WO2021128773A1 - Right-angled turning method and system for crawler-type driverless combine harvester - Google Patents
Right-angled turning method and system for crawler-type driverless combine harvester Download PDFInfo
- Publication number
- WO2021128773A1 WO2021128773A1 PCT/CN2020/097903 CN2020097903W WO2021128773A1 WO 2021128773 A1 WO2021128773 A1 WO 2021128773A1 CN 2020097903 W CN2020097903 W CN 2020097903W WO 2021128773 A1 WO2021128773 A1 WO 2021128773A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- combine harvester
- vehicle
- turn
- angle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000003306 harvesting Methods 0.000 claims abstract description 75
- 230000005484 gravity Effects 0.000 claims description 40
- 238000005516 engineering process Methods 0.000 description 6
- 241001124569 Lycaenidae Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 235000013339 cereals Nutrition 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 239000010794 food waste Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
Definitions
- the invention belongs to the field of unmanned control of agricultural machinery, and particularly relates to a right-angle turning method for a crawler-type unmanned combine harvester.
- the current research on the unmanned control of crawler combine harvesters mainly focuses on the straight-line path tracking control and the large-curvature path tracking control that follows the harvesting boundary.
- Commonly used control methods include PID control, fuzzy control and neural network control.
- the prior art obtains two tangent equations of a path with large curvature based on visual navigation and a rotating projection algorithm, and then estimates the turning radius, and realizes path tracking of the combine harvester with large curvature through dual closed-loop PD control.
- the present invention provides a right-angle turning method and system for a crawler-type unmanned combine harvester to prevent the combine harvester from overwhelming crops when turning at the head of the field, so as to reduce food loss.
- a right-angle turning method for a crawler unmanned combine harvester When harvesting crops in the outermost circle of the field, multiple forward and backward turns are used; when harvesting crops on the outermost circle of the field, a single forward and backward turning method is used according to the actual harvesting situation. Direct turn method.
- the multiple forward and backward turning method is:
- Step (1) the combine harvester harvests crops along the planned straight path, and the vehicle's center of gravity reaches the turning point B of the planned path. At this time, the distance from the center of gravity of the vehicle to the ground is d0, where d0 ⁇ 0;
- Step (2) the combine harvester returns along the path of step (1), and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, and the center of gravity of the vehicle is point A;
- Step (3) the combine harvester turns left/right at point A to continue operation, and stops when the distance d from the center of gravity of the vehicle to the ground is equal to d0, and the center of gravity of the vehicle is at point C;
- Step (4) the combine harvester reverses along the straight path CA, and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, at this time the center of gravity of the vehicle is point A;
- Step (6) at point A, the combine harvester turns in the opposite direction of step (3) (n+1)* ⁇ , and the turning angle is fed back to the driving controller;
- Step (7) the combine harvester advances along the planned straight path, the vehicle's center of gravity turns left/right 90° at turning point B, and the turning angle is fed back to the driving controller to complete a right-angle turn.
- the actual harvesting situation includes harvesting before and after turning; harvesting before turning and no harvesting after turning; no harvesting before turning, and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the maximum circle swept by the header during turning It needs to be harvested after turning; it is not necessary to harvest before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning, and there is no need to harvest after turning; The distance from the longitudinal axis of the vehicle body to the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header when turning.
- the harvesting is carried out before and after the turn, no harvesting is required before the turn, the distance between the longitudinal axis of the vehicle body and the crop boundary before the turn is less than the radius of the largest circle swept by the header during the turn, and the harvesting is required after the turn, using a single advance and retreat. Turning method.
- the single forward and backward turning method is: the combine harvester harvests crops along the planned straight path, the vehicle's center of gravity reaches the head turning point B of the planned path and stops, the combine harvester turns left/right 45° and then travels forward after a distance d1 Stop at point C, then start backing from point C, turn left/right at an angular speed ⁇ while reversing, stop when the turning angle reaches 45°, and complete a right-angle turn.
- the crop needs to be harvested before the turn, does not need to be harvested after the turn, does not need to be harvested before the turn, the distance from the longitudinal axis of the vehicle body to the crop boundary before the turn is less than the radius of the largest circle swept by the header during the turn, and does not need to harvest after the turn. There is no need to harvest before turning and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header during turning, and the direct turning method is adopted.
- the direct turning method is: the combine harvester harvests crops along the planned straight path, the vehicle's center of gravity reaches the turning point of the planned path and directly turns left/right by 90°, the turning angle is fed back to the driving controller to complete the right-angle turning.
- a right-angle turning system for a crawler-type unmanned combine harvester which is characterized in that it includes a driving controller, a satellite navigation system and a vehicle-mounted attitude sensor connected to the driving controller, and the vehicle-mounted satellite navigation system obtains real-time lateral deviation, heading deviation, and vehicle The distance d from the center of gravity to the ground, the on-board attitude sensor senses the heading angle of the vehicle in real time and sends it to the driving controller; the driving controller controls the combine harvester to walk.
- the beneficial effect of the present invention is that the present invention provides different right-angle turning methods and corresponding method selection methods for the harvesting position of the crawler unmanned combine harvester in the field and the next harvesting requirements.
- the turning method can be used. Avoid overwhelming crops and reduce food loss.
- Different right-angle turning methods include multiple forward and backward turning methods, single forward and backward turning methods, and direct turning methods.
- the multiple forward and backward turning methods are suitable for harvesting crops in the outermost circle of the field; when harvesting crops that are not the outermost circle, a single time
- the forward and backward turning method is suitable for harvesting before and after turning, and no harvesting before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning, and harvesting is required after turning; the direct turning method is applicable It is necessary to harvest before turning, and does not need to be harvested after turning.
- the right-angle turning method proposed by the present invention covers all the right-angle turning requirements of the actual harvesting operation of the crawler combine harvester, and has a wide range of applications.
- Figure 1 is a flow chart of a right-angle turning method for a crawler-type unmanned combine harvester of the present invention
- FIG. 2 is a schematic diagram of the distance from the longitudinal axis of the vehicle body to the crop boundary before turning and the radius of the largest circle swept by the header during turning in the present invention
- Figure 3 is a schematic diagram of the multiple forward and backward turning method of the present invention.
- Figure 4 is a schematic diagram of a single forward and backward turning method in the present invention.
