WO2022021525A1 - Automatic navigation and steering system for unmanned tractor - Google Patents
Automatic navigation and steering system for unmanned tractor Download PDFInfo
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- WO2022021525A1 WO2022021525A1 PCT/CN2020/111971 CN2020111971W WO2022021525A1 WO 2022021525 A1 WO2022021525 A1 WO 2022021525A1 CN 2020111971 W CN2020111971 W CN 2020111971W WO 2022021525 A1 WO2022021525 A1 WO 2022021525A1
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- tractor
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- early warning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- the invention relates to the field of vehicle control, in particular to an automatic navigation steering system for an unmanned tractor.
- the purpose of the present invention is to provide an automatic navigation steering system for an unmanned tractor.
- the invention publishes the collection task through the data collection module and selects the corresponding collection personnel.
- the collection personnel controls the tractor clockwise to circle around the boundary to be collected for the first time, and turns on the GPS during the detour process; during the detour of the tractor, the left wheel of the tractor is close to the waiting area
- the boundary curve of the farmland plot is obtained, and the detouring speed is kept at a low and uniform speed; the boundary curve of the farmland plot is obtained;
- the road boundary information is obtained by fusing the boundary curve of the farmland plot, the pose information of the tractor and the target position information, so as to obtain the expected driving route of the tractor. Be able to reasonably plan the driving path of the vehicle and adjust it accurately;
- the deviation value of the tractor is analyzed through the expected driving route of the tractor, the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path, and the real-time position of the tractor.
- the module is assigned to the corresponding management personnel to correct the early warning aircraft, so as to avoid the problem that the unmanned tractor deviates from the route, causes an accident or causes damage to the farmland, and improves the work efficiency.
- an automatic navigation steering system for an unmanned tractor including a data acquisition module, a GPS navigation module, a radar module, a monitoring module, a wireless communication module, a data processing module, a steering module, and an early warning management module module, complete machine control module and intelligent terminal;
- the data acquisition module is used to collect the boundary information of farmland plots
- the GPS navigation module is used to collect the position and attitude information of the tractor during the driving process of the tractor
- the data processing module is used to plan the desired driving route of the tractor
- the steering module Used to control the steering of the tractor
- the data acquisition module transmits the farmland plot boundary curve to the data processing module
- the GPS navigation module transmits the position and attitude information of the tractor to the data processing module
- the intelligent terminal transmits the target position information to the data processing module through the wireless communication module. module
- the data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information, and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving of the tractor according to the road center line. route; the specific steps for the data processing module to plan the expected driving route of the tractor are:
- the bending trend includes right-angle turning and curved turning; wherein the calculation of right-angle turning is: respectively calculating the maximum turning radius Rmax and the minimum turning radius Rmin, and the optimal turning radius:
- the steering module controls the steering of the tractor according to the desired driving route of the tractor, that is, obtains the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path in real time; the specific steps include:
- the included angle ⁇ between the tangent of the trajectory and the current heading angle of the tractor is the steering angle of the tractor at this time.
- the angle ⁇ is monitored in real time during the tractor driving, and ⁇ is kept as 0;
- the data processing module transmits the expected driving route of the tractor and the included angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, which combines the expected driving route of the tractor, the included angle ⁇ and the real-time position of the tractor. Analyze the deviation value of the tractor; the specific steps are as follows:
- S32 Obtain reference points corresponding to the real-time position of the tractor in the desired driving route; the reference point acquisition criterion is to acquire several non-overlapping corresponding points in the expected driving route with points (X'i, Y'i), and calculate the corresponding points and The distance of the reference point, mark the corresponding point with the closest distance as the reference point;
- Step 1 The data collection module issues collection tasks and selects corresponding collection personnel, the specific steps are:
- S11 mark the boundary of the farmland plot to be collected as the boundary to be collected; send a position acquisition command to the mobile phone terminal of the staff to obtain the position of the staff, and calculate the distance difference between the staff's position and the initial position of the tractor to obtain the staff distance QG;
- S12 Calculate the time difference between the entry time of the staff and the current time of the system to obtain the working hours of the staff and mark it as QF;
- S13 Set the age of the staff as QN, and set the collection times of the staff as QC; quantify the distance, working hours, collection times and age of the staff and take their values;
- Step 2 sending the initial position of the tractor and the target position of the tractor to the mobile phone terminal of the collector; at the same time, the number of collections of the collector is increased by one;
- Step 3 After the collector arrives at the initial position of the tractor, the collector controls the tractor clockwise around the boundary to be mined for the first time, and turns on the GPS during the detour; during the detour, the left wheel of the tractor is close to the boundary to be mined and detours The speed of the vehicle is kept low and uniform; the boundary curve of the farmland plot is obtained;
- Step 4 Calculate the time difference between the collection end time and the collection start time to obtain the collection time of the collection personnel, and mark it as R1; set the score value input by the user to A; dequantize the collection time length and the input score value and take its value, using the formula The single value of the collector is obtained, and all single values of the collector are summed and averaged to obtain the low-efficiency value QT of the collector; b1 and b2 are both preset proportional coefficients.
- the complete machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing;
- the specific steps are:
- S42 Set the total management time of the primary candidates on the day as T1 Hj ; calculate the time difference between the entry time of the primary candidates and the current time of the system to obtain the entry time of the primary candidates and mark it as T2 Hj ; set the age of the primary candidates is N Hj ;
- S43 Utilize formulas The management value DF of the primary candidates is calculated; T3 Hj is the auxiliary time of the primary candidates; r1, r2, r3 and r4 are all preset factors;
- S44 Select the primary selection personnel with the largest management value as the selected personnel; the early warning management module sends an early warning signal and the location information of the tractor to the mobile terminal of the selected personnel;
- the early warning management module After the early warning management module receives the management start instruction and the picture of the tractor, the tractor is marked as an early warning machine. When the deviation value of the early warning machine is less than or equal to the preset threshold, the early warning management module generates a management completion command and sends it to the mobile terminal of the selected person superior;
- the early warning management module marks the time when the management start instruction is received as the management start time of the selected person, the time when the management completion instruction is generated is the management completion time of the selected person, and the time difference between the management completion time and the management start time is calculated. Get the duration of a single management;
- the radar module is composed of a millimeter-wave radar installed on the front of the tractor, the radar module is used to detect the existence of obstacles, and when the existence of obstacles is detected, it sends the obstacles to the data processing module.
- the data processing module generates avoidance instructions and path navigation information according to the position information of obstacles, and transmits the avoidance instructions and path navigation information to the complete machine control module, and the complete machine control module according to the avoidance instructions and route navigation information to control the tractor.
- the pose information includes position information, acceleration, speed and heading angle;
- the farmland plot boundary information includes a farmland plot boundary curve;
- the road boundary information includes road edge line position information, according to the road edge The line position information is used to obtain the road center line.
- the present invention issues the collection task through the data collection module and selects the corresponding collection personnel, de-quantifies the distance, working hours, collection times and age of the personnel and takes their numerical values, using the formula Obtain the collection value QZ of the staff, and select the staff with the largest collection value QZ as the collection staff of the boundary to be collected, so as to improve the collection efficiency and the accuracy of the collected information;
- the present invention receives the farmland plot boundary curve, the tractor's pose information and target position information through the data processing module, and performs fusion processing to obtain the road boundary information, obtains the road center line through the road boundary information, and then obtains the tractor's expectation according to the road center line.
- Driving route the steering module controls the steering of the tractor according to the expected driving route of the tractor, that is, the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path is obtained in real time, and the angle ⁇ is monitored in real time during the driving process of the tractor, and ⁇ is kept at 0; it is reasonable Plan the driving path of the vehicle and adjust it accurately;
- the present invention analyzes the deviation value of the tractor by combining the expected driving route of the tractor, the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path, and the real-time position of the tractor through the monitoring module; when the deviation value exceeds the preset threshold value , the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; the whole machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running; to avoid the unmanned tractor from deviating from the route, causing an accident or Problems causing damage to farmland;
- the present invention receives the early warning signal and the position information of the tractor through the early warning management module and assigns it to the corresponding management personnel for processing, obtains the management personnel who go to work at the current time and marks them as the primary selection personnel, and records the entry of the primary selection personnel. Calculate the time difference between the time and the current time of the system to obtain the entry time of the primary candidates, obtain the total management time of the primary candidates on the day and the age of the primary candidates, use the formula to obtain the management value of the primary candidates, and select the primary selection with the largest management value. The personnel are selected personnel to correct the early warning aircraft to improve work efficiency.
