CN112526986A - Ridge-following operation method and device - Google Patents
Ridge-following operation method and device Download PDFInfo
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Abstract
The invention provides a ridge-following operation method and a ridge-following operation device, relates to the technical field of unmanned plant protection operation, and is applied to an unmanned vehicle, wherein a navigation structure is arranged in front of the unmanned vehicle in the advancing direction, and the ridge-following operation method comprises the following steps: continuously receiving a deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle; when the deviation angle is larger than a preset threshold value, continuously determining the next advancing direction of the unmanned vehicle according to the deviation angle, and continuously adjusting the current advancing direction of the unmanned vehicle according to the next advancing direction; and keeping the next traveling direction of the unmanned vehicle corresponding to the offset angle until the offset angle is smaller than a preset threshold value, so that the unmanned vehicle can realize the ridge following operation, firstly performing contact obstacle with ultra-small friction by a navigation structure arranged in front of the unmanned vehicle, and adjusting the path of the unmanned vehicle after the contact obstacle, thereby avoiding the problems that unmanned vehicle equipment deviates from the ridge operation, damages crops, influences the yield and the like.
Description
Technical Field
The invention relates to the technical field of unmanned plant protection operation, in particular to a ridge-following operation method and a ridge-following operation device.
Background
Modern agriculture is developing towards the direction of intellectualization and automation, and the popularization of the intelligent degree of agriculture is higher and higher. However, due to the factors such as irregular crop planting, unmanned equipment volume and positioning accuracy, the unmanned equipment still has the problems of deviation of a driving path, damage to crops, influence on crop yield and the like when entering a plot for operation.
In order to alleviate the above problems, various sensors are generally used to detect a work boundary, predict a position of an obstacle, and perform work while bypassing the obstacle. However, the detection method is complex, various sensors are susceptible to environmental factors, accuracy is poor, and the problems cannot be solved well.
Disclosure of Invention
The invention aims to provide a ridge-following operation method and a ridge-following operation device, wherein a navigation structure is arranged in front of an unmanned vehicle to firstly perform contact obstacle with ultra-small friction force, and path adjustment is performed on the unmanned vehicle after the contact obstacle, so that the problems that unmanned vehicle equipment deviates from ridge operation, damages crops, influences on yield and the like are avoided.
In a first aspect, an embodiment of the present invention provides a ridge-following operation method, which is applied to an unmanned vehicle, where a navigation structure is arranged in front of a traveling direction of the unmanned vehicle, and the method includes:
continuously receiving a deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
when the deviation angle is larger than a preset threshold value, continuously determining the next advancing direction of the unmanned vehicle according to the deviation angle, and continuously adjusting the current advancing direction of the unmanned vehicle according to the next advancing direction;
and keeping the next traveling direction of the unmanned vehicle corresponding to the deviation angle until the deviation angle is smaller than the preset threshold value, so that the unmanned vehicle can realize ridge-following operation.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein after the unmanned vehicle is kept in the next traveling direction to perform ridge-following operation, until the deviation angle is again greater than the preset threshold, the next traveling direction of the unmanned vehicle is continuously adjusted.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of continuously determining the next traveling direction of the unmanned vehicle according to the offset angle includes:
and continuously confirming a corresponding correction angle according to the offset angle, and confirming a next traveling direction based on the correction angle and the current traveling direction, wherein the direction of the correction angle is the same as that of the offset angle, and the correction angle is smaller than or equal to the offset angle.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the size of the correction angle is a preset angle value.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the navigation structure generates the deviation angle by contacting an obstacle, and detects the deviation angle by a sensor at preset time intervals.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the navigation structure has an initial direction parallel to a traveling direction of the unmanned vehicle, and the navigation structure is reset to the initial direction by a resetting device after the deviation occurs.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the resetting device is configured to make the offset angle smaller than the preset threshold.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the unmanned vehicle is provided with navigation structures both in front of and behind the traveling direction.
With reference to the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where before the step of determining the next traveling direction of the unmanned vehicle according to the offset angle, the method further includes:
judging whether a GPS signal reaching a preset signal intensity threshold value is received or not;
if so, continuously determining the next traveling direction of the unmanned vehicle according to the offset angle and the GPS signal;
and if not, continuously determining the next traveling direction of the unmanned vehicle according to the deviation angle.