- a right-angle turning method for a crawler unmanned combine harvester provides different right-angle turning methods according to the actual harvesting situation (determined by path planning): when harvesting crops in the outermost circle of the field, multiple forward and backward turns are used Method: When harvesting crops in fields other than the outermost circle, if harvesting is carried out before the turn and harvesting is required after the turn, a single forward and backward turning method is adopted; when crops in the field that are not the outermost circle are harvested, if the crops are harvested before the turn, There is no need to harvest after turning, and the direct turning method is adopted; when harvesting crops in the field that is not the outermost circle, if harvesting is not done before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning ( Figure 2), and need to be harvested after turning, adopt a single forward and retreat turning method; when harvesting crops in a field that is not the outermost circle, if no harvesting is
- the combine harvester is equipped with a driving controller, which is connected with the on-board satellite navigation system and the on-board attitude sensor.
- the on-board satellite navigation system includes an antenna, a mobile radio, a mobile receiver and a navigation controller.
- the navigation controller is connected through the antenna and the mobile radio.
- the mobile receiver receives and processes the positioning data of the combine harvester (including the heading angle and real-time position), and calculates the real-time lateral deviation, heading deviation, and the distance d from the center of gravity of the vehicle to the ground according to the planned path stored in the navigation controller.
- the calculation process is the existing technology) and sent to the driving controller; the on-board attitude sensor senses the vehicle heading angle in real time and sends it to the driving controller; the driving controller according to the vehicle heading angle, lateral deviation, heading deviation, and distance from the center of gravity of the vehicle to the ground d Control the walking of the combine harvester.
- the multiple forward and backward turning method includes the following steps:
- Step (1) the combine harvester harvests crops along the planned straight path 1 according to the lateral deviation and the heading deviation.
- the heading angle of the vehicle is ⁇
- the vehicle's center of gravity reaches the turning point B of the planned path and stops.
- the distance from the center of gravity of the vehicle to the ground Is d0 (d0 ⁇ 0);
- step (2) the combine harvester reverses along the linear path 1 in step (1) according to the lateral deviation, heading deviation and distance to the ground.
- the vehicle will stop.
- the location of the center of gravity is set as point A;
- Step (3) at point A, the combine harvester turns to the left by a fixed angle ⁇ according to the heading deviation.
- the value of ⁇ is calibrated according to different harvesters. The value range is usually 10 ⁇ 30°.
- ⁇ is Negative value, and at the same time, update the target heading angle ⁇ of the vehicle to ( ⁇ + ⁇ ), and the driving controller controls the combine harvester to advance along the updated heading angle ( ⁇ + ⁇ ) to harvest.
- the distance d from the center of gravity of the vehicle to the ground is equal to Stop at d0. At this time, the center of gravity of the vehicle is set as point C;
- step (4) the combine harvester reverses along the straight path (CA) of step (3) according to the heading deviation and the distance d from the center of gravity of the vehicle to the ground.
- the combine will stop.
- the location of the center of gravity of the vehicle is designated as point A;
- Step (5) according to actual needs, repeat steps (3)-(4) 1 to 2 times (after repeating once, the path of the combine harvester is AD), the combine harvester stops at point A;
- Step (6) at point A, the combine harvester turns in the opposite direction (turn right) according to the heading deviation of step (3), the steering angle is n* ⁇ , n is the number of times of step (3) steering repetition, the turning angle passes
- the on-board attitude sensor feeds back to the driving controller;
- Step (7) the combine harvester advances along the planned straight path 1 according to the lateral deviation and the heading deviation.
- the center of gravity of the vehicle reaches the turning point B of the planned path, it turns to the left by 90°, and the turning angle is fed back to the driving controller through the on-board attitude sensor.
- step (3) is a right turn ⁇ .
- ⁇ is a positive value, in step (6), it is a left turn, and in step (7), it is a right turn.
- the single forward and backward turning method includes the following steps:
- Step (1) the combine harvester harvests crops along the planned straight path 1 according to the lateral deviation and the heading deviation.
- the heading angle of the vehicle is ⁇
- the vehicle's center of gravity reaches the turning point B of the planned path and stops.
- the distance from the center of gravity of the vehicle to the ground Is d0 (d0 ⁇ 0);
- Step (2) At point B, the combine harvester turns 45° to the left according to the heading deviation and then travels a distance d1 before reaching point C and stops.
- the value of d1 needs to be calibrated according to the actual harvester, usually half the length of the vehicle.
- the walking distance is obtained by multiplying the walking time and the vehicle speed;
- Step (3) the combine harvester starts to reverse from point C, and while reversing, it turns left at a fixed steering angular speed ⁇ .
- the value of the steering angular speed ⁇ is calibrated according to different combine harvesters.
- the value range is 3-15 degrees/second, usually taken 9 degrees/second, the driving controller reads the turning angle in real time through the on-board attitude sensor during the turning process. When the turning angle reaches 45°, the vehicle will stop. At this time, the center of gravity of the vehicle is D, and then the driving controller will follow the lateral deviation and heading of the corresponding path 2. The deviation controls the vehicle to move forward and harvest, so that the 90° right-angle turn from path 1 to path 2 is completed.
- the direct turning method is: the combine harvester harvests crops along the planned straight path according to the lateral deviation and the heading deviation, the vehicle's center of gravity reaches the turning point of the planned path and directly turns left/right 90°, and the turning angle is fed back to by the on-board attitude sensor
- the driving controller can complete a 90° right-angle turn.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Disclosed are a right-angled turning method and system for a crawler-type driverless combine harvester. For the harvesting position and the next harvesting requirement of a crawler-type driverless combine harvester in a field, different right-angled turning methods are selected. The right-angled turning methods comprise a multiple forward and backward turning method, a single forward and backward turning method, and a direct turning method. The right-angled turning method is used, such that the combine harvester can turn while crushing crops to the smallest possible extent, so as to reduce grain loss.
Description
本发明属于农机无人驾驶控制领域，尤其涉及一种履带式无人驾驶联合收割机直角转弯方法。The invention belongs to the field of unmanned control of agricultural machinery, and particularly relates to a right-angle turning method for a crawler-type unmanned combine harvester.
