WO2021121429A1 - Intelligent agricultural machine based on binary control system - Google Patents

Intelligent agricultural machine based on binary control system Download PDF

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Publication number
WO2021121429A1
WO2021121429A1 PCT/CN2020/140052 CN2020140052W WO2021121429A1 WO 2021121429 A1 WO2021121429 A1 WO 2021121429A1 CN 2020140052 W CN2020140052 W CN 2020140052W WO 2021121429 A1 WO2021121429 A1 WO 2021121429A1
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module
artificial intelligence
information
instructions
intelligence control
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PCT/CN2020/140052
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French (fr)
Chinese (zh)
Inventor
方小永
高一平
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中联农业机械股份有限公司
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Publication of WO2021121429A1 publication Critical patent/WO2021121429A1/en

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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
    • 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
    • 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
    • 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

Definitions

  • the invention relates to the technical field of agricultural machinery, in particular to an intelligent agricultural machinery based on a binary control system.
  • the present invention is made in view of the above situation of the prior art, and is used to alleviate and eliminate the above defects of the prior art, and at least provides a beneficial choice.
  • the present invention provides an intelligent agricultural machine based on a binary control system.
  • the intelligent agricultural machine includes an artificial intelligence control system and a vehicle control system. They are connected by CAN bus, and the internal modules of the artificial intelligence control system and the vehicle control system are respectively wired.
  • the artificial intelligence control system includes an artificial intelligence control module, a perception module, and a decision-making module;
  • the vehicle control system includes a vehicle control module, a driving operation module, a machine tool operation module, and a power module;
  • the intelligent control module and the vehicle control module are connected through the CAN bus, the perception module and the decision module are respectively connected to the artificial intelligence control module in a point-to-point manner, the driving operation module, the The implement working module and the power module are respectively connected with the vehicle control module in a point-to-point manner.
  • the perception module is used to obtain the working information of the agricultural machinery and send it to the artificial intelligence control module, and also send it to the decision-making module through the artificial intelligence control module; the decision-making module passes The artificial intelligence control module receives the work information obtained by the perception module for processing, plans the operation trajectory, operation behavior and driving behavior of agricultural machinery, generates decision-making instructions based on this and submits it to the artificial intelligence control module for it to generate artificial intelligence control Instructions; the decision instructions include: job trajectory instructions, job behavior instructions, driving behavior instructions; the artificial intelligence control instructions include job control instructions and driving control instructions; the artificial intelligence control module passes the artificial intelligence control instructions through all
  • the CAN bus is sent to the vehicle control module; the vehicle control module receives the artificial intelligence control instructions sent by the artificial intelligence control module through the CAN bus and generates vehicle control instructions.
  • the vehicle control instructions include driving Operation instructions, work operation instructions, and power operation instructions; the driving operation module is used to control the steering and moving speed of the agricultural machinery according to the driving operation instructions; the implement operation module is used to perform operations according to the work operation instructions;
  • the power module includes an engine and a gearbox, and is used to perform engine power control and emission control through the engine ECU according to the power operation command; and perform power shift of the gearbox through the gearbox ECU.
  • the work information includes position information, obstacle information, crop information, work performance information, posture information, steering angle information, and/or speed information
  • the perception module includes: a position information acquisition unit, Obtain the position information of agricultural machinery through satellite signal reference station and satellite signal mobile station; Obstacle information acquisition unit, used to obtain obstacle information through the detection radar installed on the agricultural machinery; Visual information recognition unit, used to obtain the obstacle information through the detection radar installed on the agricultural machinery
  • the camera captures images and processes and analyzes the collected images, obtains crop information, detects the working range in front of the agricultural machine, supplements position information, and detects obstacles in front of the agricultural machine to supplement the obstacle information;
  • the operation performance information acquisition unit uses It uses the visual sensor and gravity sensor installed on the agricultural machinery to obtain the operation quality index and the operation quantity index information of the agricultural machinery;
  • the attitude information acquisition unit is used to acquire the attitude information of the agricultural machinery through the inertial navigation system;
  • the steering angle information acquisition unit is used to obtain the attitude information through the inertial navigation system;
  • the artificial intelligence control system further includes a human-computer interaction module, which is connected to the artificial intelligence control module in a point-to-point manner, and the human-computer interaction module includes a display through which the The artificial intelligence control module receives in real time the information obtained by the perception module and the decision instruction generated by the decision module and displays it in real time.
  • the human-computer interaction module also receives the artificial intelligence control instruction generated by the artificial intelligence control module in real time and displays it in real time .
  • the human-computer interaction module receives position information, obstacle information, crop information, work performance information, posture information, steering angle information, speed information, and/from the perception module through the artificial intelligence control module. Or actual work trajectory information and display it in real time, the human-computer interaction module also receives work trajectory instructions, work behavior instructions, and driving behavior instructions from the decision-making module through the artificial intelligence control module, and displays the human-computer interaction module in real time, It also receives job control instructions and driving control instructions from the artificial intelligence control module and displays them in real time.
  • the human-computer interaction module is further configured to receive user instructions and send the user instructions to the decision-making module through the artificial intelligence control module.
  • the artificial intelligence control module is implemented by an industrial control computer or an embedded computer.
  • the vehicle control module is implemented by a programmable controller.
  • the driving operation module uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of moving speed. According to one embodiment, the driving operation module uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of moving speed.
  • the modules of the agricultural machinery are divided into an artificial intelligence control system and a vehicle control system, and the agricultural machinery is modularized based on this, and the two systems are connected through a CAN bus to achieve communication and data exchange. It has the advantages of simple wiring and good system scalability.
  • Fig. 1 is a schematic structural diagram of an intelligent agricultural machine based on a binary control system according to an embodiment of the present invention.
  • 10 artificial intelligence control system
  • 101 artificial intelligence control module
  • 102 perception module
  • 103 decision-making module
  • 104 human-computer interaction module
  • 20 vehicle control system
  • 105 vehicle control module
  • 106 Driving operation module
  • 107 implement operation module
  • 108 power module
  • 30 CAN bus.
  • an intelligent agricultural machine based on a binary control system includes: an artificial intelligence control system 10, a vehicle control system 20, and a CAN bus 30.
  • CAN stands for Controller Area Network.
  • the artificial intelligence control system 10 includes an artificial intelligence control module 101, a perception module 102, a decision-making module 103, and a human-computer interaction module 104.
  • the artificial intelligence control module 101, the perception module 102, the decision-making module 103, and the human-computer interaction module 104 are internal modules of the artificial intelligence control system 10, and they are wired separately.