In a second aspect, an embodiment of the present invention further provides a ridge-following operation device, which is applied to an unmanned vehicle, where a navigation structure is disposed in front of a traveling direction of the unmanned vehicle, and the device includes:
the receiving module is used for continuously receiving the deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
the determining module is used for continuously determining the next traveling direction of the unmanned vehicle according to the offset angle when the offset angle is larger than a preset threshold value, and continuously adjusting the current traveling direction of the unmanned vehicle according to the next traveling direction;
and the operation module keeps the next traveling direction of the unmanned vehicle corresponding to the deviation angle until the deviation angle is smaller than the preset threshold value, so that the unmanned vehicle realizes ridge-following operation.
The embodiment of the invention provides a ridge-following operation method and a ridge-following operation device, wherein a navigation structure is arranged in front of an unmanned vehicle, the navigation structure firstly contacts with an obstacle to generate a deviation angle, the deviation angle which is collected by the navigation structure and deviates from the current advancing direction of the unmanned vehicle is continuously received, the advancing direction of the unmanned vehicle is controlled based on the deviation angle, the advancing direction of the unmanned vehicle is continuously changed, the self-adaption is realized, the advancing direction is adjusted when the unmanned vehicle contacts with the obstacle, the advancing direction is kept when the unmanned vehicle leaves the obstacle, and the operation is continuously repeated, so that the problems that unmanned vehicle equipment deviates from ridge operation, damages crops, influences the yield and the like are avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a ridge-following operation method according to an embodiment of the present invention;
fig. 2 is a schematic view of an unmanned vehicle passing through a passage according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a virtual fit path according to an embodiment of the present invention;
fig. 4 is a functional block diagram of a ridge-following operation device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a lot of problems still exist when unmanned equipment enters a plot to operate, for example, due to irregular crop planting, the unmanned equipment easily crushes crops when driving according to a planned path, due to inaccurate positioning of the unmanned equipment, the unmanned equipment cannot operate accurately, or the unmanned equipment is large in size, the crops are easily damaged, and then crop yield is influenced.
The prior art generally adopts a remote sensing sensor or a probe rod to detect an obstacle, and bypasses the obstacle through an obstacle avoidance algorithm, so that the purpose of obstacle avoidance operation of the unmanned equipment is realized, and the problems are solved, and the method specifically comprises the following steps:
a. during field operation, a visual sensor can be used for detecting an operation boundary, however, the method is complex in algorithm, accuracy cannot be guaranteed, meanwhile, the method is easily influenced by ambient light and blade shielding, and the method cannot be used really.
b. A laser sensor is adopted to detect the operation boundary, but the method also cannot solve the problem of blade shielding, and the boundary cannot be accurately detected when the blade shielding exists when objects are prosperous.
c. The operation line is detected by aerial photography through a visual sensor, but the method can only shoot the position of the crop canopy, cannot accurately obtain the position of the crop root, cannot be really used for a trolley running in the field, and is poor in universality.
d. The edge searching is realized by adopting the probe rod, the crops are easy to be damaged, the range of the searching operation boundary is small, all the crop roots cannot be detected, and the probe rod is easy to directly pass through the crop rows and drive to other crop rows.
Based on the above, according to the ridge-following operation method and device provided by the embodiment of the invention, the navigation structure is arranged in front of the unmanned vehicle to firstly perform contact obstacle with ultra-small friction force, and path adjustment is performed on the unmanned vehicle after the contact obstacle, so that the problems that unmanned vehicle equipment deviates from ridge operation, damages crops, influences on yield and the like are avoided.
For the convenience of understanding the embodiment, a monopoly culture method disclosed by the embodiment of the invention is first described in detail.
Fig. 1 is a schematic flow chart of a ridge-following operation method according to an embodiment of the present invention.
The ridge-following operation method is applied to an unmanned vehicle, a navigation structure is arranged in front of the advancing direction of the unmanned vehicle, and the ridge-following operation method can be seen in figure 1 and comprises the following specific steps:
step S102, continuously receiving a deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
step S104, when the deviation angle is larger than a preset threshold value, continuously determining the next traveling direction of the unmanned vehicle according to the deviation angle, and continuously adjusting the current traveling direction of the unmanned vehicle according to the next traveling direction;
and S106, keeping the next traveling direction of the unmanned vehicle corresponding to the offset angle until the offset angle is smaller than the preset threshold value, so that the unmanned vehicle can realize ridge-following operation.