近年来随着自动控制技术、导航技术和传感探测技术的快速发展，农机自动驾驶技术得到了长足进步。农机自动驾驶技术开始应用于耕作、播种、施肥、施药和收获等农业生产过程。其中广泛应用于南方稻麦收获的履带式联合收割机作业环境恶劣，人工驾驶强度大，对自动驾驶的需求尤为迫切。In recent years, with the rapid development of automatic control technology, navigation technology and sensor detection technology, the automatic driving technology of agricultural machinery has made great progress. Autonomous driving technology for agricultural machinery has begun to be applied to agricultural production processes such as farming, seeding, fertilization, pesticide application, and harvesting. Among them, the crawler combine harvester, which is widely used in southern rice and wheat harvesting, has a harsh working environment and strong manual driving. The demand for automatic driving is particularly urgent.
目前针对履带式联合收割机无人驾驶控制方面的研究主要集中于直线路径跟踪控制和跟随收割边界的大曲率路径跟踪控制。常用的控制方法有PID控制、模糊控制和神经网络控制等。现有技术基于视觉导航和旋转投影算法，获取大曲率路径的两条切线方程，进而估算转弯半径，并通过双闭环PD控制实现了联合收获机械的大曲率路径跟踪。履带式联合收割机在实际作业过程中，在收割到地头时需要进行90°直角转弯，由于联合收割机割台的结构特点，地头直接进行90°直角转弯会将谷物压倒，进而导致被压倒的谷物无法顺利被收割，造成粮食浪费。The current research on the unmanned control of crawler combine harvesters mainly focuses on the straight-line path tracking control and the large-curvature path tracking control that follows the harvesting boundary. Commonly used control methods include PID control, fuzzy control and neural network control. The prior art obtains two tangent equations of a path with large curvature based on visual navigation and a rotating projection algorithm, and then estimates the turning radius, and realizes path tracking of the combine harvester with large curvature through dual closed-loop PD control. In the actual operation of the crawler combine harvester, it needs to make a 90° right-angle turn when harvesting to the top of the field. Due to the structural characteristics of the combine harvester header, a direct 90° right-angle turn at the head of the field will overwhelm the grain, which will lead to overwhelming. Grain cannot be harvested smoothly, causing food waste.
发明内容Summary of the invention
为了克服上述技术问题，本发明提供了一种履带式无人驾驶联合收割机直角转弯方法与***，避免联合收割机在地头转弯时压倒作物，以减少粮食损失。In order to overcome the above technical problems, the present invention provides a right-angle turning method and system for a crawler-type unmanned combine harvester to prevent the combine harvester from overwhelming crops when turning at the head of the field, so as to reduce food loss.
为了实现上述技术目的，本发明所采用的技术方案如下：In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:
一种履带式无人联合收割机直角转弯方法，收割田块最外圈作物时，采用多次进退转弯方法；收割田块非最外圈作物时，根据实际收割情况采用单次进退转弯方法或者直接转弯方法。A right-angle turning method for a crawler unmanned combine harvester. When harvesting crops in the outermost circle of the field, multiple forward and backward turns are used; when harvesting crops on the outermost circle of the field, a single forward and backward turning method is used according to the actual harvesting situation. Direct turn method.
进一步，所述多次进退转弯方法为：Further, the multiple forward and backward turning method is:
步骤(1)，联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点B停车，此时车辆重心到地头距离为d0，其中d0≥0；Step (1), the combine harvester harvests crops along the planned straight path, and the vehicle's center of gravity reaches the turning point B of the planned path. At this time, the distance from the center of gravity of the vehicle to the ground is d0, where d0≥0;
步骤(2)，联合收割机沿步骤(1)的路径返回，当车辆重心到地头距离d大于或等于 设定阈值d_threshold后停车，此时车辆重心为点A；Step (2), the combine harvester returns along the path of step (1), and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, and the center of gravity of the vehicle is point A;
步骤(3)，联合收割机在点A处左/右转△θ继续作业，当车辆重心到地头距离d值等于d0时停车，此时车辆重心为点C；Step (3), the combine harvester turns left/right at point A to continue operation, and stops when the distance d from the center of gravity of the vehicle to the ground is equal to d0, and the center of gravity of the vehicle is at point C;
步骤(4)，联合收割机沿直线路径CA倒车，当车辆重心到地头距离d大于或等于设定阈值d_threshold后停车，此时车辆重心为点A；Step (4), the combine harvester reverses along the straight path CA, and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, at this time the center of gravity of the vehicle is point A;
步骤(5)，重复步骤(3)-(4)n次后，联合收割机在A点停车，n＝1或2；Step (5), after repeating steps (3)-(4) n times, the combine harvester stops at point A, n=1 or 2;
步骤(6)，在点A处联合收割机按步骤(3)反方向转向(n+1)*△θ，转弯角度反馈给行车控制器；Step (6), at point A, the combine harvester turns in the opposite direction of step (3) (n+1)*△θ, and the turning angle is fed back to the driving controller;
步骤(7)，联合收割机沿规划直线路径前进，车辆重心地头转弯点B时左/右转90°，转弯角度反馈给行车控制器，完成直角转弯。Step (7), the combine harvester advances along the planned straight path, the vehicle's center of gravity turns left/right 90° at turning point B, and the turning angle is fed back to the driving controller to complete a right-angle turn.
进一步，所述实际收割情况包括转弯前后均进行收割；转弯前需要收割、转弯后不需要收割；转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后需要收割；转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后不需要收割；转弯前不需要收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径。Further, the actual harvesting situation includes harvesting before and after turning; harvesting before turning and no harvesting after turning; no harvesting before turning, and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the maximum circle swept by the header during turning It needs to be harvested after turning; it is not necessary to harvest before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning, and there is no need to harvest after turning; The distance from the longitudinal axis of the vehicle body to the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header when turning.
更进一步，所述转弯前后均进行收割，转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后需要收割，均采用单次进退转弯方法。Furthermore, the harvesting is carried out before and after the turn, no harvesting is required before the turn, the distance between the longitudinal axis of the vehicle body and the crop boundary before the turn is less than the radius of the largest circle swept by the header during the turn, and the harvesting is required after the turn, using a single advance and retreat. Turning method.