  • the vehicle control system 20 includes a vehicle control module 105, a driving operation module 106, an implement operation module 107, and a power module 108.
  • the vehicle control module 105, the driving operation module 106, the implement operation module 107, and the power module 108 are internal modules of the vehicle control system 20, and they are wired separately.
  • the sensing module 102 includes a plurality of sensors, and the sensing module 102 is used to obtain the working information of the agricultural machinery and send it to the decision-making module 103 and the human-computer interaction module 104 through the artificial intelligence control module 101.
  • the working information of the agricultural machine acquired by the sensing module 102 includes position information, obstacle information, crop information, work performance information, posture information, steering angle information and/or speed information.
  • the perception module 102 includes: a position information acquisition unit, an obstacle information acquisition unit, a posture information acquisition unit, a visual information recognition unit, a work performance information acquisition unit, a steering angle information acquisition unit, and a speed information acquisition unit.
  • the position information acquisition unit is used to obtain the position information of the agricultural machinery according to the differential positioning technology through the satellite signal reference station and the satellite signal mobile station, and locate the position of the agricultural machinery;
  • the obstacle information acquisition unit is used to obtain obstacle information through the detection radar installed on the agricultural machine, and determine whether there are obstacles around the agricultural machine;
  • the attitude information acquisition unit is used to acquire the attitude information of the agricultural machinery through the inertial navigation system;
  • the visual information recognition unit is used to capture images through the camera installed on the agricultural machinery and process and analyze the collected images.
  • 1 Obtain crop information, including identifying whether there are crops, crop types, and crop heights around the agricultural machinery; 2 Perform operations in front of the agricultural machinery Detect and supplement the location information data of the agricultural machinery; 3Detect the obstacles in front of the agricultural machinery, supplement the obstacle information data, and avoid accidents during the operation.
  • the operation performance information acquisition unit is used to obtain the operation quality index and operation quantity index information of the agricultural machine through the visual sensor and the gravity sensor installed in the agricultural machine;
  • the steering angle information acquisition unit is used to acquire steering angle information through a steering angle sensor provided on the front wheel of the agricultural machine, and can determine the direction of the front wheel of the agricultural machine, that is, in which direction the agricultural machine will move;
  • the speed information acquisition unit is used to acquire the speed information of the agricultural machine in real time through the engine ECU and the gearbox ECU inside the agricultural machine.
  • position information, obstacle information, crop information, posture information, work performance information, and steering angle information are all obtained through different external sensors, and speed information is obtained through the engine ECU (Electronic Control Unit, electronic control unit) and gear shifting inside the agricultural machinery.
  • the box ECU reads directly, and each external sensor is connected to the artificial intelligence control module 101 and sends the data to the decision-making module 103 and the human-computer interaction module 104.
  • Each ECU is connected to the vehicle control module 105, and then the data is sent to the manual through the CAN bus.
  • the decision-making module 103 and the human-computer interaction module 104 to which the intelligent control module 101 belongs.
  • the decision-making module 103 receives the work information obtained by the perception module 102 through the artificial intelligence control module 101 for processing, plans the operation trajectory, operation behavior and driving behavior of the agricultural machinery, generates decision-making instructions based on this, and submits it to the artificial intelligence control module 101 for it to generate artificial intelligence Control instructions; decision instructions include: job trajectory instructions, job behavior instructions, and driving behavior instructions; artificial intelligence control instructions include job control instructions and driving control instructions; decision module 103 also sends decision instructions to human-computer interaction through artificial intelligence control module 101
  • the module 104 displays in real time, which is convenient for the user to know the operation status of the agricultural machinery at all times.
  • the human-computer interaction module 104 includes a display for real-time display of the work information acquired by the perception module 102 and the decision-making instructions given by the decision-making module 103 to realize human-computer interaction.
  • the human-computer interaction module 104 receives position information, obstacle information, crop information, work performance information, posture information, steering angle information, speed information and/or actual work trajectory information from the perception module 102 through the artificial intelligence control module 101 and Real-time display; also receives job trajectory instructions, job behavior instructions and driving behavior instructions from the decision module 103 through the artificial intelligence control module 101 and displays them in real time; also receives job control instructions and driving control instructions from the artificial intelligence control module 101 and displays them in real time.
  • the human-computer interaction module 104 realizes human-computer interaction through two displays, one is used to display the working status information of the internal equipment of the agricultural machine in real time, and the other is used to display the external sensor signal and the operation track of the agricultural machine in real time, specifically:
  • the working status information of the internal equipment of agricultural machinery includes: engine information, gearbox information, speed information, machine tool information, etc.
  • External sensor signals and agricultural machinery operation trajectory include: position information, crop information, posture information, operation performance information, steering angle information, expected operation trajectory, actual operation trajectory information, etc.
  • the human-computer interaction module 104 is also used to receive user instructions and send the user instructions to the decision-making module 103 through the artificial intelligence control module 101.
  • the decision-making module 103 modifies or generates decision-making instructions according to the user instructions, and then the artificial intelligence
  • the control module 101 generates artificial intelligence control instructions, and the artificial intelligence control instructions are sent to the vehicle control module 105 through the CAN bus to finally realize the operation of the agricultural machinery by the user.
  • the vehicle control module 105 receives the artificial intelligence control instructions sent by the artificial intelligence control module 101 through the CAN bus and generates vehicle control instructions, and uses the vehicle control instructions to coordinate the driving operation module 106, the implement operation module 107, and the power module 108 to execute the corresponding Driving operation, job operation and power operation; vehicle control instructions include driving operation instructions, job operation instructions and power operation instructions.
  • Driving operation instructions such as the speed of agricultural machinery movement and the direction of movement, are sent to the driving operation module 106 for execution; operation operation instructions, such as the rotation speed of the machine, when the machine starts to work, etc., are sent to the machine tool operation module 107 for execution; Operation instructions, such as instructions on how the engine and gearbox work, are sent to the power module 108 for execution.
  • the driving operation module 106 is used to control the steering (lateral control) and moving speed (longitudinal control) of the agricultural machine according to the driving operation instructions generated by the vehicle control module 105.
  • the driving operation module 106 receives driving operation instructions through the vehicle control module 105, uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of the moving speed.
  • the electronically controlled hydraulic and electro-hydraulic proportional valves in the driving operation module 106 are all existing technologies in the art, and will not be repeated here.
  • the implement operation module 107 is used to perform operations according to the operation instructions generated by the vehicle control module 105.
  • the implement operation module 107 includes a harvester, and receives operation instructions through the harvester ECU to achieve stubble height control, cutting table loss control, and high efficiency Low-loss threshing control, cleaning loss control, etc.