In a preferred embodiment of practical application, a navigation structure is arranged in front of a traveling direction of an unmanned vehicle, the navigation structure contacts with an obstacle with a small friction force, a deviation angle which is collected by the navigation structure and deviates from the current traveling direction of the unmanned vehicle is continuously received, the traveling direction of the unmanned vehicle is controlled based on the deviation angle, the traveling direction of the unmanned vehicle is continuously changed, the unmanned vehicle autonomously follows the track of the obstacle to realize ridge following operation, the traveling direction is adjusted when the navigation structure contacts with the obstacle, the traveling direction is kept when the unmanned vehicle leaves the obstacle, and the operation is continuously repeated, so that the unmanned vehicle can operate along a ridge without a GPS navigation signal. This embodiment is through regarding the crop growth row as the boundary, through navigation structure contact crop and then inject the boundary, ensures that unmanned vehicle is in the ridge passageway all the time to can follow the crop growth row and go, can avoid unmanned vehicle equipment skew ridge operation, thereby unable accurate operation, damage crop, influence output scheduling problem. The method does not need a complex visual estimation algorithm, does not need expensive sensor detection, does not need GPS navigation information, adjusts the advancing direction in real time through a low-cost navigation device, and realizes accurate and rapid ridge following driving.
It should be noted that the barrier in the present application may include a crop, and further, for the crop root, the crop root is detected through the navigation structure, and thereby the adjacent crop root is taken as the operation boundary to travel along the actual growth condition of the boundary in real time, and it is not necessary to detect in advance, and it is not necessary to assist with the navigation signal, so that the automation degree is improved, and the operation efficiency is improved. Wherein, this application defines the line that the adjacent crop root position point that will follow row planting connects the formation for the boundary, and is different totally with the boundary that encloses into the parcel region in reality, and ordinary limit device of seeking can't the safety inspection also can't high-efficient operation. In other embodiments, the obstacle may also be a plot boundary, a field ridge boundary, a stone, a soil slope, a utility pole, etc., as long as there is a high real object.
The ridge following operation in the embodiment of the application is the operation performed by unmanned equipment in the advancing process along a channel formed between crops in a ridge, or the ridge following operation can be performed along a land boundary, a ridge boundary and the like, and generally comprises operation modes of spraying pesticides, insecticides, weeding, detecting plant diseases and insect pests, picking and the like.
In some embodiments, the method further includes step S108, after the unmanned vehicle continues to travel in the next direction for ridge-following operation, until the deviation angle is greater than the preset threshold again, continuing to adjust the next direction for the unmanned vehicle. And after the navigation structure is separated from the barrier, keeping the next traveling direction of the unmanned vehicle for ridge-following operation, and when the navigation structure contacts the barrier again, repeatedly operating according to the steps and adjusting the traveling method of the unmanned vehicle, thereby ensuring that the unmanned vehicle can continuously operate along the ridge.
In some embodiments, step S102 includes the steps of:
and 1.1) receiving the deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle at intervals of preset time.
The navigation structure generates the offset angle by contacting with an obstacle, and comprises a sensor and a navigation wheel, wherein the sensor acquires offset angle data of the front navigation wheel and sends the offset angle data to a control panel of the unmanned vehicle, whether the sensor data deflects or not is judged, an offset direction and a steering angle are calculated based on the offset angle, and the control panel controls the unmanned vehicle to adjust the driving direction according to the offset angle. Through navigation wheel and barrier contact, because it is the wheel-shaped, so can reduce the friction with the barrier, when the barrier is the crop, reduce the damage to the crop, simultaneously, the navigation wheel sets up on the horizontal direction, and the diameter is greater than the interval of the adjacent crop of the crop of same line, can enlarge the detection range of navigation structure, avoids passing adjacent crop and gets into other passageways. In some embodiments, the navigation wheel can also rotate along the axial direction of the navigation wheel, and when the navigation wheel is contacted with an obstacle, the navigation wheel is driven to rotate, so that sliding friction is formed, the friction is further reduced, and further, the damage of the navigation structure to crops is reduced to the minimum, and the growth of the crops cannot be influenced. For the shaft-shaped object detection, the structure of the navigation wheel not only greatly reduces the damage to crops, but also has wider detection range, and avoids the condition of inaccurate detection caused by missing barriers.