- FIG. 2 is a schematic diagram of a right-angle turning path of the present invention.
- an automatic navigation and steering system for an unmanned tractor includes a data acquisition module, a GPS navigation module, a radar module, a wireless communication module, a data processing module, a monitoring module, a steering module, an early warning management module, a whole machine control module and intelligent terminal;
- the data collection module is used to collect the boundary information of the farmland
- the GPS navigation module is used to collect the position and attitude information of the tractor during the driving process of the tractor, and the position and attitude information includes position information, acceleration, speed and heading angle
- the The data processing module is used to plan the expected driving route of the tractor
- the steering module is used to control the steering of the tractor
- the specific working steps of the data collection module collecting the boundary information of the farmland are as follows:
- Step 1 The data collection module issues collection tasks and selects corresponding collection personnel, the specific steps are:
- S11 mark the boundary of the farmland plot to be collected as the boundary to be collected; send a position acquisition command to the mobile phone terminal of the staff to obtain the position of the staff, and calculate the distance difference between the staff's position and the initial position of the tractor to obtain the staff distance QG;
- S12 Calculate the time difference between the entry time of the staff and the current time of the system to obtain the working hours of the staff and mark it as QF;
- S13 Set the age of the staff as QN, and set the collection times of the staff as QC; quantify the distance, working hours, collection times and age of the staff and take their values;
- S25 Use the formula to obtain the collected value QZ of the staff; wherein, QT is the low efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
- Step 2 sending the initial position of the tractor and the target position of the tractor to the mobile phone terminal of the collector; at the same time, the number of collections of the collector is increased by one;
- Step 3 After the collector arrives at the initial position of the tractor, the collector controls the tractor clockwise around the boundary to be mined for the first time, and turns on the GPS during the detour; during the detour, the left wheel of the tractor is close to the boundary to be mined and detours The speed of the vehicle is kept low and uniform; the boundary curve of the farmland plot is obtained;
- Step 4 Calculate the time difference between the collection end time and the collection start time to obtain the collection time of the collection personnel, and mark it as R1; set the score value input by the user to A; dequantize the collection time length and the input score value And take its value, use the formula to obtain the single value of the collector, sum all the single values of the collector and take the average to obtain the low efficiency value QT of the collector; b1 and b2 are both preset proportional coefficients;
- the data acquisition module transmits the farmland plot boundary curve to the data processing module
- the GPS navigation module transmits the position and attitude information of the tractor to the data processing module
- the intelligent terminal transmits the target position information to the data processing module through the wireless communication module. module
- the data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information, and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving of the tractor according to the road center line.
- Route the road boundary information includes road edge line position information, and the road center line is obtained according to the road edge line position information; the specific steps of the data processing module planning the expected driving route of the tractor are as follows:
- the bending trend includes right-angle turning and curved turning; wherein the calculation of right-angle turning is: respectively calculating the maximum turning radius Rmax and the minimum turning radius Rmin, and the optimal turning radius:
- L1 is the distance from the current point to the front boundary
- L2 is the distance to the right front boundary
- L3 is the distance from the vehicle to the right side of the road
- L4 is the width of the vehicle body
- Rmax L1
- Rmin L2+L4;
- the steering module controls the steering of the tractor according to the desired driving route of the tractor, that is, obtains the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path in real time; the specific steps include:
- the included angle ⁇ between the tangent of the trajectory and the current heading angle of the tractor is the steering angle of the tractor at this time.
- the angle ⁇ is monitored in real time during the tractor driving, and ⁇ is kept as 0;
- the data processing module transmits the expected driving route of the tractor and the included angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, which combines the expected driving route of the tractor, the included angle ⁇ and the real-time position of the tractor. Analyze the deviation value of the tractor; the specific steps are as follows:
- S32 Obtain a reference point corresponding to the real-time position of the tractor in the desired driving route; the reference point acquisition criterion is to acquire a number of corresponding points that do not coincide with point ( ) in the expected driving route, calculate the distance between the corresponding point and the reference point, and set the closest point to the reference point. The corresponding point of the distance is marked as the reference point;
- S34 Calculate the deviation value WE of the tractor using the formula; the closer the distance between the verification point and the reference point, the smaller the ⁇ , the smaller the deviation value WE of the tractor; b1 and b2 are preset coefficients;
- S34 when WE exceeds the preset threshold, the monitoring module generates an early warning signal and transmits the early warning signal to the complete machine control module; the complete machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running;
- the whole machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing; the specific steps are as follows: :
- S42 Set the total management time of the primary candidates on the day as T1Hj; calculate the time difference between the entry time of the primary candidates and the current system time to obtain the entry time of the primary candidates and mark it as T2Hj; set the age of the primary candidates as NHj ;
- S43 Use the formula to calculate the management value DF of the primary selection personnel;
- T3Hj is the auxiliary time of the primary selection personnel;
- r1, r2, r3 and r4 are all preset factors;
- S44 Select the primary selection personnel with the largest management value as the selected personnel; the early warning management module sends an early warning signal and the location information of the tractor to the mobile terminal of the selected personnel;
- the early warning management module After the early warning management module receives the management start instruction and the picture of the tractor, the tractor is marked as an early warning machine. When the deviation value of the early warning machine is less than or equal to the preset threshold, the early warning management module generates a management completion command and sends it to the mobile terminal of the selected person superior;
- the early warning management module marks the time when the management start instruction is received as the management start time of the selected person, the time when the management completion instruction is generated is the management completion time of the selected person, and the time difference between the management completion time and the management start time is calculated. Obtain the single management time, and sum up the single management time of the selected person on the day to obtain the total management time T1Hj of the selected person on the day; at the same time, obtain all the single management time of the selected person within 30 days of the current system time and sum up And take the average value to get the assistant time T3Hj of the selected personnel;
- the radar module is used to detect the existence of obstacles, and when the existence of obstacles is detected, it sends the position information of the obstacles to the data processing module, and the data processing module generates avoidance instructions and path navigation according to the position information of the obstacles information, and transmit the avoidance instruction and path navigation information to the complete machine control module, and the complete machine control module controls the tractor according to the avoidance instruction and the path navigation information;
- the radar module is composed of a millimeter-wave radar installed on the front of the tractor, which is mainly used to identify obstacles and prevent accidents during the steering process of the tractor; when an obstacle is identified on the road in front of the tractor, it will decelerate in time and re-plan route.
- An automatic navigation and steering system for an unmanned tractor When working, firstly, the data collection module collects the boundary information of farmland plots. The data collection module issues collection tasks and selects the corresponding collection personnel. The age is de-quantified and its value is taken; the collected value QZ of the staff is obtained by using the formula; the staff with the largest collection value QZ is selected as the collector at the boundary to be collected; after the collector reaches the initial position of the tractor, the collector controls the tractor for the first time.
- the hour hand circles the to-be-mined boundary for one week, and the GPS is turned on during the detour; during the tractor's detour, the left wheel of the tractor is close to the to-be-mined boundary, and the detouring speed remains low and uniform; the farmland plot boundary curve is obtained;
- the data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving route of the tractor according to the road center line;
- the steering module controls the steering of the tractor according to the expected driving route of the tractor, that is, the angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path is obtained in real time, and the angle ⁇ is monitored in real time during the driving process of the tractor, and ⁇ is kept at 0, which can reasonably plan the vehicle. Travel path and adjust accurately;
- the data processing module transmits the expected driving route of the tractor and the included angle ⁇ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, and the monitoring module combines the expected driving route of the tractor, the included angle ⁇ and the real-time position of the tractor to the deviation of the tractor value is analyzed using the formula
- the deviation value WE of the tractor is calculated; the closer the distance between the verification point and the reference point, the smaller the ⁇ , the smaller the deviation value WE of the tractor; when the WE exceeds the preset threshold, the monitoring module will generate an early warning signal and send an early warning signal.