  • the power module 108 includes an engine and a gearbox, and is used to perform engine power control and emission control through the engine ECU according to the power operation commands generated by the vehicle control module 105, and to perform power shift of the transmission through the gearbox ECU.
  • the artificial intelligence control module 101 is implemented using an industrial control computer or an embedded computer.
  • the vehicle control module 105 is implemented in a programmable controller manner.
  • CAN bus communication protocol to ensure the communication between the artificial intelligence control module 101 and the vehicle control module 105.
  • the intelligent agricultural machinery based on the binary control system provided by the present invention is divided into an artificial intelligence control system and a vehicle control system.
  • the artificial intelligence control system includes an artificial intelligence control module, a perception module, a decision-making module, a human-computer interaction module; a vehicle control system Including vehicle control module, driving operation module, machine tool operation module, power module.
  • the artificial intelligence control system and the vehicle control system realize communication and data exchange through a CAN bus connection. According to this method, on the one hand, the system is divided and the systems are connected through the CAN bus, which avoids the point-to-point connection between the components of different systems, and the internal modules of each system are wired by themselves, thereby making the wiring compact and reducing Increased wiring complexity.
  • the artificial intelligence control module, perception module, decision module, and human-computer interaction module into artificial intelligence control systems, and divide the entire vehicle control module, driving operation module, machine tool operation module, and power module into the entire vehicle control system.
  • the division method reduces the spatial distribution of wiring, further reduces wiring complexity, and improves wiring reliability.
  • the communication between the internal modules of each system and between the modules of another system is carried out through the control module, so that when expanding, only the interface with the control module needs to be considered, so that the system It is easier to expand.

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Abstract

Disclosed is an intelligent agricultural machine based on a binary control system, the intelligent agricultural machine comprising an artificial intelligence control system (101) and a vehicle control system (106). The artificial intelligence control system (101) is connected to the vehicle control system (106) by means of a CAN bus. Internal modules of the artificial intelligence control system (101) and internal modules of the vehicle control system (106) are respectively wired.

Description

一种基于二元控制***的智能农机An intelligent agricultural machine based on binary control system 技术领域Technical field
本发明涉及农机技术领域，尤其涉及一种基于二元控制***的智能农机。The invention relates to the technical field of agricultural machinery, in particular to an intelligent agricultural machinery based on a binary control system.
背景技术Background technique
农业机械产品未来的发展方向是智能化。但是随着人工智能技术在农业机械的应用，农机中增加了越来越多的智能软硬件设备，然而传统农机的控制***不够先进，无法适应新的复杂结构与丰富功能。一方面随着智能设备的增加而使得线束多、布线复杂，容易造成***可靠性低；另一方面，随着人工智能技术的不断发展，今后还会增加更多的智能模块，这需要农机具备很好的***可扩展性。The future development direction of agricultural machinery products is intelligent. However, with the application of artificial intelligence technology in agricultural machinery, more and more intelligent software and hardware devices have been added to agricultural machinery. However, the control system of traditional agricultural machinery is not advanced enough to adapt to new complex structures and rich functions. On the one hand, with the increase of smart devices, more wiring harnesses and complicated wiring are likely to cause low system reliability; on the other hand, with the continuous development of artificial intelligence technology, more smart modules will be added in the future, which requires agricultural machinery to have Very good system scalability.
发明内容Summary of the invention
本发明鉴于现有技术的以上情况作出，用于缓解和消除现有技术的以上缺陷，至少提供一种有益的选择。The present invention is made in view of the above situation of the prior art, and is used to alleviate and eliminate the above defects of the prior art, and at least provides a beneficial choice.
为了解决上述技术问题，本发明提供了一种基于二元控制***的智能农机，所述智能农机包括人工智能控制***和整车控制***，所述人工智能控制***和所述整车控制***之间通过CAN总线连接，所述人工智能控制***和所述整车控制***各自内部的模块各自布线。In order to solve the above technical problems, the present invention provides an intelligent agricultural machine based on a binary control system. The intelligent agricultural machine includes an artificial intelligence control system and a vehicle control system. They are connected by CAN bus, and the internal modules of the artificial intelligence control system and the vehicle control system are respectively wired.
根据一种实施方式，所述人工智能控制***包括人工智能控制模块、感知模块、决策模块；所述整车控制***包括整车控制模块、驾驶操作模块、机具作业模块、动力模块；所述人工智能控制模块和所述整车控制模块之间通过所述CAN总线连接，所述感知模块和所述决 策模块分别与所述人工智能控制模块通过点对点的方式连接，所述驾驶操作模块、所述机具作业模块、所述动力模块分别与所述整车控制模块通过点对点的方式连接。According to one embodiment, the artificial intelligence control system includes an artificial intelligence control module, a perception module, and a decision-making module; the vehicle control system includes a vehicle control module, a driving operation module, a machine tool operation module, and a power module; The intelligent control module and the vehicle control module are connected through the CAN bus, the perception module and the decision module are respectively connected to the artificial intelligence control module in a point-to-point manner, the driving operation module, the The implement working module and the power module are respectively connected with the vehicle control module in a point-to-point manner.
根据一种实施方式，所述感知模块用于获取所述农机的工作信息，并发送至所述人工智能控制模块，还通过所述人工智能控制模块发送至所述决策模块；所述决策模块通过所述人工智能控制模块接收所述感知模块获取的工作信息进行处理，规划农机的作业轨迹、作业行为和驾驶行为，据此生成决策指令并提交给所述人工智能控制模块供其生成人工智能控制指令；所述决策指令包括：作业轨迹指令、作业行为指令、驾驶行为指令；所述人工智能控制指令包括作业控制指令和驾驶控制指令；所述人工智能控制模块将所述人工智能控制指令通过所述CAN总线发送给所述整车控制模块；所述整车控制模块通过CAN总线接收所述人工智能控制模块发来的人工智能控制指令并生成整车控制指令，所述整车控制指令包括驾驶操作指令、作业操作指令和动力操作指令；所述驾驶操作模块用于根据所述驾驶操作指令控制农机的转向和移动速度；所述机具作业模块用于根据所述作业操作指令进行作业；所述动力模块包括发动机和变速箱，用于根据所述动力操作指令，通过发动机ECU进行发动机动力控制与排放控制；通过变速箱ECU进行变速箱动力换挡。According to one embodiment, the perception module is used to obtain the working information of the agricultural machinery and send it to the artificial intelligence control module, and also send it to the decision-making module through the artificial intelligence control module; the decision-making module passes The artificial intelligence control module receives the work information obtained by the perception module for processing, plans the operation trajectory, operation behavior and driving behavior of agricultural machinery, generates decision-making instructions based on this and submits it to the artificial intelligence control module for it to generate artificial intelligence control Instructions; the decision instructions include: job trajectory instructions, job behavior instructions, driving behavior instructions; the artificial intelligence control instructions include job control instructions and driving control instructions; the artificial intelligence control module passes the artificial intelligence control instructions through all The CAN bus is sent to the vehicle control module; the vehicle control module receives the artificial intelligence control instructions sent by the artificial intelligence control module through the CAN bus and generates vehicle control instructions. The vehicle control instructions include driving Operation instructions, work operation instructions, and power operation instructions; the driving operation module is used to control the steering and moving speed of the agricultural machinery according to the driving operation instructions; the implement operation module is used to perform operations according to the work operation instructions; The power module includes an engine and a gearbox, and is used to perform engine power control and emission control through the engine ECU according to the power operation command; and perform power shift of the gearbox through the gearbox ECU.
