A (en) * | 2019-12-17 | 2020-04-17 | 江苏大学 | Intelligent transplanter obstacle avoidance optimal control system and control method |
| CN112298178A (en) * | 2020-11-09 | 2021-02-02 | 江苏悦达集团有限公司 | Unmanned tractor control system |
| CN112772146A (en) * | 2021-01-08 | 2021-05-11 | 江苏大学 | Transportation control system and linkage control method of orchard picking tractor |
| CN112896155A (en) * | 2021-02-24 | 2021-06-04 | 江苏大学 | Auxiliary control system and method for traction device of automatic driving tractor in orchard |
| CN113050678A (en) * | 2021-03-02 | 2021-06-29 | 山东罗滨逊物流有限公司 | Autonomous cooperative control method and system based on artificial intelligence |
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