In some embodiments, the offset angle is generated by the navigation structure abutting against the crop root, and since the crop root is relatively firm and robust, the height of the navigation structure is set to correspond to the height of the crop root, and the height of the navigation structure can be adaptively adjusted according to the height of the crop root, thereby reducing damage to the crop. Meanwhile, the height of the navigation structure can be set to be lower than the height of the growth of the crop leaves, so that the damage of the navigation structure to the operation leaves can be avoided.
In some embodiments, the step S104 of continuing to determine the next traveling direction of the unmanned vehicle according to the deviation angle may further be implemented by:
and 2.1) continuously confirming a corresponding correction angle according to the offset angle, and confirming the next traveling direction based on the correction angle and the current traveling direction, wherein the direction of the correction angle is the same as that of the offset angle, and the correction angle is smaller than or equal to the offset angle.
As an alternative embodiment, the offset angles are continuously received, the next traveling direction is determined according to each offset angle and the current traveling direction corresponding to the offset angle, and then the traveling method of the unmanned vehicle is adjusted according to the next traveling direction, so that the unmanned vehicle can continuously change the traveling direction to form a smooth track, travel in an arc track when contacting the crops, and travel in the tangential direction of the arc track after being separated from the crops.
For example, when the offset angle a1 is greater than a preset threshold, which indicates that the vehicle is in contact with an obstacle at the time, the correction angle b1 is determined from the offset angle a1 generated from the current traveling direction x, the next traveling direction y is confirmed based on the correction angle b1 and the current traveling direction x, the unmanned vehicle travels in the traveling direction y, which generates the offset angle a2 from the current traveling direction x, when a2 is greater than the preset threshold, the correction angle b2 is determined based on the offset angle a2, and the next traveling direction z is confirmed based on the correction angle b2 and the current traveling direction y, until the offset angle is less than the preset threshold.
As an alternative example, the next traveling direction y may be determined by adding the current traveling direction x and the correction angle b1, so that the unmanned vehicle travels in a circular arc trajectory when contacting the crop and travels in a tangential direction of the circular arc trajectory after departing from the crop.
As shown in fig. 2, the unmanned vehicle F is provided with a navigation structure E at the front end in the traveling direction, and when the navigation structure E collides with the crop D, the traveling direction is continuously changed according to the manner in the above embodiment. The crop channel runs along the growth track of the crop root, and when meeting the crop, the crop channel runs in a circular arc for transition and runs along the tangent line of the crop channel.
As an alternative embodiment, the magnitude of the correction angle may be a fixed preset angle value, that is, the correction angle for each direction adjustment is always a preset fixed value that is not changed, and the next traveling direction is determined based on the fixed correction angle value, the obtained calibration angle direction, and the current traveling direction until the obtained deviation angle is smaller than the preset threshold value. Based on the deviation angle being less than the preset threshold, it is indicated that the navigation structure has disengaged from the obstacle, so that the next direction of travel can be maintained without the presence of an obstacle.
In order to more clearly determine the condition of getting off the obstacle, step S106 may further include a portion for confirming that the deviation angle is smaller than the preset threshold, and may further be implemented by the following steps, including:
step 3.1), detecting whether the offset angle returns to zero;
and 3.2) if the offset angle returns to zero, confirming that the navigation structure is separated from the contact obstacle at the moment. In this way, it is ensured that the obstacle has been completely disengaged and that the vehicle can travel in the currently confirmed next direction of travel without encountering an obstacle.