根据一种实施方式，所述工作信息包括：位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息和/或速度信息，所述感知模块包括：位置信息获取单元，用于通过卫星信号基准站及卫星信号移动站获取农机的位置信息；障碍物信息获取单元，用于通过安装于农机上的探测雷达获取障碍物信息；视觉信息识别单元，用于通过安装于农机的摄像头捕捉图像并对采集的图像进行处理分析，获取作物信息，并对农机前方作业范围进行检测，补充位置信息，以及 对农机前方障碍物进行检测，补充障碍物信息；作业性能信息获取单元，用于通过安装于农机的视觉传感器和重力传感器，获取农机的作业质量指标和作业数量指标信息；姿态信息获取单元，用于通过惯性导航***获取农机姿态信息；转向角信息获取单元，用于通过设于农机前轮的转角传感器获取转向角信息；速度信息获取单元，用于通过农机内部的发动机ECU和变速箱ECU实时获取农机的速度信息。According to an embodiment, the work information includes position information, obstacle information, crop information, work performance information, posture information, steering angle information, and/or speed information, and the perception module includes: a position information acquisition unit, Obtain the position information of agricultural machinery through satellite signal reference station and satellite signal mobile station; Obstacle information acquisition unit, used to obtain obstacle information through the detection radar installed on the agricultural machinery; Visual information recognition unit, used to obtain the obstacle information through the detection radar installed on the agricultural machinery The camera captures images and processes and analyzes the collected images, obtains crop information, detects the working range in front of the agricultural machine, supplements position information, and detects obstacles in front of the agricultural machine to supplement the obstacle information; the operation performance information acquisition unit uses It uses the visual sensor and gravity sensor installed on the agricultural machinery to obtain the operation quality index and the operation quantity index information of the agricultural machinery; the attitude information acquisition unit is used to acquire the attitude information of the agricultural machinery through the inertial navigation system; the steering angle information acquisition unit is used to obtain the attitude information through the inertial navigation system; The steering angle sensor on the front wheel of the agricultural machine obtains steering angle information; the speed information acquisition unit is used to obtain the speed information of the agricultural machine in real time through the engine ECU and the gearbox ECU inside the agricultural machine.
根据一种实施方式，所述人工智能控制***还包括人机交互模块，所述人机交互模块与所述人工智能控制模块通过点对点的方式连接，所述人机交互模块包括显示器，通过所述人工智能控制模块实时接收所述感知模块获取的信息、所述决策模块生成的决策指令并实时显示，所述人机交互模块还实时接收所述人工智能控制模块生成的人工智能控制指令并实时显示。According to one embodiment, the artificial intelligence control system further includes a human-computer interaction module, which is connected to the artificial intelligence control module in a point-to-point manner, and the human-computer interaction module includes a display through which the The artificial intelligence control module receives in real time the information obtained by the perception module and the decision instruction generated by the decision module and displays it in real time. The human-computer interaction module also receives the artificial intelligence control instruction generated by the artificial intelligence control module in real time and displays it in real time .
根据一种实施方式，所述人机交互模块通过所述人工智能控制模块从所述感知模块接收位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息、速度信息和/或实际作业轨迹信息并实时显示，所述人机交互模块还通过所述人工智能控制模块从所述决策模块接收作业轨迹指令、作业行为指令和驾驶行为指令并实时显示所述人机交互模块，还从所述人工智能控制模块接收作业控制指令和驾驶控制指令并实时显示。According to one embodiment, the human-computer interaction module receives position information, obstacle information, crop information, work performance information, posture information, steering angle information, speed information, and/from the perception module through the artificial intelligence control module. Or actual work trajectory information and display it in real time, the human-computer interaction module also receives work trajectory instructions, work behavior instructions, and driving behavior instructions from the decision-making module through the artificial intelligence control module, and displays the human-computer interaction module in real time, It also receives job control instructions and driving control instructions from the artificial intelligence control module and displays them in real time.
根据一种实施方式，所述人机交互模块还用于接收使用者指令并通过所述人工智能控制模块将所述使用者指令发送至所述决策模块。According to one embodiment, the human-computer interaction module is further configured to receive user instructions and send the user instructions to the decision-making module through the artificial intelligence control module.
根据一种实施方式，所述人工智能控制模块采用工业控制计算机或者嵌入式计算机实现。According to one embodiment, the artificial intelligence control module is implemented by an industrial control computer or an embedded computer.
根据一种实施方式，所述整车控制模块采用可编程控制器实现。According to one embodiment, the vehicle control module is implemented by a programmable controller.
根据一种实施方式，所述驾驶操作模块利用电控液压实现自动转向，利用电液比例阀实现移动速度自动调节。根据一种实施方式，所述驾驶操作模块利用电控液压实现自动转向，利用电液比例阀实现移动速度自动调节。According to one embodiment, the driving operation module uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of moving speed. According to one embodiment, the driving operation module uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of moving speed.
根据本发明的一些技术方案，将农机的模块划分为人工智能控制***与整车控制***，并据此将农机进行模块化划分，两个***之间通过一条CAN总线连接实现通信和数据交换，具有布线简单、***可扩展性好的优点。According to some technical solutions of the present invention, the modules of the agricultural machinery are divided into an artificial intelligence control system and a vehicle control system, and the agricultural machinery is modularized based on this, and the two systems are connected through a CAN bus to achieve communication and data exchange. It has the advantages of simple wiring and good system scalability.
附图说明Description of the drawings
图1是依据本发明一种实施方式的基于二元控制***的智能农机的结构示意图。Fig. 1 is a schematic structural diagram of an intelligent agricultural machine based on a binary control system according to an embodiment of the present invention.