更进一步，所述单次进退转弯方法为：联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点B停车，联合收割机左/右转45°后向前行走距离d1后到达点C停车，再从C点开始倒车，倒车的同时以角速度ω左/右转，当转弯角度达到45°时停车，至此完成直角转弯。Furthermore, the single forward and backward turning method is: the combine harvester harvests crops along the planned straight path, the vehicle's center of gravity reaches the head turning point B of the planned path and stops, the combine harvester turns left/right 45° and then travels forward after a distance d1 Stop at point C, then start backing from point C, turn left/right at an angular speed ω while reversing, stop when the turning angle reaches 45°, and complete a right-angle turn.
进一步，所述转弯前需要收割、转弯后不需要收割，转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后不需要收割，转弯前不需要收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径，均采用直接转弯方法。Further, the crop needs to be harvested before the turn, does not need to be harvested after the turn, does not need to be harvested before the turn, the distance from the longitudinal axis of the vehicle body to the crop boundary before the turn is less than the radius of the largest circle swept by the header during the turn, and does not need to harvest after the turn. There is no need to harvest before turning and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header during turning, and the direct turning method is adopted.
更进一步，所述直接转弯方法为：联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点后直接左/右转90°，转弯角度反馈至行车控制器，完成直角转弯。Furthermore, the direct turning method is: the combine harvester harvests crops along the planned straight path, the vehicle's center of gravity reaches the turning point of the planned path and directly turns left/right by 90°, the turning angle is fed back to the driving controller to complete the right-angle turning.
一种履带式无人联合收割机直角转弯***，其特征在于，包括行车控制器，以及与行车控制器连接的卫星导航***和车载姿态传感器，车载卫星导航***获取实时横向偏差、 航向偏差、车辆重心到地头距离d，车载姿态传感器实时感知车辆航向角，并发送给行车控制器；由行车控制器控制联合收割机行走。A right-angle turning system for a crawler-type unmanned combine harvester, which is characterized in that it includes a driving controller, a satellite navigation system and a vehicle-mounted attitude sensor connected to the driving controller, and the vehicle-mounted satellite navigation system obtains real-time lateral deviation, heading deviation, and vehicle The distance d from the center of gravity to the ground, the on-board attitude sensor senses the heading angle of the vehicle in real time and sends it to the driving controller; the driving controller controls the combine harvester to walk.
本发明的有益效果是：本发明针对履带式无人驾驶联合收割机在田块中的收割位置和下一步收割需求，提供了不同的直角转弯方法和相应的方法选择方法，使用该转弯方法能够避免压倒作物、减少粮食损失。不同的直角转弯方法包括多次进退转弯方法、单次进退转弯方法和直接转弯方法，多次进退转弯方法适用于收割田块最外圈作物时；收割田块非最外圈作物时，单次进退转弯方法适用于转弯前后均需要收割，以及转弯前没有进行收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后需要收割；直接转弯方法适用于转弯前需要收割、转完后不需要收割，转弯前没有进行收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后不需要收割，以及转弯前没有进行收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径。本发明提出的直角转弯方法，覆盖了履带式联合收割机实际收割作业的所有直角转弯需求，适应范围广泛。The beneficial effect of the present invention is that the present invention provides different right-angle turning methods and corresponding method selection methods for the harvesting position of the crawler unmanned combine harvester in the field and the next harvesting requirements. The turning method can be used. Avoid overwhelming crops and reduce food loss. Different right-angle turning methods include multiple forward and backward turning methods, single forward and backward turning methods, and direct turning methods. The multiple forward and backward turning methods are suitable for harvesting crops in the outermost circle of the field; when harvesting crops that are not the outermost circle, a single time The forward and backward turning method is suitable for harvesting before and after turning, and no harvesting before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning, and harvesting is required after turning; the direct turning method is applicable It is necessary to harvest before turning, and does not need to be harvested after turning. There is no harvesting before turning, the distance between the longitudinal axis of the body and the crop boundary before turning is less than the radius of the largest circle swept by the header when turning, and there is no need to harvest after turning, and turning There is no harvest before and the distance from the longitudinal axis of the vehicle body to the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header during turning. The right-angle turning method proposed by the present invention covers all the right-angle turning requirements of the actual harvesting operation of the crawler combine harvester, and has a wide range of applications.
图1是本发明履带式无人驾驶联合收割机直角转弯方法流程图；Figure 1 is a flow chart of a right-angle turning method for a crawler-type unmanned combine harvester of the present invention;
图2是本发明中转弯前车身纵轴到作物边界的距离与转弯时割台扫过最大圆的半径示意图；2 is a schematic diagram of the distance from the longitudinal axis of the vehicle body to the crop boundary before turning and the radius of the largest circle swept by the header during turning in the present invention;
图3是本发明中多次进退转弯方法示意图；Figure 3 is a schematic diagram of the multiple forward and backward turning method of the present invention;
图4是本发明中单次进退转弯方法示意图。Figure 4 is a schematic diagram of a single forward and backward turning method in the present invention.
为对本发明有进一步的了解，下面结合说明书附图和实施例对本发明作进一步说明，但本发明并不局限于以下实施例。In order to have a further understanding of the present invention, the present invention will be further described below with reference to the drawings and embodiments of the specification, but the present invention is not limited to the following embodiments.
如图1所示，一种履带式无人联合收割机直角转弯方法，根据实际收割情况(由路径规划确定)提供不同的直角转弯方法：收割田块最外圈作物时，采用多次进退转弯方法；收割田块非最外圈作物时，若转弯前进行了收割且转弯后也需要进行收割，采用单次进退转弯方法；收割田块非最外圈作物时，若转弯前进行了收割，转弯后不需要收割，采用直接转弯方法；收割田块非最外圈作物时，若转弯前没有进行收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径(图2)，且转弯后需要收割，采用单次进退转弯方法；收割田块非最外圈作物时，若转弯前没有进行收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径(图2)，且转弯后不需要收割，采用直接转弯 方法；收割田块非最外圈作物时，若转弯前没有进行收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径，采用直接转弯方法。As shown in Figure 1, a right-angle turning method for a crawler unmanned combine harvester provides different right-angle turning methods according to the actual harvesting situation (determined by path planning): when harvesting crops in the outermost circle of the field, multiple forward and backward turns are used Method: When harvesting crops in fields other than the outermost circle, if harvesting is carried out before the turn and harvesting is required after the turn, a single forward and backward turning method is adopted; when crops in the field that are not the outermost circle are harvested, if the crops are harvested before the turn, There is no need to harvest after turning, and the direct turning method is adopted; when harvesting crops in the field that is not the outermost circle, if harvesting is not done before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the radius of the largest circle swept by the header during turning ( Figure 2), and need to be harvested after turning, adopt a single forward and retreat turning method; when harvesting crops in a field that is not the outermost circle, if no harvesting is carried out before turning, the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than the sweeping header during turning The radius of the largest circle is exceeded (Figure 2), and there is no need to harvest after the turn, and the direct turning method is adopted; when harvesting crops in the field that is not the outermost circle, if the crop is not harvested before the turn and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is greater than It is equal to the radius of the largest circle swept by the header when turning, and the direct turning method is adopted.