- the signal is transmitted to the whole machine control module; the whole machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running; thereby avoiding the problem of the unmanned tractor deviating from the route, causing an accident or causing damage to the farmland;
- the whole machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing;
- the management personnel are marked as primary candidates, and the total management time of the primary candidates on the day is set as T1Hj; the time difference between the entry time of the primary candidates and the current system time is calculated to obtain the entry time of the primary candidates and marked as T2Hj; Set the age of the primary selection personnel as NHj; use the formula to calculate the management value DF of the primary selection personnel, select the primary selection personnel with the largest management value as the selected personnel, and modify the early warning machine to improve work efficiency.
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Abstract
An automatic navigation and steering system for an unmanned tractor, comprising a data acquisition module, a GPS navigation module, a radar module, a monitoring module, a wireless communication module, a data processing module, a steering module, an early warning management module, a complete machine control module and an intelligent terminal. The data acquisition module is used for collecting farmland parcel boundary information; the GPS navigation module is used for collecting pose information of a tractor in the driving process of the tractor; the data processing module is used for planning a desired driving route of the tractor; the steering module is used for controlling steering of the tractor; the monitoring module analyzes the deviation value of the tractor in combination with the desired driving route of the tractor, an included angle θ and the real-time position of the tractor; and the early warning management module receives an early warning signal and position information of the tractor and allocates same to a corresponding management personnel for processing.
Description
本发明涉及车辆控制领域，特别是涉及一种无人驾驶拖拉机自动导航转向***。The invention relates to the field of vehicle control, in particular to an automatic navigation steering system for an unmanned tractor.
随着我国经济战略的实施与推进，农业机械自动化及智能化水平不断提高，用户对农业机械的自动化程度提出了更高的要求。如今越来越多的拖拉机已经集成或者加装了自动导航驾驶***，用于在起垄、播种、植保等不同的田间作业过程中实现拖拉机的自动驾驶与转向，从而保证理想的作业效果。With the implementation and advancement of my country's economic strategy, the level of automation and intelligence of agricultural machinery has been continuously improved, and users have put forward higher requirements for the degree of automation of agricultural machinery. Nowadays, more and more tractors have been integrated or installed with automatic navigation and driving systems, which are used to realize automatic driving and steering of tractors in different field operations such as ridges, sowing, and plant protection, so as to ensure ideal operation results.
但是在拖拉机田间作业过程中，作业人员常根据经验和一些常识性规则进行田间作业路径设计，存在重耕、漏耕、多走路程等问题，影响作业生产效率。因此，针对农用车辆无人驾驶***的自动作业路径规划具有重大意义，目前无人驾驶车辆的转向控制***还没有一个最优的控制方法能够合理规划车辆行驶路径并准确调整；However, in the process of tractor field operation, operators often design field operation paths based on experience and some common-sense rules. There are problems such as heavy tillage, missed tillage, and long trips, which affect the production efficiency of the operation. Therefore, the automatic operation path planning for the unmanned system of agricultural vehicles is of great significance. At present, there is no optimal control method for the steering control system of unmanned vehicles, which can reasonably plan the driving path of the vehicle and adjust it accurately;
而且在拖拉机田间作业的过程中，存在不能实时根据拖拉机的偏离值进行分析预警以及合理的选取人员进行处理修正，导致无人驾驶的拖拉机偏离路线，发生事故或对农田造成破坏的问题。Moreover, in the process of tractor field operation, there is a problem that it is not possible to analyze and warn in real time according to the deviation value of the tractor and reasonably select personnel to process and correct, resulting in the unmanned tractor deviating from the route, causing accidents or causing damage to the farmland.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的不足，本发明目的是提供一种无人驾驶拖拉机自动导航转向***。本发明通过数据采集模块发布采集任务并选取对应的采集人员，采集人员首次操控拖拉机顺时针绕行待采边界一周，绕行过程中打开GPS；拖拉机绕行过程中，拖拉机左车轮紧贴待采边界，且绕行车速保持较低匀速；得到农田地块边界曲线；通过农田地块边界曲线、拖拉机的位姿信息和目标位置信息进行融合处理得到道路边界信息，从而得到拖拉机的期望行驶路线，能够合理规划车辆行驶路径并准确调整；In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic navigation steering system for an unmanned tractor. The invention publishes the collection task through the data collection module and selects the corresponding collection personnel. The collection personnel controls the tractor clockwise to circle around the boundary to be collected for the first time, and turns on the GPS during the detour process; during the detour of the tractor, the left wheel of the tractor is close to the waiting area The boundary curve of the farmland plot is obtained, and the detouring speed is kept at a low and uniform speed; the boundary curve of the farmland plot is obtained; the road boundary information is obtained by fusing the boundary curve of the farmland plot, the pose information of the tractor and the target position information, so as to obtain the expected driving route of the tractor. Be able to reasonably plan the driving path of the vehicle and adjust it accurately;
通过拖拉机的期望行驶路线、拖拉机当前航向角与最佳转向路径切线的夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析，当偏离值大于预设阈值时，及时预警，同时通过预警管理模块分配至对应的管理人员对预警机进行修正，从而避免无人驾驶的拖拉机偏离路线，发生事故或对农田造成破坏的问题；提高工作效率。The deviation value of the tractor is analyzed through the expected driving route of the tractor, the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path, and the real-time position of the tractor. The module is assigned to the corresponding management personnel to correct the early warning aircraft, so as to avoid the problem that the unmanned tractor deviates from the route, causes an accident or causes damage to the farmland, and improves the work efficiency.
本发明的目的可以通过以下技术方案实现：一种无人驾驶拖拉机自动导航转向***，包括数据采集模块、GPS导航模块、雷达模块、监测模块、无线通信模块、数据处理模块、转向模块、预警管理模块、整机控制模块以及智能终端；The purpose of the present invention can be achieved through the following technical solutions: an automatic navigation steering system for an unmanned tractor, including a data acquisition module, a GPS navigation module, a radar module, a monitoring module, a wireless communication module, a data processing module, a steering module, and an early warning management module module, complete machine control module and intelligent terminal;
所述数据采集模块用于采集农田地块边界信息，所述GPS导航模块用于采集拖拉机行驶过程中拖拉机的位姿信息；所述数据处理模块用于规划拖拉机的期望行驶路线，所述转向模块用于控制拖拉机的转向；The data acquisition module is used to collect the boundary information of farmland plots, the GPS navigation module is used to collect the position and attitude information of the tractor during the driving process of the tractor; the data processing module is used to plan the desired driving route of the tractor, and the steering module Used to control the steering of the tractor;
所述数据采集模块将农田地块边界曲线传输到数据处理模块，所述GPS导航模块将拖拉机的位姿信息传输到数据处理模块，所述智能终端通过无线通信模块将目标位置信息传输到数据处理模块；The data acquisition module transmits the farmland plot boundary curve to the data processing module, the GPS navigation module transmits the position and attitude information of the tractor to the data processing module, and the intelligent terminal transmits the target position information to the data processing module through the wireless communication module. module;