图中：10：人工智能控制***；101：人工智能控制模块；102：感知模块；103：决策模块；104：人机交互模块；20：整车控制***；105：整车控制模块；106：驾驶操作模块；107：机具作业模块；108：动力模块；30：CAN总线。In the figure: 10: artificial intelligence control system; 101: artificial intelligence control module; 102: perception module; 103: decision-making module; 104: human-computer interaction module; 20: vehicle control system; 105: vehicle control module; 106: Driving operation module; 107: implement operation module; 108: power module; 30: CAN bus.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
如图1所示，本发明实施例提供的一种基于二元控制***的智能农机，包括：人工智能控制***10、整车控制***20、CAN总线30。CAN表示控制器局域网络(Controller Area Network)。As shown in FIG. 1, an intelligent agricultural machine based on a binary control system provided by an embodiment of the present invention includes: an artificial intelligence control system 10, a vehicle control system 20, and a CAN bus 30. CAN stands for Controller Area Network.
人工智能控制***10包括人工智能控制模块101、感知模块102、决策模块103、人机交互模块104。人工智能控制模块101、感知模块102、决策模块103、人机交互模块104为人工智能控制***10的内部模块，它们各自布线。The artificial intelligence control system 10 includes an artificial intelligence control module 101, a perception module 102, a decision-making module 103, and a human-computer interaction module 104. The artificial intelligence control module 101, the perception module 102, the decision-making module 103, and the human-computer interaction module 104 are internal modules of the artificial intelligence control system 10, and they are wired separately.
整车控制***20包括整车控制模块105、驾驶操作模块106、机具作业模块107、动力模块108。整车控制模块105、驾驶操作模块106、 机具作业模块107、动力模块108为整车控制***20的内部模块，它们各自布线。The vehicle control system 20 includes a vehicle control module 105, a driving operation module 106, an implement operation module 107, and a power module 108. The vehicle control module 105, the driving operation module 106, the implement operation module 107, and the power module 108 are internal modules of the vehicle control system 20, and they are wired separately.
下面对各模块进行具体说明。The following is a detailed description of each module.
感知模块102包括多个传感器，感知模块102用于获取农机的工作信息，并通过人工智能控制模块101发送至决策模块103和人机交互模块104。The sensing module 102 includes a plurality of sensors, and the sensing module 102 is used to obtain the working information of the agricultural machinery and send it to the decision-making module 103 and the human-computer interaction module 104 through the artificial intelligence control module 101.
根据一种实施方式，感知模块102获取的农机的工作信息包括：位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息和/或速度信息。According to an embodiment, the working information of the agricultural machine acquired by the sensing module 102 includes position information, obstacle information, crop information, work performance information, posture information, steering angle information and/or speed information.
根据一种实施方式，感知模块102包括：位置信息获取单元、障碍物信息获取单元、姿态信息获取单元、视觉信息识别单元、作业性能信息获取单元、转向角信息获取单元和速度信息获取单元。According to an embodiment, the perception module 102 includes: a position information acquisition unit, an obstacle information acquisition unit, a posture information acquisition unit, a visual information recognition unit, a work performance information acquisition unit, a steering angle information acquisition unit, and a speed information acquisition unit.
其中，位置信息获取单元用于通过卫星信号基准站及卫星信号移动站，根据差分定位技术获取农机位置信息，定位农机所处的位置；Wherein, the position information acquisition unit is used to obtain the position information of the agricultural machinery according to the differential positioning technology through the satellite signal reference station and the satellite signal mobile station, and locate the position of the agricultural machinery;
障碍物信息获取单元用于通过安装于农机的探测雷达获取障碍物信息，判断农机周围是否存在障碍物；The obstacle information acquisition unit is used to obtain obstacle information through the detection radar installed on the agricultural machine, and determine whether there are obstacles around the agricultural machine;
姿态信息获取单元用于通过惯性导航***获取农机姿态信息；The attitude information acquisition unit is used to acquire the attitude information of the agricultural machinery through the inertial navigation system;
视觉信息识别单元用于通过安装于农机的摄像头捕捉图像并对采集的图像进行处理分析，①获取作物信息，包括识别农机周围是否存在作物、作物种类以及作物高度等；②对农机前方作业范围进行检测，补充农机所处的位置信息数据；③对农机前方障碍物进行检测，补充障碍物信息数据，避免作业过程中发生事故。The visual information recognition unit is used to capture images through the camera installed on the agricultural machinery and process and analyze the collected images. ① Obtain crop information, including identifying whether there are crops, crop types, and crop heights around the agricultural machinery; ② Perform operations in front of the agricultural machinery Detect and supplement the location information data of the agricultural machinery; ③Detect the obstacles in front of the agricultural machinery, supplement the obstacle information data, and avoid accidents during the operation.
作业性能信息获取单元，用于通过安装于农机的视觉传感器和重力传感器，获取农机的作业质量指标和作业数量指标信息；The operation performance information acquisition unit is used to obtain the operation quality index and operation quantity index information of the agricultural machine through the visual sensor and the gravity sensor installed in the agricultural machine;
转向角信息获取单元用于通过设于农机前轮的转角传感器获取转向角信息，可判断农机前轮的朝向，即农机将朝向什么方向移动；The steering angle information acquisition unit is used to acquire steering angle information through a steering angle sensor provided on the front wheel of the agricultural machine, and can determine the direction of the front wheel of the agricultural machine, that is, in which direction the agricultural machine will move;
速度信息获取单元用于通过农机内部的发动机ECU和变速箱ECU实时获取农机的速度信息。The speed information acquisition unit is used to acquire the speed information of the agricultural machine in real time through the engine ECU and the gearbox ECU inside the agricultural machine.
其中，位置信息、障碍物信息、作物信息、姿态信息、作业性能信息、转向角信息均通过外接不同的传感器获取，速度信息则通过农机内部的发动机ECU(Electronic Control Unit，电子控制单元)和变速箱ECU直接读取，各个外接传感器与人工智能控制模块101连接并将数据发送至决策模块103和人机交互模块104，各ECU与整车控制模块105连接，然后通过CAN总线将数据发送至人工智能控制模块101所属决策模块103和人机交互模块104。Among them, position information, obstacle information, crop information, posture information, work performance information, and steering angle information are all obtained through different external sensors, and speed information is obtained through the engine ECU (Electronic Control Unit, electronic control unit) and gear shifting inside the agricultural machinery. The box ECU reads directly, and each external sensor is connected to the artificial intelligence control module 101 and sends the data to the decision-making module 103 and the human-computer interaction module 104. Each ECU is connected to the vehicle control module 105, and then the data is sent to the manual through the CAN bus. The decision-making module 103 and the human-computer interaction module 104 to which the intelligent control module 101 belongs.