As an optional embodiment, the unmanned vehicle further comprises a resetting device, the resetting device is configured to enable the offset angle to be smaller than the preset threshold, and further, the resetting device is configured to enable the offset angle to be zero. The continuous adjustment of the deviation angle is realized through the resetting device, so that the unmanned vehicle can be ensured to move forwards along the growth track of crops, the unmanned vehicle can move more stably, wherein the navigation structure has an initial direction (current moving direction x) parallel to the moving direction of the unmanned vehicle, and the navigation structure is reset to the initial direction through the resetting device after the navigation structure contacts with an obstacle, and the steps are continuously repeated, so that the navigation structure can be ensured to be always kept in the initial direction or in the process of returning to the initial direction. For example, when an offset angle is generated during the contact with an obstacle, the reset device is in a power storage state, and after the offset angle is reset to zero by the restoring force of the reset device after the offset angle is separated from the obstacle, the complete separation of the obstacle can be determined. Wherein, the resetting device can adopt a spring structure.
In some embodiments, the navigation structure is arranged in front of the unmanned vehicle and behind the unmanned vehicle, so that the unmanned vehicle can change the lane without turning and reversing, and the purpose that the unmanned vehicle always runs between the field and ridge channels is achieved. For example, when current passageway operation, utilize navigation structure in unmanned car the place ahead to follow ridge operation, when reaching the passageway end, unmanned car carries out shift control, need not to transfer locomotive to adjacent passageway, carries out the ridge operation of following of adjacent passageway through the navigation structure in unmanned car rear, avoids the turnaround to move about, improves the operating efficiency, prevents the rollover phenomenon that the turn leads to.
In some embodiments, before step S104, the method further includes:
step 4.1), judging whether a GPS signal reaching a preset signal intensity threshold value is received;
if not, executing step S104: continuously determining the next traveling direction of the unmanned vehicle according to the deviation angle;
at the moment, under the conditions of no GPS device, poor GPS precision, GPS signal loss or poor GPS signal strength, the ridge-following operation mode can be adopted, the ridge-following operation is realized through a navigation structure arranged in front of the unmanned vehicle, and the situation that the unmanned vehicle cannot accurately operate due to the fact that the unmanned vehicle passes through a channel is avoided.
In some embodiments, the unmanned vehicle is only provided with a navigation structure at the front or the rear end, and cannot accurately change the line at the moment, and if the GPS signal reaching the preset signal intensity threshold value is not received, a warning is given at the moment, so that the unmanned vehicle is prevented from driving under the condition that the GPS signal is weak. If so, continuously determining the next traveling direction of the unmanned vehicle according to the offset angle and the GPS signal;
at this moment, the GPS equipment is arranged, the strength of the GPS signal is better, and a mode of cooperative operation of the GPS signal and the offset angle acquired by the navigation structure is adopted: based on the GPS signal and the offset angle, the line changing and entering channel is realized, the vehicle runs in the line based on the navigation structure, and further, the operation path can be fitted according to the GPS signal and the offset angle, so that the operation efficiency is improved. The position information of the barrier can be confirmed by detecting the position information of the unmanned vehicle in real time, so that the channel information is fitted, and the next traveling direction of the unmanned vehicle is adjusted according to the channel information, the current position information of the unmanned vehicle and the current traveling direction of the unmanned vehicle, so that the number of times of adjustment of the unmanned vehicle is reduced, and the working efficiency is improved.
In some embodiments, the GPS signal is only used for controlling the unmanned vehicle to switch, when the unmanned vehicle travels between lanes, the next traveling direction of the unmanned vehicle is determined by the offset angle obtained by the navigation structure to control the unmanned vehicle to travel between lanes, and when the GPS detects that the unmanned vehicle reaches the end of the lane, the unmanned vehicle is controlled to switch by the GPS signal to realize the autonomous switching operation. Wherein, the crop row is a channel, and the unmanned vehicle runs between the channels.
In other embodiments, in the walking process of the unmanned vehicle, the vehicle-mounted controller controls the unmanned vehicle to walk according to the walking path track, and records the walking route track information of the unmanned vehicle measured by the GPS, then the vehicle-mounted controller can confirm the position information of the contact point of the navigation structure according to the walking route track information to fit channel information, and then a best operation route is fitted according to the current position information and the current advancing direction of the unmanned vehicle, and the unmanned vehicle continues to walk according to the fitted route to reduce the adjustment times and improve the operation efficiency. As shown in fig. 3, for the driving track of the navigation structure at each moment, if the GPS signal is accurate, when the GPS signal collides with the crop A, B, C, a fitting route (as a dotted line in fig. 3) is obtained through the traveling route track information acquired by the GPS, the current position information of the unmanned vehicle, and the current traveling direction information; if the GPS signal is poor, the unmanned vehicle travel route is determined based only on the offset angle (as shown by the solid line in FIG. 3).