所述数据处理模块接收农田地块边界曲线、拖拉机的位姿信息和目标位置信息并进行融合处理得到道路边界信息，通过所述道路边界信息得到道路中线，根据所述道路中线得到拖拉机的期望行驶路线；所述数据处理模块规划拖拉机期望行驶路线的具体步骤为：The data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information, and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving of the tractor according to the road center line. route; the specific steps for the data processing module to plan the expected driving route of the tractor are:
S21：检测得到的道路中线是否有弯曲趋势，若无弯曲趋势，拖拉机沿当前方向继续行驶，如检测到有弯曲趋势，则开始规划拖拉机的行驶路径；具体包括：S21: Whether the detected road center line has a bending tendency, if there is no bending tendency, the tractor continues to drive in the current direction, and if a bending tendency is detected, the tractor's driving path will be planned; the details include:
S211：所述弯曲趋势包括直角转弯和曲线转弯；其中直角转弯的计算为：分别计算最大转向半径Rmax和最小转向半径Rmin，最佳转向半径：S211: The bending trend includes right-angle turning and curved turning; wherein the calculation of right-angle turning is: respectively calculating the maximum turning radius Rmax and the minimum turning radius Rmin, and the optimal turning radius:
R＝(Rmax+Rmin)/2；R=(Rmax+Rmin)/2;
S212：曲线转弯的计算为：将所得到的道路中线的曲线拟合成数段直线，分别求得其相邻两段的外接圆弧，所述圆弧为最佳转向路径；S212: the calculation of the curve turning is: fitting the obtained curve of the road center line into several straight lines, respectively obtaining the circumscribed circular arcs of its two adjacent segments, and the circular arcs are the optimal steering path;
S22：所述转向模块根据拖拉机的期望行驶路线控制拖拉机的转向，即实时获取拖拉机当前航向角与最佳转向路径切线的夹角θ；具体步骤包括：S22: The steering module controls the steering of the tractor according to the desired driving route of the tractor, that is, obtains the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path in real time; the specific steps include:
S221：将拖拉机的起点作为坐标原点，建立二维坐标系；S221: Use the starting point of the tractor as the coordinate origin to establish a two-dimensional coordinate system;
S222：将期望行驶路线上拖拉机当前位置附近的三个点标记为(X0，Y0)、(X1，Y1)和(X2，Y2)；求出经过三点的圆弧轨迹；S222: Mark the three points near the current position of the tractor on the desired driving route as (X0, Y0), (X1, Y1) and (X2, Y2); obtain the arc trajectory passing through the three points;
S223：此轨迹的切线与拖拉机当前航向角的夹角θ即为此时拖拉机的转向角度，拖拉机行驶过程中实时监测角度θ，保持θ为0；S223: The included angle θ between the tangent of the trajectory and the current heading angle of the tractor is the steering angle of the tractor at this time. The angle θ is monitored in real time during the tractor driving, and θ is kept as 0;
所述数据处理模块将拖拉机的期望行驶路线和拖拉机当前航向角与最佳转向路径切线的夹角θ传输到监测模块，所述监测模块结合拖拉机的期望行驶路线、夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析；具体步骤如下：The data processing module transmits the expected driving route of the tractor and the included angle θ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, which combines the expected driving route of the tractor, the included angle θ and the real-time position of the tractor. Analyze the deviation value of the tractor; the specific steps are as follows:
S31：获取拖拉机实时位置的坐标(X′i，Y′i)；将点(X′i，Y′i)标记为验证点；S31: Obtain the coordinates (X'i, Y'i) of the real-time position of the tractor; mark the point (X'i, Y'i) as a verification point;
S32：获取期望行驶路线中与拖拉机实时位置对应的参考点；参考点的获取准则为，获取期望行驶路线中与点(X′i，Y′i)若干不重合的对应点，计算对应点与参考点的距离，将最近距离的对应点标记为参考点；S32: Obtain reference points corresponding to the real-time position of the tractor in the desired driving route; the reference point acquisition criterion is to acquire several non-overlapping corresponding points in the expected driving route with points (X'i, Y'i), and calculate the corresponding points and The distance of the reference point, mark the corresponding point with the closest distance as the reference point;
S33：将期望行驶路线中的参考点标记为(Ji，Ki)；i＝1...n；S33: Mark the reference points in the desired travel route as (Ji, Ki); i=1...n;
S34：利用公式
计算得出拖拉机的偏离值WE；其中，验证点与参考点的距离越近，θ越小，则拖拉机的偏离值WE越小；b1和b2为预设系数；
S34: Utilize formulas Calculate the deviation value WE of the tractor; wherein, the closer the distance between the verification point and the reference point, the smaller the θ, the smaller the deviation value WE of the tractor; b1 and b2 are preset coefficients;
S34：当WE超过预设阈值时，则监测模块生成预警信号并将预警信号传输到整机控制模块；所述整机控制模块接收预警信号控制报警器发出警报 并控制拖拉机停止运行。S34: When WE exceeds the preset threshold, the monitoring module generates an early warning signal and transmits the early warning signal to the complete machine control module; the complete machine control module receives the early warning signal and controls the alarm device to issue an alarm and control the tractor to stop running.
进一步地，所述数据采集模块采集农田地块边界信息的具体工作步骤为：Further, the specific working steps for the data collection module to collect the boundary information of the farmland are as follows:
步骤一：所述数据采集模块发布采集任务并选取对应的采集人员，具体步骤为：Step 1: The data collection module issues collection tasks and selects corresponding collection personnel, the specific steps are:
S11：将待采集的农田地块边界标记为待采边界；向工作人员的手机终端发送位置获取指令获取工作人员的位置，将工作人员的位置与拖拉机初始位置进行距离差计算得到人员距离QG；S11: mark the boundary of the farmland plot to be collected as the boundary to be collected; send a position acquisition command to the mobile phone terminal of the staff to obtain the position of the staff, and calculate the distance difference between the staff's position and the initial position of the tractor to obtain the staff distance QG;
S12：将工作人员的入行时间与***当前时间进行时间差计算得到工作人员的工作时长并标记为QF；S12: Calculate the time difference between the entry time of the staff and the current time of the system to obtain the working hours of the staff and mark it as QF;
S13：设定工作人员的年龄为QN，设定工作人员的采集次数为QC；将人员距离、工作时长、采集次数和年龄进行去量化处理并取其数值；S13: Set the age of the staff as QN, and set the collection times of the staff as QC; quantify the distance, working hours, collection times and age of the staff and take their values;
S25：利用公式
得到工作人员的采集值QZ；其中，QT为工作人员的低效值；a1、a2、a3、a4和a5均为预设系数因子；
S25: Utilize formulas Obtain the collected value QZ of the staff; wherein, QT is the low efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
S26：选取采集值QZ最大的工作人员为待采边界的采集人员；S26: Select the staff with the largest collection value QZ as the collection staff at the boundary to be collected;
步骤二：将拖拉机初始位置和拖拉机目标位置发送至该采集人员的手机终端上；同时该采集人员的采集次数增加一次；Step 2: sending the initial position of the tractor and the target position of the tractor to the mobile phone terminal of the collector; at the same time, the number of collections of the collector is increased by one;
步骤三：采集人员到达拖拉机初始位置后，采集人员首次操控拖拉机顺时针绕行待采边界一周，绕行过程中打开GPS；拖拉机绕行过程中，拖拉机左车轮紧贴待采边界，且绕行车速保持较低匀速；得到农田地块边界曲线；Step 3: After the collector arrives at the initial position of the tractor, the collector controls the tractor clockwise around the boundary to be mined for the first time, and turns on the GPS during the detour; during the detour, the left wheel of the tractor is close to the boundary to be mined and detours The speed of the vehicle is kept low and uniform; the boundary curve of the farmland plot is obtained;
步骤四：将采集结束时刻与采集开始时刻进行时间差计算获取得到采集人员的采集时长，将其标记为R1；设定用户输入的评分值为A；将采集时长与输入的评分值进行去量化处理并取其值，利用公式
获取得到采集人员的单次值，将采集人员的所有单次值进行求和并取平均值得到采集人员的低效值QT；b1和b2均为预设比例系数。
Step 4: Calculate the time difference between the collection end time and the collection start time to obtain the collection time of the collection personnel, and mark it as R1; set the score value input by the user to A; dequantize the collection time length and the input score value and take its value, using the formula The single value of the collector is obtained, and all single values of the collector are summed and averaged to obtain the low-efficiency value QT of the collector; b1 and b2 are both preset proportional coefficients.