联合收割机上设有行车控制器，行车控制器与车载卫星导航***和车载姿态传感器连接，车载卫星导航***包括天线、移动电台、移动接收机和导航控制器，其中导航控制器通过天线、移动电台和移动接收机接收并处理联合收割机的定位数据(包括航向角和实时位置)，并根据存储在导航控制器内的规划路径计算获取实时横向偏差、航向偏差、车辆重心到地头距离d(该计算过程为现有技术)，并发送给行车控制器；车载姿态传感器实时感知车辆航向角，并发送给行车控制器；行车控制器根据车辆航向角、横向偏差、航向偏差、车辆重心到地头距离d控制联合收割机行走。The combine harvester is equipped with a driving controller, which is connected with the on-board satellite navigation system and the on-board attitude sensor. The on-board satellite navigation system includes an antenna, a mobile radio, a mobile receiver and a navigation controller. The navigation controller is connected through the antenna and the mobile radio. And the mobile receiver receives and processes the positioning data of the combine harvester (including the heading angle and real-time position), and calculates the real-time lateral deviation, heading deviation, and the distance d from the center of gravity of the vehicle to the ground according to the planned path stored in the navigation controller. The calculation process is the existing technology) and sent to the driving controller; the on-board attitude sensor senses the vehicle heading angle in real time and sends it to the driving controller; the driving controller according to the vehicle heading angle, lateral deviation, heading deviation, and distance from the center of gravity of the vehicle to the ground d Control the walking of the combine harvester.
如图3所示，所述多次进退转弯方法，包括以下步骤：As shown in Figure 3, the multiple forward and backward turning method includes the following steps:
步骤(1)，联合收割机根据横向偏差和航向偏差沿规划直线路径1收割作物，此时车辆的航向角为θ，车辆重心到达规划路径的地头转弯点B停车，此时车辆重心到地头距离为d0(d0≥0)；Step (1), the combine harvester harvests crops along the planned straight path 1 according to the lateral deviation and the heading deviation. At this time, the heading angle of the vehicle is θ, and the vehicle's center of gravity reaches the turning point B of the planned path and stops. At this time, the distance from the center of gravity of the vehicle to the ground Is d0 (d0≥0);
步骤(2)，联合收割机根据横向偏差、航向偏差和到地头距离d沿步骤(1)的直线路径1倒车，当车辆重心到地头距离d大于或等于设定阈值d_threshold后停车，此时车辆重心所在位置定为点A；In step (2), the combine harvester reverses along the linear path 1 in step (1) according to the lateral deviation, heading deviation and distance to the ground. When the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, the vehicle will stop. The location of the center of gravity is set as point A;
步骤(3)，在点A处联合收割机根据航向偏差左转一个固定角度△θ，△θ的值根据不同收割机实际标定，通常取值范围为10～30°，左转时△θ为负值，同时将车辆目标航向角θ更新为(θ+△θ)，行车控制器控制联合收割机沿更新后的航向角(θ+△θ)前进收割，当车辆重心到地头距离d值等于d0时停车，此时车辆重心所在位置定为点C；Step (3), at point A, the combine harvester turns to the left by a fixed angle △θ according to the heading deviation. The value of △θ is calibrated according to different harvesters. The value range is usually 10～30°. When turning left, △θ is Negative value, and at the same time, update the target heading angle θ of the vehicle to (θ+△θ), and the driving controller controls the combine harvester to advance along the updated heading angle (θ+△θ) to harvest. When the distance d from the center of gravity of the vehicle to the ground is equal to Stop at d0. At this time, the center of gravity of the vehicle is set as point C;
步骤(4)，联合收割机根据航向偏差和车辆重心到地头距离d沿步骤(3)的直线路径(CA)倒车，当车辆重心到地头距离d大于或等于设定阈值d_threshold后停车，此时车辆重心所在位置定为点A；In step (4), the combine harvester reverses along the straight path (CA) of step (3) according to the heading deviation and the distance d from the center of gravity of the vehicle to the ground. When the distance d from the center of gravity to the ground is greater than or equal to the set threshold d_threshold, the combine will stop. The location of the center of gravity of the vehicle is designated as point A;
步骤(5)，根据实际需求，重复步骤(3)-(4)1到2次后(重复1次后，联合收割机的路径为AD)，联合收割机在A点停车；Step (5), according to actual needs, repeat steps (3)-(4) 1 to 2 times (after repeating once, the path of the combine harvester is AD), the combine harvester stops at point A;
步骤(6)，在点A处联合收割机根据航向偏差同步骤(3)反方向(右转)转向，转向角度为n*△θ，n为步骤(3)转向重复的次数，转弯角度通过车载姿态传感器反馈给行车控制器；Step (6), at point A, the combine harvester turns in the opposite direction (turn right) according to the heading deviation of step (3), the steering angle is n*△θ, n is the number of times of step (3) steering repetition, the turning angle passes The on-board attitude sensor feeds back to the driving controller;
步骤(7)，联合收割机根据横向偏差和航向偏差沿规划直线路径1前进，车辆重心到达规划路径的地头转弯点B时左转90°，转弯角度通过车载姿态传感器反馈给行车控制器，至此完成从路径1到路径2的90°直角转弯。Step (7), the combine harvester advances along the planned straight path 1 according to the lateral deviation and the heading deviation. When the center of gravity of the vehicle reaches the turning point B of the planned path, it turns to the left by 90°, and the turning angle is fed back to the driving controller through the on-board attitude sensor. Complete a 90° right-angle turn from path 1 to path 2.