决策模块103通过人工智能控制模块101接收感知模块102获取的工作信息进行处理，规划农机的作业轨迹、作业行为和驾驶行为，据此生成决策指令并提交给人工智能控制模块101供其生成人工智能控制指令；决策指令包括：作业轨迹指令、作业行为指令、驾驶行为指令；人工智能控制指令包括作业控制指令和驾驶控制指令；决策模块103还通过人工智能控制模块101将决策指令发送至人机交互模块104实时显示，便于使用者时刻了解农机的作业情况。The decision-making module 103 receives the work information obtained by the perception module 102 through the artificial intelligence control module 101 for processing, plans the operation trajectory, operation behavior and driving behavior of the agricultural machinery, generates decision-making instructions based on this, and submits it to the artificial intelligence control module 101 for it to generate artificial intelligence Control instructions; decision instructions include: job trajectory instructions, job behavior instructions, and driving behavior instructions; artificial intelligence control instructions include job control instructions and driving control instructions; decision module 103 also sends decision instructions to human-computer interaction through artificial intelligence control module 101 The module 104 displays in real time, which is convenient for the user to know the operation status of the agricultural machinery at all times.
人机交互模块104包括显示器，用于实时显示感知模块102获取的工作信息和决策模块103给出的决策指令，实现人机交互。The human-computer interaction module 104 includes a display for real-time display of the work information acquired by the perception module 102 and the decision-making instructions given by the decision-making module 103 to realize human-computer interaction.
优选地，人机交互模块104通过人工智能控制模块101从感知模块102接收位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息、速度信息和/或实际作业轨迹信息并实时显示；还通过人工智能控制模块101从决策模块103接收作业轨迹指令、作业行为指令和驾驶行为指令并实时显示；还从人工智能控制模块101接收作业控制指令和驾驶控制指令并实时显示。Preferably, the human-computer interaction module 104 receives position information, obstacle information, crop information, work performance information, posture information, steering angle information, speed information and/or actual work trajectory information from the perception module 102 through the artificial intelligence control module 101 and Real-time display; also receives job trajectory instructions, job behavior instructions and driving behavior instructions from the decision module 103 through the artificial intelligence control module 101 and displays them in real time; also receives job control instructions and driving control instructions from the artificial intelligence control module 101 and displays them in real time.
优选地，人机交互模块104通过两个显示器实现人机交互，一个用于实时显示农机内部设备工作状态信息，另一个用于实时显示外接传感器信号以及农机作业轨迹，具体地：Preferably, the human-computer interaction module 104 realizes human-computer interaction through two displays, one is used to display the working status information of the internal equipment of the agricultural machine in real time, and the other is used to display the external sensor signal and the operation track of the agricultural machine in real time, specifically:
a.农机内部设备工作状态信息包括：发动机信息、变速箱信息、速度信息、机具信息等。a. The working status information of the internal equipment of agricultural machinery includes: engine information, gearbox information, speed information, machine tool information, etc.
b.外部传感器信号及农机作业轨迹包括：位置信息、作物信息、 姿态信息、作业性能信息、转向角信息、期望作业轨迹、实际作业轨迹信息等。b. External sensor signals and agricultural machinery operation trajectory include: position information, crop information, posture information, operation performance information, steering angle information, expected operation trajectory, actual operation trajectory information, etc.
进一步优选地，人机交互模块104还用于接收使用者指令并将使用者指令通过人工智能控制模块101发送至决策模块103，决策模块103根据使用者指令修正或生成决策指令，进而由人工智能控制模块101生成人工智能控制指令，人工智能控制指令通过CAN总线发送至整车控制模块105最终实现使用者对农机的操作。Further preferably, the human-computer interaction module 104 is also used to receive user instructions and send the user instructions to the decision-making module 103 through the artificial intelligence control module 101. The decision-making module 103 modifies or generates decision-making instructions according to the user instructions, and then the artificial intelligence The control module 101 generates artificial intelligence control instructions, and the artificial intelligence control instructions are sent to the vehicle control module 105 through the CAN bus to finally realize the operation of the agricultural machinery by the user.
整车控制模块105通过CAN总线接收人工智能控制模块101发来的人工智能控制指令并生成整车控制指令，利用整车控制指令协同驾驶操作模块106、机具作业模块107和动力模块108执行相应的驾驶操作、作业操作和动力操作；整车控制指令包括驾驶操作指令、作业操作指令和动力操作指令。The vehicle control module 105 receives the artificial intelligence control instructions sent by the artificial intelligence control module 101 through the CAN bus and generates vehicle control instructions, and uses the vehicle control instructions to coordinate the driving operation module 106, the implement operation module 107, and the power module 108 to execute the corresponding Driving operation, job operation and power operation; vehicle control instructions include driving operation instructions, job operation instructions and power operation instructions.
驾驶操作指令，例如农机移动的快慢与移动的方向等指令，发送至驾驶操作模块106执行；作业操作指令，例如机具的转速、机具何时开始工作等指令，发送至机具作业模块107执行；动力操作指令，例如发动机与变速箱如何工作等指令，发送至动力模块108执行。Driving operation instructions, such as the speed of agricultural machinery movement and the direction of movement, are sent to the driving operation module 106 for execution; operation operation instructions, such as the rotation speed of the machine, when the machine starts to work, etc., are sent to the machine tool operation module 107 for execution; Operation instructions, such as instructions on how the engine and gearbox work, are sent to the power module 108 for execution.
驾驶操作模块106用于根据整车控制模块105生成的驾驶操作指令控制农机的转向(横向控制)和移动速度(纵向控制)。The driving operation module 106 is used to control the steering (lateral control) and moving speed (longitudinal control) of the agricultural machine according to the driving operation instructions generated by the vehicle control module 105.
优选地，驾驶操作模块106通过整车控制模块105接受驾驶操作指令，利用电控液压实现自动转向，利用电液比例阀实现移动速度自动调节。驾驶操作模块106中的电控液压和电液比例阀均为本领域现有技术，在此不再赘述。Preferably, the driving operation module 106 receives driving operation instructions through the vehicle control module 105, uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of the moving speed. The electronically controlled hydraulic and electro-hydraulic proportional valves in the driving operation module 106 are all existing technologies in the art, and will not be repeated here.
机具作业模块107用于根据整车控制模块105生成的作业操作指令进行作业，例如机具作业模块107包括收获机，通过收获机ECU接受作业操作指令，实现收茬高度控制、割台损失控制、高效低损脱粒控制、清选损失控制等。The implement operation module 107 is used to perform operations according to the operation instructions generated by the vehicle control module 105. For example, the implement operation module 107 includes a harvester, and receives operation instructions through the harvester ECU to achieve stubble height control, cutting table loss control, and high efficiency Low-loss threshing control, cleaning loss control, etc.