进一步地，所述整机控制模块还用于将预警信号和拖拉机的位置信息传输到预警管理模块；所述预警管理模块接收到预警信号和拖拉机的位置信息并分配至对应的管理人员进行处理；具体步骤为：Further, the complete machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing; The specific steps are:
S41：获取当前时间上班的管理人员并将其标记为初选人员，用符号Hj表示，j＝1，2，……，m；S41: Obtain the management personnel who are on duty at the current time and mark them as primary candidates, represented by the symbol Hj, j=1, 2, ..., m;
S42：设定初选人员当天的管理总时长为T1
Hj；将初选人员的入职时间与***当前时间进行时间差计算得到初选人员的入职时长并标记为T2
Hj；设定初选人员的年龄为N
Hj；
S42: Set the total management time of the primary candidates on the day as T1 Hj ; calculate the time difference between the entry time of the primary candidates and the current time of the system to obtain the entry time of the primary candidates and mark it as T2 Hj ; set the age of the primary candidates is N Hj ;
S43：利用公式
计算得到初选人员的管理值DF；其中T3
Hj为初选人员的辅助时长；r1、r2、r3和r4均为预设因子；
S43: Utilize formulas The management value DF of the primary candidates is calculated; T3 Hj is the auxiliary time of the primary candidates; r1, r2, r3 and r4 are all preset factors;
S44：选取管理值最大的初选人员为选中人员；预警管理模块向选中人员的手机终端发送预警信号和拖拉机的位置信息；S44: Select the primary selection personnel with the largest management value as the selected personnel; the early warning management module sends an early warning signal and the location information of the tractor to the mobile terminal of the selected personnel;
S45：选中人员通过手机终端接收到预警信号和拖拉机的位置信息后，选中人员到达拖拉机的位置处并通过手机终端拍摄拖拉机的图片并将拖拉机的图片和管理开始指令发送至预警管理模块；S45: After the selected person receives the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal, and sends the picture of the tractor and the management start instruction to the early warning management module;
S46：预警管理模块接收到管理开始指令和拖拉机的图片后将该拖拉机标记为预警机，当预警机的偏离值小于等于预设阈值时，则预警管理模块生成管理完成指令并发送至选中人员的手机终端上；S46: After the early warning management module receives the management start instruction and the picture of the tractor, the tractor is marked as an early warning machine. When the deviation value of the early warning machine is less than or equal to the preset threshold, the early warning management module generates a management completion command and sends it to the mobile terminal of the selected person superior;
S47：预警管理模块将接收到管理开始指令的时刻标记为该选中人员的管理开始时刻，将生成管理完成指令的时刻为该选中人员的管理完成时刻，将管理完成时刻与管理开始时刻进行时间差计算获取得到单次管理时长；S47: The early warning management module marks the time when the management start instruction is received as the management start time of the selected person, the time when the management completion instruction is generated is the management completion time of the selected person, and the time difference between the management completion time and the management start time is calculated. Get the duration of a single management;
将选中人员的当天单次管理时长进行求和得到选中人员当天的的管理总时长T1
Hj；
Summing up the single management time of the selected person on the day to obtain the total management time T1 Hj of the selected person on the day;
同时获取选中人员在***当前时间三十天内所有的单次管理时长进行求和并取均值得到选中人员的辅助时长T3
Hj。
At the same time, all single management durations of the selected personnel within 30 days of the current system time are obtained, summed, and the average value is obtained to obtain the auxiliary duration T3 Hj of the selected personnel.
进一步地，所述雷达模块由安装于拖拉机前部的毫米波雷达构成，所述雷达模块用于检测障碍物的存在与否，并在检测到障碍物的存在时，向数据处理模块发送障碍物的位置信息，所述数据处理模块根据障碍物的位置信息生成避让指示和路径导航信息，并将该避让指示和路径导航信息传送给整机控制模块，所述整机控制模块根据所述避让指示和路径导航信息对拖拉机进行控制。Further, the radar module is composed of a millimeter-wave radar installed on the front of the tractor, the radar module is used to detect the existence of obstacles, and when the existence of obstacles is detected, it sends the obstacles to the data processing module. The data processing module generates avoidance instructions and path navigation information according to the position information of obstacles, and transmits the avoidance instructions and path navigation information to the complete machine control module, and the complete machine control module according to the avoidance instructions and route navigation information to control the tractor.
进一步地，所述位姿信息包括位置信息、加速度、速度以及航向角；所述农田地块边界信息包括农田地块边界曲线；所述道路边界信息包括道路边缘线位置信息，根据所述道路边缘线位置信息得到道路中线。Further, the pose information includes position information, acceleration, speed and heading angle; the farmland plot boundary information includes a farmland plot boundary curve; the road boundary information includes road edge line position information, according to the road edge The line position information is used to obtain the road center line.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)本发明通过数据采集模块发布采集任务并选取对应的采集人员，将人员距离、工作时长、采集次数和年龄进行去量化处理并取其数值，利用公式
得到工作人员的采集值QZ，选取采集值QZ最大的工作人员为待采边界的采集人员，提高采集效率以及采集信息的准确性；
(1) The present invention issues the collection task through the data collection module and selects the corresponding collection personnel, de-quantifies the distance, working hours, collection times and age of the personnel and takes their numerical values, using the formula Obtain the collection value QZ of the staff, and select the staff with the largest collection value QZ as the collection staff of the boundary to be collected, so as to improve the collection efficiency and the accuracy of the collected information;
(2)本发明通过数据处理模块接收农田地块边界曲线、拖拉机的位姿信 息和目标位置信息并进行融合处理得到道路边界信息，通过道路边界信息得到道路中线，再根据道路中线得到拖拉机的期望行驶路线；转向模块根据拖拉机的期望行驶路线控制拖拉机的转向，即实时获取拖拉机当前航向角与最佳转向路径切线的夹角θ，拖拉机行驶过程中实时监测角度θ，保持θ为0；能够合理规划车辆行驶路径并准确调整；(2) The present invention receives the farmland plot boundary curve, the tractor's pose information and target position information through the data processing module, and performs fusion processing to obtain the road boundary information, obtains the road center line through the road boundary information, and then obtains the tractor's expectation according to the road center line. Driving route; the steering module controls the steering of the tractor according to the expected driving route of the tractor, that is, the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path is obtained in real time, and the angle θ is monitored in real time during the driving process of the tractor, and θ is kept at 0; it is reasonable Plan the driving path of the vehicle and adjust it accurately;
(3)本发明通过监测模块结合拖拉机的期望行驶路线、拖拉机当前航向角与最佳转向路径切线的夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析；当偏离值超过预设阈值时，则监测模块生成预警信号并将预警信号传输到整机控制模块；所述整机控制模块接收预警信号控制报警器发出警报并控制拖拉机停止运行；避免无人驾驶的拖拉机偏离路线，发生事故或对农田造成破坏的问题；(3) The present invention analyzes the deviation value of the tractor by combining the expected driving route of the tractor, the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path, and the real-time position of the tractor through the monitoring module; when the deviation value exceeds the preset threshold value , the monitoring module generates an early warning signal and transmits the early warning signal to the whole machine control module; the whole machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running; to avoid the unmanned tractor from deviating from the route, causing an accident or Problems causing damage to farmland;
(4)本发明通过预警管理模块接收到预警信号和拖拉机的位置信息并分配至对应的管理人员进行处理，获取当前时间上班的管理人员并将其标记为初选人员，将初选人员的入职时间与***当前时间进行时间差计算得到初选人员的入职时长，获取初选人员当天的管理总时长和初选人员的年龄，利用公式获取得到初选人员的管理值，选取管理值最大的初选人员为选中人员，对预警机进行修正，提高工作效率。(4) The present invention receives the early warning signal and the position information of the tractor through the early warning management module and assigns it to the corresponding management personnel for processing, obtains the management personnel who go to work at the current time and marks them as the primary selection personnel, and records the entry of the primary selection personnel. Calculate the time difference between the time and the current time of the system to obtain the entry time of the primary candidates, obtain the total management time of the primary candidates on the day and the age of the primary candidates, use the formula to obtain the management value of the primary candidates, and select the primary selection with the largest management value. The personnel are selected personnel to correct the early warning aircraft to improve work efficiency.
为了便于本领域技术人员理解，下面结合附图对本发明作进一步的说明。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.
图1为本发明的***框图；1 is a system block diagram of the present invention;
图2为本发明的直角转弯路径示意图。FIG. 2 is a schematic diagram of a right-angle turning path of the present invention.