图3中，若联合收割机沿直线路径3前进，需右转至路径2时，过程同步骤(1)-(7)，且步骤(3)为右转△θ，该过程中右转的△θ为正值，步骤(6)中为左转，步骤(7)中为右转。In Figure 3, if the combine harvester is moving along a straight path 3 and needs to turn right to path 2, the process is the same as steps (1)-(7), and step (3) is a right turn △θ. Δθ is a positive value, in step (6), it is a left turn, and in step (7), it is a right turn.
如图4所示，所述单次进退转弯方法，包括以下步骤：As shown in Figure 4, the single forward and backward turning method includes the following steps:
步骤(1)，联合收割机根据横向偏差和航向偏差沿规划直线路径1收割作物，此时车辆的航向角为θ，车辆重心到达规划路径的地头转弯点B停车，此时车辆重心到地头距离为d0(d0≥0)；Step (1), the combine harvester harvests crops along the planned straight path 1 according to the lateral deviation and the heading deviation. At this time, the heading angle of the vehicle is θ, and the vehicle's center of gravity reaches the turning point B of the planned path and stops. At this time, the distance from the center of gravity of the vehicle to the ground Is d0 (d0≥0);
步骤(2)，在B点处联合收割机根据航向偏差左转45°后向前行走距离d1后到达点C停车，d1值需根据不同收割机实际标定，通常为半个车身长度，车辆实际行走距离通过行走时间和车速相乘所得；Step (2): At point B, the combine harvester turns 45° to the left according to the heading deviation and then travels a distance d1 before reaching point C and stops. The value of d1 needs to be calibrated according to the actual harvester, usually half the length of the vehicle. The walking distance is obtained by multiplying the walking time and the vehicle speed;
步骤(3)，联合收割机从C点开始倒车，倒车的同时以固定转向角速度ω左转，转向角速度ω值根据不同联合收割机实际标定，取值范围为3-15度/秒，通常取9度/秒，转向过程中行车控制器通过车载姿态传感器实时读取转弯角度，当转弯角度达到45°时停车，此时车辆重心为D，之后行车控制器根据对应路径2的横向偏差和航向偏差控制车辆前进收割，至此完成从路径1到路径2的90°直角转弯。Step (3), the combine harvester starts to reverse from point C, and while reversing, it turns left at a fixed steering angular speed ω. The value of the steering angular speed ω is calibrated according to different combine harvesters. The value range is 3-15 degrees/second, usually taken 9 degrees/second, the driving controller reads the turning angle in real time through the on-board attitude sensor during the turning process. When the turning angle reaches 45°, the vehicle will stop. At this time, the center of gravity of the vehicle is D, and then the driving controller will follow the lateral deviation and heading of the corresponding path 2. The deviation controls the vehicle to move forward and harvest, so that the 90° right-angle turn from path 1 to path 2 is completed.
图4中，若联合收割机沿直线路径3前进，需右转至路径2时，过程同步骤(1)-(3)，且步骤(2)和(3)中为右转，该过程中右转的△θ为正值。In Figure 4, if the combine harvester is moving along a straight path 3 and needs to turn right to path 2, the process is the same as steps (1)-(3), and steps (2) and (3) are turning right. During this process The Δθ of the right turn is positive.
所述直接转弯方法为：联合收割机根据横向偏差和航向偏差沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点后直接左转/右转90°，转弯角度通过车载姿态传感器反馈至行车控制器，完成90°直角转弯。The direct turning method is: the combine harvester harvests crops along the planned straight path according to the lateral deviation and the heading deviation, the vehicle's center of gravity reaches the turning point of the planned path and directly turns left/right 90°, and the turning angle is fed back to by the on-board attitude sensor The driving controller can complete a 90° right-angle turn.
上述具体实施方式用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明作出的任何修改和改变，都落入本发明的保护范围。The above-mentioned specific embodiments are used to explain the present invention, not to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall into the protection scope of the present invention.
Claims (8)
- 一种履带式无人联合收割机直角转弯方法，其特征在于，收割田块最外圈作物时，采用多次进退转弯方法；收割田块非最外圈作物时，根据实际收割情况采用单次进退转弯方法或者直接转弯方法。A right-angle turning method for a crawler unmanned combine harvester, which is characterized in that when harvesting crops in the outermost circle of a field, a multiple forward and backward turning method is adopted; when harvesting crops in a field that is not the outermost circle, a single time is adopted according to the actual harvesting situation. Forward and retreat turning method or direct turning method.
- 根据权利要求1所述的履带式无人联合收割机直角转弯方法，其特征在于，所述多次进退转弯方法为：The right-angle turning method for a crawler-type unmanned combine harvester according to claim 1, wherein the multiple forward and backward turning method is:步骤(1)，联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点B停车，此时车辆重心到地头距离为d0，其中d0≥0；Step (1), the combine harvester harvests crops along the planned straight path, and the vehicle's center of gravity reaches the turning point B of the planned path. At this time, the distance from the center of gravity of the vehicle to the ground is d0, where d0≥0;步骤(2)，联合收割机沿步骤(1)的路径返回，当车辆重心到地头距离d大于或等于设定阈值d_threshold后停车，此时车辆重心为点A；Step (2), the combine harvester returns along the path of step (1), and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, at this time the center of gravity of the vehicle is point A;步骤(3)，联合收割机在点A处左/右转△θ继续作业，当车辆重心到地头距离d值等于d0时停车，此时车辆重心为点C；Step (3), the combine harvester turns left/right at point A to continue operation, and stops when the distance d from the center of gravity of the vehicle to the ground is equal to d0, and the center of gravity of the vehicle is at point C;步骤(4)，联合收割机沿直线路径CA倒车，当车辆重心到地头距离d大于或等于设定阈值d_threshold后停车，此时车辆重心为点A；Step (4), the combine harvester reverses along the straight path CA, and stops when the distance d from the center of gravity of the vehicle to the ground is greater than or equal to the set threshold d_threshold, at this time the center of gravity of the vehicle is point A;步骤(5)，重复步骤(3)-(4)n次后，联合收割机在A点停车，n＝1或2；Step (5), after repeating steps (3)-(4) n times, the combine harvester stops at point A, n=1 or 2;步骤(6)，在点A处联合收割机按步骤(3)反方向转向(n+1)*△θ，转弯角度反馈给行车控制器；Step (6), at point A, the combine harvester turns in the opposite direction of step (3) (n+1)*△θ, and the turning angle is fed back to the driving controller;步骤(7)，联合收割机沿规划直线路径前进，车辆重心地头转弯点B时左/右转90°，转弯角度反馈给行车控制器，完成直角转弯。Step (7), the combine harvester advances along the planned straight path, the vehicle's center of gravity turns left/right 90° at turning point B, and the turning angle is fed back to the driving controller to complete a right-angle turn.