动力模块108包括发动机和变速箱，用于根据整车控制模块105生成的动力操作指令，通过发动机ECU进行发动机动力控制与排放控 制，通过变速箱ECU进行变速箱动力换挡。The power module 108 includes an engine and a gearbox, and is used to perform engine power control and emission control through the engine ECU according to the power operation commands generated by the vehicle control module 105, and to perform power shift of the transmission through the gearbox ECU.
优选地，人工智能控制模块101利用工业控制计算机或者或嵌入式计算机实现。Preferably, the artificial intelligence control module 101 is implemented using an industrial control computer or an embedded computer.
优选地，整车控制模块105采用可编程控制器方式实现。Preferably, the vehicle control module 105 is implemented in a programmable controller manner.
定义CAN总线通信协议，确保人工智能控制模块101与整车控制模块105之间的通信。Define the CAN bus communication protocol to ensure the communication between the artificial intelligence control module 101 and the vehicle control module 105.
本发明提供的基于二元控制***的智能农机，划分为人工智能控制***与整车控制***,人工智能控制***包括人工智能控制模块、感知模块、决策模块、人机交互模块；整车控制***包括整车控制模块、驾驶操作模块、机具作业模块、动力模块。人工智能控制***与整车控制***之间通过一条CAN总线连接实现通信和数据交换。根据这样的方式，一方面通过***的划分并且***间通过CAN总线进行连接，避免了不同***之间的各部件之间的点对点连接，并且各***的内部模块自行布线，从而使得布线紧凑，减少了布线复杂度。进一步，将人工智能控制模块、感知模块、决策模块、人机交互模块划分为人工智能控制***，将整车控制模块、驾驶操作模块、机具作业模块、动力模块划分为整车控制***，这样的划分方式减少了布线的空间分布，进一步降低了布线复杂度，提高了布线可靠度。根据本发明的实施方式，各***的内部模块之间以及与另一***的模块之间的通信通过控制模块进行，这样在进行扩展时，只需要考虑与控制模块的接口即可，从而使得***更容易进行扩展。The intelligent agricultural machinery based on the binary control system provided by the present invention is divided into an artificial intelligence control system and a vehicle control system. The artificial intelligence control system includes an artificial intelligence control module, a perception module, a decision-making module, a human-computer interaction module; a vehicle control system Including vehicle control module, driving operation module, machine tool operation module, power module. The artificial intelligence control system and the vehicle control system realize communication and data exchange through a CAN bus connection. According to this method, on the one hand, the system is divided and the systems are connected through the CAN bus, which avoids the point-to-point connection between the components of different systems, and the internal modules of each system are wired by themselves, thereby making the wiring compact and reducing Increased wiring complexity. Further, divide the artificial intelligence control module, perception module, decision module, and human-computer interaction module into artificial intelligence control systems, and divide the entire vehicle control module, driving operation module, machine tool operation module, and power module into the entire vehicle control system. The division method reduces the spatial distribution of wiring, further reduces wiring complexity, and improves wiring reliability. According to the embodiment of the present invention, the communication between the internal modules of each system and between the modules of another system is carried out through the control module, so that when expanding, only the interface with the control module needs to be considered, so that the system It is easier to expand.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

  1. 一种基于二元控制***的智能农机，其特征在于，所述智能农机包括人工智能控制***和整车控制***，所述人工智能控制***和所述整车控制***之间通过CAN总线连接，所述人工智能控制***的内部模块和所述整车控制***的内部模块各自布线。An intelligent agricultural machine based on a binary control system, characterized in that the intelligent agricultural machine includes an artificial intelligence control system and a vehicle control system, and the artificial intelligence control system and the vehicle control system are connected through a CAN bus, The internal modules of the artificial intelligence control system and the internal modules of the vehicle control system are respectively wired.
  2. 根据权利要求1所述的智能农机，其特征在于，The intelligent agricultural machine according to claim 1, wherein:
    所述人工智能控制***的内部模块包括人工智能控制模块、感知模块、决策模块；The internal modules of the artificial intelligence control system include an artificial intelligence control module, a perception module, and a decision-making module;
    所述整车控制***的内部模块包括整车控制模块、驾驶操作模块、机具作业模块、动力模块；The internal modules of the vehicle control system include a vehicle control module, a driving operation module, a machine tool operation module, and a power module;
    所述人工智能控制模块和所述整车控制模块之间通过所述CAN总线连接，The artificial intelligence control module and the vehicle control module are connected through the CAN bus,
    所述感知模块和所述决策模块分别与所述人工智能控制模块通过点对点的方式连接，The perception module and the decision module are respectively connected with the artificial intelligence control module in a point-to-point manner,
    所述驾驶操作模块、所述机具作业模块、所述动力模块分别与所述整车控制模块通过点对点的方式连接。The driving operation module, the implement working module, and the power module are respectively connected with the vehicle control module in a point-to-point manner.
  3. 根据权利要求2所述的智能农机，其特征在于，The intelligent agricultural machine according to claim 2, characterized in that:
    所述感知模块用于获取所述农机的工作信息，并发送给所述人工智能控制模块，还通过所述人工智能控制模块发送至所述决策模块；The perception module is used to obtain the working information of the agricultural machinery and send it to the artificial intelligence control module, and also send it to the decision-making module through the artificial intelligence control module;
    所述决策模块通过所述人工智能控制模块接收所述感知模块获取的工作信息进行处理，规划农机的作业轨迹、作业行为和驾驶行为，据此生成决策指令并提交给所述人工智能控制模块供其生成人工智能控制指令；所述决策指令包括：作业轨迹指令、作业行为指令、驾驶 行为指令；所述人工智能控制指令包括作业控制指令和驾驶控制指令；The decision-making module receives the work information obtained by the perception module through the artificial intelligence control module for processing, plans the operation trajectory, operation behavior and driving behavior of agricultural machinery, generates decision-making instructions based on this and submits them to the artificial intelligence control module for It generates artificial intelligence control instructions; the decision-making instructions include: operation trajectory instructions, operation behavior instructions, and driving behavior instructions; the artificial intelligence control instructions include operation control instructions and driving control instructions;
    所述人工智能控制模块将所述人工智能控制指令通过所述CAN总线发送给所述整车控制模块；The artificial intelligence control module sends the artificial intelligence control instruction to the vehicle control module through the CAN bus;
    所述整车控制模块通过CAN总线接收所述人工智能控制模块发来的人工智能控制指令并生成整车控制指令，所述整车控制指令包括驾驶操作指令、作业操作指令和动力操作指令；The vehicle control module receives the artificial intelligence control instructions sent by the artificial intelligence control module via the CAN bus and generates vehicle control instructions, the vehicle control instructions including driving operation instructions, job operation instructions, and power operation instructions;
    所述驾驶操作模块用于根据所述驾驶操作指令控制农机的转向和移动速度；The driving operation module is used to control the steering and moving speed of the agricultural machinery according to the driving operation instruction;
    所述机具作业模块用于根据所述作业操作指令进行作业；The machine tool work module is used to perform work according to the work operation instruction;
    所述动力模块包括发动机和变速箱，用于根据所述动力操作指令，通过发动机ECU进行发动机动力控制与排放控制；通过变速箱ECU进行变速箱动力换挡。The power module includes an engine and a gearbox, and is used to perform engine power control and emission control through the engine ECU according to the power operation command; and perform power shift of the gearbox through the gearbox ECU.