如图1-2所示，一种无人驾驶拖拉机自动导航转向***，包括数据采集模块、GPS导航模块、雷达模块、无线通信模块、数据处理模块、监测模块、转向模块、预警管理模块、整机控制模块以及智能终端；As shown in Figure 1-2, an automatic navigation and steering system for an unmanned tractor includes a data acquisition module, a GPS navigation module, a radar module, a wireless communication module, a data processing module, a monitoring module, a steering module, an early warning management module, a whole machine control module and intelligent terminal;
所述数据采集模块用于采集农田地块边界信息，所述GPS导航模块用于采集拖拉机行驶过程中拖拉机的位姿信息，所述位姿信息包括位置信息、加速度、速度以及航向角；所述数据处理模块用于规划拖拉机的期望行驶路线，所述转向模块用于控制拖拉机的转向；The data collection module is used to collect the boundary information of the farmland, the GPS navigation module is used to collect the position and attitude information of the tractor during the driving process of the tractor, and the position and attitude information includes position information, acceleration, speed and heading angle; the The data processing module is used to plan the expected driving route of the tractor, and the steering module is used to control the steering of the tractor;
所述数据采集模块采集农田地块边界信息的具体工作步骤为:The specific working steps of the data collection module collecting the boundary information of the farmland are as follows:
步骤一：所述数据采集模块发布采集任务并选取对应的采集人员，具体步骤为：Step 1: The data collection module issues collection tasks and selects corresponding collection personnel, the specific steps are:
S11：将待采集的农田地块边界标记为待采边界；向工作人员的手机终端发送位置获取指令获取工作人员的位置，将工作人员的位置与拖拉机初始位置进行距离差计算得到人员距离QG；S11: mark the boundary of the farmland plot to be collected as the boundary to be collected; send a position acquisition command to the mobile phone terminal of the staff to obtain the position of the staff, and calculate the distance difference between the staff's position and the initial position of the tractor to obtain the staff distance QG;
S12：将工作人员的入行时间与***当前时间进行时间差计算得到工作人员的工作时长并标记为QF；S12: Calculate the time difference between the entry time of the staff and the current time of the system to obtain the working hours of the staff and mark it as QF;
S13：设定工作人员的年龄为QN，设定工作人员的采集次数为QC；将人员距离、工作时长、采集次数和年龄进行去量化处理并取其数值；S13: Set the age of the staff as QN, and set the collection times of the staff as QC; quantify the distance, working hours, collection times and age of the staff and take their values;
S25：利用公式得到工作人员的采集值QZ；其中，QT为工作人员的低效值；a1、a2、a3、a4和a5均为预设系数因子；S25: Use the formula to obtain the collected value QZ of the staff; wherein, QT is the low efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;
S26：选取采集值QZ最大的工作人员为待采边界的采集人员；S26: Select the staff with the largest collection value QZ as the collection staff at the boundary to be collected;
步骤二：将拖拉机初始位置和拖拉机目标位置发送至该采集人员的手机终端上；同时该采集人员的采集次数增加一次；Step 2: sending the initial position of the tractor and the target position of the tractor to the mobile phone terminal of the collector; at the same time, the number of collections of the collector is increased by one;
步骤三：采集人员到达拖拉机初始位置后，采集人员首次操控拖拉机顺时针绕行待采边界一周，绕行过程中打开GPS；拖拉机绕行过程中，拖拉机左车轮紧贴待采边界，且绕行车速保持较低匀速；得到农田地块边界曲线；Step 3: After the collector arrives at the initial position of the tractor, the collector controls the tractor clockwise around the boundary to be mined for the first time, and turns on the GPS during the detour; during the detour, the left wheel of the tractor is close to the boundary to be mined and detours The speed of the vehicle is kept low and uniform; the boundary curve of the farmland plot is obtained;
步骤四：将采集结束时刻与采集开始时刻进行时间差计算获取得到采集人员的采集时长，将其标记为R1；设定用户输入的评分值为A；将采集时长与输入的评分值进行去量化处理并取其值，利用公式获取得到采集人员的单次值，将采集人员的所有单次值进行求和并取平均值得到采集人员的低效值QT；b1和b2均为预设比例系数；Step 4: Calculate the time difference between the collection end time and the collection start time to obtain the collection time of the collection personnel, and mark it as R1; set the score value input by the user to A; dequantize the collection time length and the input score value And take its value, use the formula to obtain the single value of the collector, sum all the single values of the collector and take the average to obtain the low efficiency value QT of the collector; b1 and b2 are both preset proportional coefficients;
所述数据采集模块将农田地块边界曲线传输到数据处理模块，所述GPS导航模块将拖拉机的位姿信息传输到数据处理模块，所述智能终端通过无线通信模块将目标位置信息传输到数据处理模块；The data acquisition module transmits the farmland plot boundary curve to the data processing module, the GPS navigation module transmits the position and attitude information of the tractor to the data processing module, and the intelligent terminal transmits the target position information to the data processing module through the wireless communication module. module;
所述数据处理模块接收农田地块边界曲线、拖拉机的位姿信息和目标位置信息并进行融合处理得到道路边界信息，通过所述道路边界信息得到道路中线，根据所述道路中线得到拖拉机的期望行驶路线，所述道路边界信息包括道路边缘线位置信息，根据所述道路边缘线位置信息得到道路中线；所述数据处理模块规划拖拉机期望行驶路线的具体步骤为：The data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information, and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving of the tractor according to the road center line. Route, the road boundary information includes road edge line position information, and the road center line is obtained according to the road edge line position information; the specific steps of the data processing module planning the expected driving route of the tractor are as follows:
S21：检测得到的道路中线是否有弯曲趋势，若无弯曲趋势，拖拉机沿当前方向继续行驶，如检测到有弯曲趋势，则开始规划拖拉机的行驶路径；具体包括：S21: Whether the detected road center line has a bending tendency, if there is no bending tendency, the tractor continues to drive in the current direction, and if a bending tendency is detected, the tractor's driving path will be planned; the details include:
S211：所述弯曲趋势包括直角转弯和曲线转弯；其中直角转弯的计算为：分别计算最大转向半径Rmax和最小转向半径Rmin，最佳转向半径：S211: The bending trend includes right-angle turning and curved turning; wherein the calculation of right-angle turning is: respectively calculating the maximum turning radius Rmax and the minimum turning radius Rmin, and the optimal turning radius:
R＝(Rmax+Rmin)/2；R=(Rmax+Rmin)/2;
如图2所示，L1为当前点到正前方边界距离，L2为到右前方边界距离，L3为车辆到右侧道路边线的距离，L4为车身宽度；Rmax＝L1；Rmin＝L2+L4；As shown in Figure 2, L1 is the distance from the current point to the front boundary, L2 is the distance to the right front boundary, L3 is the distance from the vehicle to the right side of the road, and L4 is the width of the vehicle body; Rmax=L1; Rmin=L2+L4;
S212：曲线转弯的计算为：将所得到的道路中线的曲线拟合成数段直线，分别求得其相邻两段的外接圆弧，所述圆弧为最佳转向路径；S212: the calculation of the curve turning is: fitting the obtained curve of the road center line into several straight lines, respectively obtaining the circumscribed circular arcs of its two adjacent segments, and the circular arcs are the optimal steering path;
S22：所述转向模块根据拖拉机的期望行驶路线控制拖拉机的转向，即实时获取拖拉机当前航向角与最佳转向路径切线的夹角θ；具体步骤包括：S22: The steering module controls the steering of the tractor according to the desired driving route of the tractor, that is, obtains the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path in real time; the specific steps include:
S221：将拖拉机的起点作为坐标原点，建立二维坐标系；S221: Use the starting point of the tractor as the coordinate origin to establish a two-dimensional coordinate system;
S222：将期望行驶路线上拖拉机当前位置附近的三个点标记为(X0，Y0)、(X1，Y1)和(X2，Y2)；求出经过三点的圆弧轨迹；S222: Mark the three points near the current position of the tractor on the desired driving route as (X0, Y0), (X1, Y1) and (X2, Y2); obtain the arc trajectory passing through the three points;
S223：此轨迹的切线与拖拉机当前航向角的夹角θ即为此时拖拉机的转向角度，拖拉机行驶过程中实时监测角度θ，保持θ为0；S223: The included angle θ between the tangent of the trajectory and the current heading angle of the tractor is the steering angle of the tractor at this time. The angle θ is monitored in real time during the tractor driving, and θ is kept as 0;
所述数据处理模块将拖拉机的期望行驶路线和拖拉机当前航向角与最佳转向路径切线的夹角θ传输到监测模块，所述监测模块结合拖拉机的期望行驶路线、夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析；具体步骤如下：The data processing module transmits the expected driving route of the tractor and the included angle θ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, which combines the expected driving route of the tractor, the included angle θ and the real-time position of the tractor. Analyze the deviation value of the tractor; the specific steps are as follows:
S31：获取拖拉机实时位置的坐标()；将点()标记为验证点；S31: Obtain the coordinates of the real-time position of the tractor (); mark the point () as a verification point;
S32：获取期望行驶路线中与拖拉机实时位置对应的参考点；参考点的获取准则为，获取期望行驶路线中与点()若干不重合的对应点，计算对应点与参考点的距离，将最近距离的对应点标记为参考点；S32: Obtain a reference point corresponding to the real-time position of the tractor in the desired driving route; the reference point acquisition criterion is to acquire a number of corresponding points that do not coincide with point ( ) in the expected driving route, calculate the distance between the corresponding point and the reference point, and set the closest point to the reference point. The corresponding point of the distance is marked as the reference point;
S33：将期望行驶路线中的参考点标记为(Ji，Ki)；i＝1...n；S33: Mark the reference points in the desired travel route as (Ji, Ki); i=1...n;
S34：利用公式计算得出拖拉机的偏离值WE；其中验证点与参考点的距离越近，θ越小，则拖拉机的偏离值WE越小；b1和b2为预设系数；S34: Calculate the deviation value WE of the tractor using the formula; the closer the distance between the verification point and the reference point, the smaller the θ, the smaller the deviation value WE of the tractor; b1 and b2 are preset coefficients;
S34：当WE超过预设阈值时，则监测模块生成预警信号并将预警信号传输到整机控制模块；所述整机控制模块接收预警信号控制报警器发出警报并控制拖拉机停止运行；S34: when WE exceeds the preset threshold, the monitoring module generates an early warning signal and transmits the early warning signal to the complete machine control module; the complete machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running;
所述整机控制模块还用于将预警信号和拖拉机的位置信息传输到预警管理模块；所述预警管理模块接收到预警信号和拖拉机的位置信息并分配至对应的管理人员进行处理；具体步骤为：The whole machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing; the specific steps are as follows: :
S41：获取当前时间上班的管理人员并将其标记为初选人员，用符号Hj表示，j＝1，2，……，m；S41: Obtain the management personnel who are on duty at the current time and mark them as primary candidates, represented by the symbol Hj, j=1, 2, ..., m;
S42：设定初选人员当天的管理总时长为T1Hj；将初选人员的入职时间与***当前时间进行时间差计算得到初选人员的入职时长并标记为T2Hj；设定初选人员的年龄为NHj；S42: Set the total management time of the primary candidates on the day as T1Hj; calculate the time difference between the entry time of the primary candidates and the current system time to obtain the entry time of the primary candidates and mark it as T2Hj; set the age of the primary candidates as NHj ;
S43：利用公式计算得到初选人员的管理值DF；其中T3Hj为初选人员的辅助时长；r1、r2、r3和r4均为预设因子；S43: Use the formula to calculate the management value DF of the primary selection personnel; T3Hj is the auxiliary time of the primary selection personnel; r1, r2, r3 and r4 are all preset factors;
S44：选取管理值最大的初选人员为选中人员；预警管理模块向选中人员的手机终端发送预警信号和拖拉机的位置信息；S44: Select the primary selection personnel with the largest management value as the selected personnel; the early warning management module sends an early warning signal and the location information of the tractor to the mobile terminal of the selected personnel;
S45：选中人员通过手机终端接收到预警信号和拖拉机的位置信息后，选中人员到达拖拉机的位置处并通过手机终端拍摄拖拉机的图片并将拖拉机的图片和管理开始指令发送至预警管理模块；S45: After the selected person receives the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal, and sends the picture of the tractor and the management start instruction to the early warning management module;
S46：预警管理模块接收到管理开始指令和拖拉机的图片后将该拖拉机标记为预警机，当预警机的偏离值小于等于预设阈值时，则预警管理模块生成管理完成指令并发送至选中人员的手机终端上；S46: After the early warning management module receives the management start instruction and the picture of the tractor, the tractor is marked as an early warning machine. When the deviation value of the early warning machine is less than or equal to the preset threshold, the early warning management module generates a management completion command and sends it to the mobile terminal of the selected person superior;
S47：预警管理模块将接收到管理开始指令的时刻标记为该选中人员的管理开始时刻，将生成管理完成指令的时刻为该选中人员的管理完成时刻，将管理完成时刻与管理开始时刻进行时间差计算获取得到单次管理时长，将选中人员的当天单次管理时长进行求和得到选中人员当天的的管理总时长T1Hj；同时获取选中人员在***当前时间三十天内所有的单次管理时长进行求和并取均值得到选中人员的辅助时长T3Hj；S47: The early warning management module marks the time when the management start instruction is received as the management start time of the selected person, the time when the management completion instruction is generated is the management completion time of the selected person, and the time difference between the management completion time and the management start time is calculated. Obtain the single management time, and sum up the single management time of the selected person on the day to obtain the total management time T1Hj of the selected person on the day; at the same time, obtain all the single management time of the selected person within 30 days of the current system time and sum up And take the average value to get the assistant time T3Hj of the selected personnel;
雷达模块用于检测障碍物的存在与否，并在检测到障碍物的存在时，向数据处理模块发送障碍物的位置信息，所述数据处理模块根据障碍物的位置信息生成避让指示和路径导航信息，并将该避让指示和路径导航信息传送给整机控制模块，所述整机控制模块根据所述避让指示和路径导航信息对拖拉机进行控制；The radar module is used to detect the existence of obstacles, and when the existence of obstacles is detected, it sends the position information of the obstacles to the data processing module, and the data processing module generates avoidance instructions and path navigation according to the position information of the obstacles information, and transmit the avoidance instruction and path navigation information to the complete machine control module, and the complete machine control module controls the tractor according to the avoidance instruction and the path navigation information;
所述雷达模块由安装于拖拉机前部的毫米波雷达构成，主要用于对障碍物的识别，防止拖拉机在转向过程中出现事故；当识别到拖拉机前方道路出现障碍物时，及时减速，重新规划路线。The radar module is composed of a millimeter-wave radar installed on the front of the tractor, which is mainly used to identify obstacles and prevent accidents during the steering process of the tractor; when an obstacle is identified on the road in front of the tractor, it will decelerate in time and re-plan route.