The navigation structure is in the form of a wheel body, and can play a role in protecting crops and unmanned vehicles at the same time. Specifically, the guide wheel is mellow in appearance and not prone to damage crops, and the guide wheel is arranged in front of and behind the unmanned vehicle, so that the unmanned vehicle is prevented from directly contacting with obstacles. As an optional embodiment, in the ridge-following operation process, the GPS signal changes under the influence of factors such as environment, and after poor GPS accuracy and GPS loss of the signal are detected, the unmanned vehicle takes the deviation angle acquired by the navigation structure as a main control parameter, and is no longer controlled based on the fitted route.
Wherein, in order to more accurately identify the GPS signal, before the step 4.1), the method further comprises the following steps:
and 5.1) receiving carrier phase differential RTK (Real-Time Kinematic) information sent by the base station to calibrate the GPS signal.
Here, the GPS signal may receive RTK information sent by the base station for calibration, so that the accuracy thereof reaches the centimeter level, so as to achieve the purpose of accurate operation.
In the prior art, when an unmanned vehicle generally runs, the unmanned vehicle is controlled to run between channels according to a planned path. The unmanned vehicle is provided with a GPS device to receive the position information, so that the unmanned vehicle is controlled in real time to drive according to a specified path. However, there are irregular situations in the crop planting process, and the path planning cannot be performed completely according to the growth line of the crop, but only a straight line is used to plan the operation path, which may cause a large deviation between the operation path and the actual channel, and even a situation that no-man vehicle runs out of the channel. Meanwhile, the problems of poor GPS signals and insufficient GPS signal precision also exist, and the unmanned vehicle cannot smoothly run between the channels.
Based on the situation, the navigation structure is arranged, when the unmanned vehicle runs between the channels, if the navigation structure collides with crop roots (obstacles) in advance, a deviation angle and a deviation direction are fed back, the deviation angle and the deviation direction are continuously detected, and the running direction of the unmanned vehicle is continuously controlled and adjusted, so that the unmanned vehicle can avoid the obstacles and run forwards, and the working efficiency is improved. Even, the route planning can be optimized based on the GPS position information conflicting with the obstacle detection for a plurality of times and the channel information after fitting, so that the operation efficiency is improved, and multiple times of adjustment are avoided. By the operation method provided by the embodiment of the invention, the unmanned vehicle can not run to other channels, can freely pass between the crop channels, can not press crops, avoids the influence on the crops, improves the operation accuracy, can not be influenced by the factors of the blade shielding of the crops, the ambient light and the like, and has strong practicability.
In some embodiments, as shown in fig. 4, an embodiment of the present invention further provides a ridge-following planting device applied to an unmanned vehicle, the unmanned vehicle being provided with a navigation structure in front of a traveling direction, the device including:
the receiving module is used for continuously receiving the deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
the determining module is used for continuously determining the next traveling direction of the unmanned vehicle according to the offset angle when the offset angle is larger than a preset threshold value, and continuously adjusting the current traveling direction of the unmanned vehicle according to the next traveling direction;
and the operation module keeps the next traveling direction of the unmanned vehicle corresponding to the deviation angle until the deviation angle is smaller than the preset threshold value, so that the unmanned vehicle realizes ridge-following operation. The ridge-following operation device provided by the embodiment of the invention has the same technical characteristics as the ridge-following operation method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
In some possible embodiments, the determining module is further specifically configured to, after the unmanned vehicle is kept in the next traveling direction for ridge-following work, continue to adjust the next traveling direction of the unmanned vehicle until the deviation angle is again greater than the preset threshold.
In some possible embodiments, the determining module is further specifically configured to continuously determine a corresponding correction angle according to the offset angle, and determine a next traveling direction based on the correction angle and the current traveling direction, where a direction of the correction angle is the same as a direction of the offset angle, and the correction angle is smaller than or equal to a magnitude of the offset angle.