- 根据权利要求1所述的履带式无人联合收割机直角转弯方法，其特征在于，所述实际收割情况包括转弯前后均进行收割；转弯前需要收割、转弯后不需要收割；转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后需要收割；转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后不需要收割；转弯前不需要收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径。The right-angle turning method for a crawler-type unmanned combine harvester according to claim 1, wherein the actual harvesting situation includes harvesting before and after turning; harvesting is required before turning, and harvesting is not required after turning; and harvesting is not required before turning. , Before turning, the distance from the longitudinal axis of the vehicle body to the crop boundary is less than the radius of the largest circle swept by the header when turning, and needs to be harvested after turning; no harvesting is required before turning, and the distance from the longitudinal axis of the vehicle body to the crop boundary before turning is less than the harvesting platform when turning Sweep the radius of the largest circle, and do not need to harvest after turning; do not need to harvest before turning and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is greater than or equal to the radius of the largest circle swept by the header during turning.
- 根据权利要求3所述的履带式无人联合收割机直角转弯方法，其特征在于，所述转弯前后均进行收割，转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后需要收割，均采用单次进退转弯方法。The right-angle turning method of a crawler-type unmanned combine harvester according to claim 3, wherein the harvesting is performed before and after the turn, and there is no need to harvest before the turn, and the distance between the longitudinal axis of the vehicle body and the crop boundary before turning is less than that of the crop when turning. The platform sweeps through the radius of the largest circle and needs to be harvested after turning, using a single forward and backward turning method.
- 根据权利要求4所述的履带式无人联合收割机直角转弯方法，其特征在于，所述单次进退转弯方法为：联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点B停车，联合收割机左/右转45°后向前行走距离d1后到达点C停车，再从C点开始倒车，倒车的同时以角速度ω左/右转，当转弯角度达到45°时停车，至此完成直角转弯。The right-angle turning method for a crawler unmanned combine harvester according to claim 4, wherein the single forward and backward turning method is: the combine harvester harvests crops along a planned straight path, and the center of gravity of the vehicle reaches the turning point of the planned path. B parking, the combine harvester turns left/right 45° and then walks forward for a distance d1 and then reaches point C and stops, then starts to reverse from point C, and turns left/right at an angular velocity ω while reversing, and stops when the turning angle reaches 45° , At this point, the right-angle turn is completed.
- 根据权利要求3所述的履带式无人联合收割机直角转弯方法，其特征在于，所述转弯前需要收割、转弯后不需要收割，转弯前不需要收割、转弯前车身纵轴到作物边界的距离小于转弯时割台扫过最大圆的半径，且转弯后不需要收割，转弯前不需要收割且转弯前车身纵轴到作物边界的距离大于等于转弯时割台扫过最大圆的半径，均采用直接转弯方法。The right-angle turning method of a crawler unmanned combine harvester according to claim 3, characterized in that the harvesting is required before the turn, no harvesting is required after the turn, no harvesting is required before the turn, and the longitudinal axis of the vehicle body reaches the crop boundary before the turn. The distance is less than the radius of the largest circle swept by the header during a turn, and there is no need to harvest after the turn, no harvest before the turn, and the distance between the longitudinal axis of the vehicle body and the crop boundary before the turn is greater than or equal to the radius of the largest circle swept by the header during the turn. Use the direct turning method.
- 根据权利要求6所述的履带式无人联合收割机直角转弯方法，其特征在于，所述直接转弯方法为：联合收割机沿规划直线路径收割作物，车辆重心到达规划路径的地头转弯点后直接左/右转90°，转弯角度反馈至行车控制器，完成直角转弯。The right-angle turning method for a crawler unmanned combine harvester according to claim 6, wherein the direct turning method is: the combine harvester harvests crops along a planned straight path, and the vehicle's center of gravity reaches the head turning point of the planned path directly. Turn left/right by 90°, and the turning angle is fed back to the driving controller to complete a right-angle turn.