  4. 根据权利要求3所述的智能农机，其特征在于，The intelligent agricultural machine according to claim 3, characterized in that:
    所述工作信息包括：位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息和/或速度信息，The work information includes: position information, obstacle information, crop information, work performance information, attitude information, steering angle information and/or speed information,
    所述感知模块包括：The perception module includes:
    位置信息获取单元，用于通过卫星信号基准站及卫星信号移动站获取农机的位置信息；The position information acquisition unit is used to acquire the position information of the agricultural machinery through the satellite signal reference station and the satellite signal mobile station;
    障碍物信息获取单元，用于通过安装于农机上的探测雷达获取障碍物信息；Obstacle information acquisition unit for acquiring obstacle information through a detection radar installed on agricultural machinery;
    视觉信息识别单元，用于通过安装于农机的摄像头捕捉图像并对采集的图像进行处理分析，获取作物信息，并对农机前方作业范围进行检测，补充位置信息，以及对农机前方障碍物进行检测，补充障碍物信息；The visual information recognition unit is used to capture images through the camera installed on the agricultural machinery and process and analyze the collected images, obtain crop information, detect the working range in front of the agricultural machinery, supplement position information, and detect obstacles in front of the agricultural machinery, Supplement obstacle information;
    作业性能信息获取单元，用于通过安装于农机的视觉传感器和重力传感器，获取农机的作业质量指标和作业数量指标信息；The operation performance information acquisition unit is used to obtain the operation quality index and operation quantity index information of the agricultural machine through the visual sensor and the gravity sensor installed in the agricultural machine;
    姿态信息获取单元，用于通过惯性导航***获取农机姿态信息；The attitude information acquisition unit is used to acquire the attitude information of the agricultural machinery through the inertial navigation system;
    转向角信息获取单元，用于通过设于农机前轮的转角传感器获取转向角信息；The steering angle information acquisition unit is used to acquire steering angle information through a steering angle sensor provided on the front wheel of the agricultural machine;
    速度信息获取单元，用于通过农机内部的发动机ECU和变速箱ECU实时获取农机的速度信息。The speed information acquisition unit is used to acquire the speed information of the agricultural machine in real time through the engine ECU and the gearbox ECU inside the agricultural machine.
  5. 根据权利要求3所述的基于二元控制***的智能农机，其特征在于：The intelligent agricultural machine based on a dual control system according to claim 3, characterized in that:
    所述人工智能控制***的内部模块还包括人机交互模块，所述人机交互模块与所述人工智能控制模块通过点对点的方式连接，所述人机交互模块包括显示器，通过所述人工智能控制模块实时接收所述感知模块获取的信息、所述决策模块生成的决策指令并实时显示，所述人机交互模块还实时接收所述人工智能控制模块生成的人工智能控制指令并实时显示。The internal modules of the artificial intelligence control system also include a human-computer interaction module, which is connected to the artificial intelligence control module in a point-to-point manner, and the human-computer interaction module includes a display, which is controlled by the artificial intelligence. The module receives the information obtained by the perception module and the decision instruction generated by the decision module in real time and displays it in real time. The human-computer interaction module also receives the artificial intelligence control instruction generated by the artificial intelligence control module in real time and displays it in real time.
  6. 根据权利要求5所述的智能农机，其特征在于：The intelligent agricultural machine according to claim 5, characterized in that:
    所述人机交互模块通过所述人工智能控制模块从所述感知模块接收位置信息、障碍物信息、作物信息、作业性能信息、姿态信息、转向角信息、速度信息和/或实际作业轨迹信息并实时显示，The human-computer interaction module receives position information, obstacle information, crop information, work performance information, posture information, steering angle information, speed information and/or actual work trajectory information from the perception module through the artificial intelligence control module. real-time display,
    所述人机交互模块还通过所述人工智能控制模块从所述决策模块接收作业轨迹指令、作业行为指令和驾驶行为指令并实时显示，The human-computer interaction module also receives operation trajectory instructions, operation behavior instructions, and driving behavior instructions from the decision-making module through the artificial intelligence control module and displays them in real time,
    所述人机交互模块还从所述人工智能控制模块接收作业控制指令和驾驶控制指令并实时显示。The man-machine interaction module also receives operation control instructions and driving control instructions from the artificial intelligence control module and displays them in real time.
  7. 根据权利要求6所述的智能农机，其特征在于：The intelligent agricultural machine according to claim 6, characterized in that:
    所述人机交互模块还用于接收使用者指令并通过所述人工智能控制模块将所述使用者指令发送至所述决策模块。The human-computer interaction module is also used to receive user instructions and send the user instructions to the decision module through the artificial intelligence control module.
  8. 根据权利要求1所述的智能农机，其特征在于：The intelligent agricultural machine according to claim 1, characterized in that:
    所述人工智能控制模块采用工业控制计算机或者嵌入式计算机实现。The artificial intelligence control module is implemented by an industrial control computer or an embedded computer.
  9. 根据权利要求1所述的智能农机，其特征在于：The intelligent agricultural machine according to claim 1, characterized in that:
    所述整车控制模块采用可编程控制器实现。The vehicle control module is implemented by a programmable controller.
  10. 根据权利要求3所述的智能农机，其特征在于：The intelligent agricultural machine according to claim 3, characterized in that:
    所述驾驶操作模块利用电控液压实现自动转向，利用电液比例阀实现移动速度自动调节。The driving operation module uses electronically controlled hydraulic pressure to realize automatic steering, and uses an electro-hydraulic proportional valve to realize automatic adjustment of moving speed.
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