In some possible embodiments, the magnitude of the correction angle is a preset angle value.
In some possible embodiments, the navigation structure generates the offset angle by contacting an obstacle and detects the offset angle by a sensor at predetermined time intervals.
In some possible embodiments, the navigation structure has an initial direction parallel to the direction of travel of the drone, and the navigation structure is reset to the initial direction by a resetting device after a deviation has occurred.
Wherein the resetting means is configured to make the offset angle smaller than the preset threshold.
In some possible embodiments, the unmanned vehicle is provided with navigation structures both in front of and behind the direction of travel.
In some possible embodiments, the determining module is further specifically configured to determine whether a GPS signal reaching a preset signal strength threshold is received; if so, continuously determining the next traveling direction of the unmanned vehicle according to the offset angle and the GPS signal; and if not, continuously determining the next traveling direction of the unmanned vehicle according to the deviation angle.
The computer program product of the ridge-following operation method and device provided by the embodiment of the present invention includes a computer readable storage medium storing program codes, instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the monopoly planting method provided by the above embodiment are implemented.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the ridge-following operation method of the embodiment are executed.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A ridge-following farming method is applied to an unmanned vehicle, wherein a navigation structure is arranged in front of the advancing direction of the unmanned vehicle, and the method comprises the following steps:
continuously receiving a deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
when the deviation angle is larger than a preset threshold value, continuously determining the next advancing direction of the unmanned vehicle according to the deviation angle, and continuously adjusting the current advancing direction of the unmanned vehicle according to the next advancing direction;
and keeping the next traveling direction of the unmanned vehicle corresponding to the deviation angle until the deviation angle is smaller than the preset threshold value, so that the unmanned vehicle can realize ridge-following operation.
2. The ridge-following working method according to claim 1, wherein after the ridge-following working is performed while maintaining the next direction of travel of the unmanned vehicle, the next direction of travel of the unmanned vehicle is continuously adjusted until the deviation angle is again greater than the preset threshold value.
3. The ridge-following farming method according to claim 1, wherein the step of continuously determining the next direction of travel of the unmanned vehicle from the deviation angle comprises:
and continuously determining a corresponding correction angle according to the offset angle, and determining the next traveling direction based on the correction angle and the current traveling direction, wherein the direction of the correction angle is the same as that of the offset angle, and the correction angle is smaller than or equal to the offset angle.
4. A ridge-following working method according to claim 3, wherein the magnitude of said correction angle is a preset angle value.
5. A ridge-following working method according to claim 1, wherein said navigation structure generates said offset angle by contacting obstacles and detects said offset angle by a sensor at preset time intervals.
6. A ridge culture method according to claim 1, wherein said navigation structure has an initial direction parallel to the direction of travel of said unmanned vehicle, and is reset to said initial direction by a resetting device after a deviation has occurred.
7. A ridge-following working method according to claim 6, wherein said resetting means are adapted to make said offset angle smaller than said preset threshold.
8. A ridge-following working method according to claim 1, wherein said unmanned vehicles are provided with navigation structures both in front of and behind the direction of travel.
9. The ridge-following farming method according to claim 1, further comprising, before continuing the step of determining the next direction of travel of the unmanned vehicle from the deviation angle:
judging whether a GPS signal reaching a preset signal intensity threshold value is received or not;
if so, continuously determining the next traveling direction of the unmanned vehicle according to the offset angle and the GPS signal;
and if not, continuously determining the next traveling direction of the unmanned vehicle according to the deviation angle.
10. The utility model provides a with ridge culture device which characterized in that is applied to unmanned car, unmanned car is provided with navigation structure in the place ahead of advancing direction, the device includes:
the receiving module is used for continuously receiving the deviation angle of the navigation structure deviating from the current advancing direction of the unmanned vehicle;
the determining module is used for continuously determining the next traveling direction of the unmanned vehicle according to the offset angle when the offset angle is larger than a preset threshold value, and continuously adjusting the current traveling direction of the unmanned vehicle according to the next traveling direction;
and the operation module keeps the next traveling direction of the unmanned vehicle corresponding to the deviation angle until the deviation angle is smaller than the preset threshold value, so that the unmanned vehicle realizes ridge-following operation.
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