- 一种根据权利要求1-7任一项权利要求所述的履带式无人联合收割机直角转弯***，其特征在于，包括行车控制器，以及与行车控制器连接的卫星导航***和车载姿态传感器，车载卫星导航***获取实时横向偏差、航向偏差、车辆重心到地头距离d，车载姿态传感器实时感知车辆航向角，并发送给行车控制器；由行车控制器控制联合收割机行走。A right-angle turning system for a crawler unmanned combine harvester according to any one of claims 1-7, characterized in that it comprises a driving controller, a satellite navigation system and a vehicle-mounted attitude sensor connected to the driving controller The vehicle-mounted satellite navigation system obtains real-time lateral deviation, heading deviation, and the distance d from the center of gravity of the vehicle to the ground. The vehicle-mounted attitude sensor senses the vehicle heading angle in real time and sends it to the driving controller; the driving controller controls the combine harvester to walk.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911343998.4A CN111045427A (en) | 2019-12-24 | 2019-12-24 | Right-angle turning method and system for crawler-type unmanned combine harvester |
| CN201911343998.4 | 2019-12-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021128773A1 true WO2021128773A1 (en) | 2021-07-01 |
Family
ID=70238854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2020/097903 WO2021128773A1 (en) | 2019-12-24 | 2020-06-24 | Right-angled turning method and system for crawler-type driverless combine harvester |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111045427A (en) |
| WO (1) | WO2021128773A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114371699A (en) * | 2021-12-15 | 2022-04-19 | 江苏大学 | Portable small-base-station-group type agricultural machine UWB navigation system and method for medium and small farmlands |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045427A (en) * | 2019-12-24 | 2020-04-21 | 江苏大学 | Right-angle turning method and system for crawler-type unmanned combine harvester |
| CN111845935B (en) * | 2020-07-31 | 2021-06-15 | 安徽泗州拖拉机制造有限公司 | Automatic navigation steering system of unmanned tractor |
| CN112783159A (en) * | 2020-12-28 | 2021-05-11 | 上海联适导航技术股份有限公司 | Operation control method, device, equipment and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898687A (en) * | 2014-08-21 | 2015-09-09 | 宁波市鄞州麦谷农业科技有限公司 | Automatic driving system of crawler type combined harvester and control method |
| CN106462164A (en) * | 2014-07-29 | 2017-02-22 | 株式会社久保田 | Work vehicle cooperation system |
| CN109115225A (en) * | 2018-08-31 | 2019-01-01 | 江苏大学 | A kind of unmanned operation grain combine air navigation aid and navigation device |
| WO2019124273A1 (en) * | 2017-12-18 | 2019-06-27 | 株式会社クボタ | Automatic traveling system, automatic traveling management system, recording medium having automatic traveling management program recorded therein, automatic traveling management method, region determination system, region determination program, recording medium having region determination program recorded therein, region determination method, combine harvester control system, combine harvester control program, recording medium having combine harvester control program recorded therein, and combine harvester control method |
| CN110203273A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The steering control device and its method of automatic harvester |
| CN111045427A (en) * | 2019-12-24 | 2020-04-21 | 江苏大学 | Right-angle turning method and system for crawler-type unmanned combine harvester |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002002523A (en) * | 2000-06-23 | 2002-01-09 | Iseki & Co Ltd | Turn control device for working vehicle |
| CN205142893U (en) * | 2015-10-12 | 2016-04-13 | 胡进 | Miniature multi -functional prevention sinking receives rice machine |
| CN109310042B (en) * | 2016-09-05 | 2022-07-19 | 株式会社久保田 | Automatic travel system for work vehicle, travel route management device, travel route generation device, and travel route determination device |
| CN109936975B (en) * | 2016-12-02 | 2022-10-28 | 株式会社久保田 | Travel route management system and travel route determination device |
| CN107247457B (en) * | 2017-06-15 | 2020-06-26 | 惠州市蓝微电子有限公司 | Grass cutting repetition rate algorithm of mower |
| CN107450537A (en) * | 2017-08-01 | 2017-12-08 | 南京农业大学 | A kind of track combine low speed operation line tracking method |
-
2019
- 2019-12-24 CN CN201911343998.4A patent/CN111045427A/en active Pending
-
2020
- 2020-06-24 WO PCT/CN2020/097903 patent/WO2021128773A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106462164A (en) * | 2014-07-29 | 2017-02-22 | 株式会社久保田 | Work vehicle cooperation system |
| CN104898687A (en) * | 2014-08-21 | 2015-09-09 | 宁波市鄞州麦谷农业科技有限公司 | Automatic driving system of crawler type combined harvester and control method |
| WO2019124273A1 (en) * | 2017-12-18 | 2019-06-27 | 株式会社クボタ | Automatic traveling system, automatic traveling management system, recording medium having automatic traveling management program recorded therein, automatic traveling management method, region determination system, region determination program, recording medium having region determination program recorded therein, region determination method, combine harvester control system, combine harvester control program, recording medium having combine harvester control program recorded therein, and combine harvester control method |
| CN109115225A (en) * | 2018-08-31 | 2019-01-01 | 江苏大学 | A kind of unmanned operation grain combine air navigation aid and navigation device |
| CN110203273A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The steering control device and its method of automatic harvester |
| CN111045427A (en) * | 2019-12-24 | 2020-04-21 | 江苏大学 | Right-angle turning method and system for crawler-type unmanned combine harvester |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114371699A (en) * | 2021-12-15 | 2022-04-19 | 江苏大学 | Portable small-base-station-group type agricultural machine UWB navigation system and method for medium and small farmlands |
| CN114371699B (en) * | 2021-12-15 | 2024-05-17 | 江苏大学 | Portable small base station group type agricultural machinery UWB navigation system and method for small and medium farmland |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111045427A (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021128773A1 (en) | Right-angled turning method and system for crawler-type driverless combine harvester | |
| RU2728604C2 (en) | System and method of lane tracking for off-road vehicle and off-road vehicle | |
| US10459447B2 (en) | System and method for generating partitioned swaths | |
| US11052943B2 (en) | System and method for controlling a vehicle | |
| US7706948B2 (en) | Method for creating spiral swaths for irregular field boundaries | |
| US10729055B2 (en) | System and method for determining swath connections | |
| US10390474B2 (en) | Path planning system for a work vehicle | |
| US20170010619A1 (en) | Automation kit for an agricultural vehicle | |
| US10492355B2 (en) | Path planning system for a work vehicle | |
| US10595455B2 (en) | Planning system for an autonomous work vehicle system | |
| AU2017249162A1 (en) | Line acquisition path generation | |
| US20090204281A1 (en) | Visual, gnss and gyro autosteering control | |
| US20170355398A1 (en) | System and method for vehicle steering calibration | |
| WO2015187467A1 (en) | Implement guidance | |
| Rains et al. | Evaluation of a simple pure pursuit path-following algorithm for an autonomous, articulated-steer vehicle | |
| US20180316895A1 (en) | Systems of acquiring image data for an autonomous work vehicle | |
| Oksanen et al. | Guidance system for agricultural tractor with four wheel steering | |
| US20200050205A1 (en) | System and method for updating a mapped area | |
| Pota et al. | Agricultural robotics: A streamlined approach to realization of autonomous farming | |
| DE112021002716T5 (en) | Method for determining the position of a robot tool, a robot tool and a robot tool system | |
| CN113156934B (en) | Automatic driving system and method of vehicle and non-transitory computer readable storage medium | |
| Cariou et al. | Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland | |
| Hameed et al. | Task and motion planning for selective weed conrol using a team of autonomous vehicles | |
| Zhang et al. | Parking precise alignment control and cotransporter system for rice harvester and transporter | |
| Yamasaki et al. | Development of electrical vehicle robot for orchard application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20904411 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 20904411 Country of ref document: EP Kind code of ref document: A1 |