一种无人驾驶拖拉机自动导航转向***，在工作时，首先通过数据采集模块采集农田地块边界信息，数据采集模块发布采集任务并选取对应的采集人员，将人员距离、工作时长、采集次数和年龄进行去量化处理并取其数值；利用公式得到工作人员的采集值QZ；选取采集值QZ最大的工作人员为待采边界的采集人员；采集人员到达拖拉机初始位置后，采集人员首次操控拖拉机顺时针绕行待采边界一周，绕行过程中打开GPS；拖拉机绕行过程中，拖拉机左车轮紧贴待采边界，且绕行车速保持较低匀速；得到农田地块边界曲线；An automatic navigation and steering system for an unmanned tractor. When working, firstly, the data collection module collects the boundary information of farmland plots. The data collection module issues collection tasks and selects the corresponding collection personnel. The age is de-quantified and its value is taken; the collected value QZ of the staff is obtained by using the formula; the staff with the largest collection value QZ is selected as the collector at the boundary to be collected; after the collector reaches the initial position of the tractor, the collector controls the tractor for the first time. The hour hand circles the to-be-mined boundary for one week, and the GPS is turned on during the detour; during the tractor's detour, the left wheel of the tractor is close to the to-be-mined boundary, and the detouring speed remains low and uniform; the farmland plot boundary curve is obtained;
数据处理模块接收农田地块边界曲线、拖拉机的位姿信息和目标位置信息进行融合处理得到道路边界信息，通过所述道路边界信息得到道路中线，根据所述道路中线得到拖拉机的期望行驶路线；所述转向模块根据拖拉机的期望行驶路线控制拖拉机的转向，即实时获取拖拉机当前航向角与最佳转向路径切线的夹角θ，拖拉机行驶过程中实时监测角度θ，保持θ为0，能够合理规划车辆行驶路径并准确调整；The data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving route of the tractor according to the road center line; The steering module controls the steering of the tractor according to the expected driving route of the tractor, that is, the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path is obtained in real time, and the angle θ is monitored in real time during the driving process of the tractor, and θ is kept at 0, which can reasonably plan the vehicle. Travel path and adjust accurately;
数据处理模块将拖拉机的期望行驶路线和拖拉机当前航向角与最佳转向路径切线的夹角θ传输到监测模块，监测模块结合拖拉机的期望行驶路线、夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析，利用公式The data processing module transmits the expected driving route of the tractor and the included angle θ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, and the monitoring module combines the expected driving route of the tractor, the included angle θ and the real-time position of the tractor to the deviation of the tractor value is analyzed using the formula
计算得出拖拉机的偏离值WE；其中验证点与参考点的距离越近，θ越小，则拖拉机的偏离值WE越小；当WE超过预设阈值时，则监测模块生成预警信号并将预警信号传输到整机控制模块；所述整机控制模块接收预警信号控制报警器发出警报并控制拖拉机停止运行；从而避免无人驾驶的拖拉机偏离路线，发生事故或对农田造成破坏的问题；The deviation value WE of the tractor is calculated; the closer the distance between the verification point and the reference point, the smaller the θ, the smaller the deviation value WE of the tractor; when the WE exceeds the preset threshold, the monitoring module will generate an early warning signal and send an early warning signal. The signal is transmitted to the whole machine control module; the whole machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running; thereby avoiding the problem of the unmanned tractor deviating from the route, causing an accident or causing damage to the farmland;
整机控制模块还用于将预警信号和拖拉机的位置信息传输到预警管理模块；所述预警管理模块接收到预警信号和拖拉机的位置信息并分配至对应的管理人员进行处理；获取当前时间上班的管理人员并将其标记为初选人员，设定初选人员当天的管理总时长为T1Hj；将初选人员的入职时间与***当前时间进行时间差计算得到初选人员的入职时长并标记为T2Hj；设定初选人员的年龄为NHj；利用公式计算得到初选人员的管理值DF，选取管理值最大的初选人员为选中人员，对预警机进行修正，提高工作效率。The whole machine control module is also used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module receives the early warning signal and the position information of the tractor and assigns it to the corresponding management personnel for processing; The management personnel are marked as primary candidates, and the total management time of the primary candidates on the day is set as T1Hj; the time difference between the entry time of the primary candidates and the current system time is calculated to obtain the entry time of the primary candidates and marked as T2Hj; Set the age of the primary selection personnel as NHj; use the formula to calculate the management value DF of the primary selection personnel, select the primary selection personnel with the largest management value as the selected personnel, and modify the early warning machine to improve work efficiency.
上述公式均是采集大量数据进行软件模拟得出且选取与真实值接近的一个公式，公式中的系数是由本领域技术人员根据实际情况进行设置。The above formulas are all obtained by collecting a large amount of data and performing software simulation and selecting a formula that is close to the actual value. The coefficients in the formula are set by those skilled in the art according to the actual situation.
以上内容仅仅是对本发明结构所作的举例和说明，所属本技术领域的技术人员对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，只要不偏离发明的结构或者超越本权利要求书所定义的范围，均应属于本发明的保护范围。The above content is only an example and description of the structure of the present invention, and those skilled in the art can make various modifications or supplements to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the structure of the invention or Anything beyond the scope defined by the claims shall belong to the protection scope of the present invention.
Claims (4)
- 一种无人驾驶拖拉机自动导航转向***，其特征在于，包括数据采集模块、GPS导航模块、雷达模块、无线通信模块、监测模块、数据处理模块、转向模块、预警管理模块、整机控制模块以及智能终端；An automatic navigation steering system for an unmanned tractor, characterized in that it includes a data acquisition module, a GPS navigation module, a radar module, a wireless communication module, a monitoring module, a data processing module, a steering module, an early warning management module, a complete machine control module, and a Intelligent Terminal;所述数据采集模块用于采集农田地块边界信息，所述GPS导航模块用于采集拖拉机行驶过程中拖拉机的位姿信息；所述数据处理模块用于规划拖拉机的期望行驶路线，所述转向模块用于控制拖拉机的转向；The data acquisition module is used to collect the boundary information of farmland plots, the GPS navigation module is used to collect the position and attitude information of the tractor during the driving process of the tractor; the data processing module is used to plan the desired driving route of the tractor, and the steering module Used to control the steering of the tractor;所述数据采集模块将农田地块边界曲线传输到数据处理模块，所述GPS导航模块将拖拉机的位姿信息传输到数据处理模块，所述智能终端通过无线通信模块将目标位置信息传输到数据处理模块；The data acquisition module transmits the farmland plot boundary curve to the data processing module, the GPS navigation module transmits the position and attitude information of the tractor to the data processing module, and the intelligent terminal transmits the target position information to the data processing module through the wireless communication module. module;所述数据处理模块接收农田地块边界曲线、拖拉机的位姿信息和目标位置信息并进行融合处理得到道路边界信息，通过所述道路边界信息得到道路中线，根据所述道路中线得到拖拉机的期望行驶路线；所述数据处理模块规划拖拉机期望行驶路线的具体步骤为：The data processing module receives the farmland plot boundary curve, the pose information of the tractor and the target position information, and performs fusion processing to obtain road boundary information, obtains the road center line through the road boundary information, and obtains the expected driving of the tractor according to the road center line. route; the specific steps for the data processing module to plan the expected driving route of the tractor are:S21：检测得到的道路中线是否有弯曲趋势，若无弯曲趋势，拖拉机沿当前方向继续行驶，如检测到有弯曲趋势，则开始规划拖拉机的行驶路径；具体包括：S21: Whether the detected road center line has a bending tendency, if there is no bending tendency, the tractor continues to drive in the current direction, and if a bending tendency is detected, the tractor's driving path will be planned; the details include:S211：所述弯曲趋势包括直角转弯和曲线转弯；其中直角转弯的计算为：分别计算最大转向半径Rmax和最小转向半径Rmin，最佳转向半径：S211: The bending trend includes right-angle turning and curved turning; wherein the calculation of right-angle turning is: respectively calculating the maximum turning radius Rmax and the minimum turning radius Rmin, and the optimal turning radius:R＝(Rmax+Rmin)/2；R=(Rmax+Rmin)/2;S212：曲线转弯的计算为：将所得到的道路中线的曲线拟合成数段直线，分别求得其相邻两段的外接圆弧，所述圆弧为最佳转向路径；S212: the calculation of the curve turning is: fitting the obtained curve of the road center line into several straight lines, respectively obtaining the circumscribed circular arcs of its two adjacent segments, and the circular arcs are the optimal steering path;S22：所述转向模块根据拖拉机的期望行驶路线控制拖拉机的转向，即实时获取拖拉机当前航向角与最佳转向路径切线的夹角θ；具体步骤包括：S22: The steering module controls the steering of the tractor according to the desired driving route of the tractor, that is, obtains the angle θ between the current heading angle of the tractor and the tangent to the optimal steering path in real time; the specific steps include:S221：将拖拉机的起点作为坐标原点，建立二维坐标系；S221: Use the starting point of the tractor as the coordinate origin to establish a two-dimensional coordinate system;S222：将期望行驶路线上拖拉机当前位置附近的三个点标记为(X0，Y0)、(X1，Y1)和(X2，Y2)；求出经过三点的圆弧轨迹；S222: Mark the three points near the current position of the tractor on the desired driving route as (X0, Y0), (X1, Y1) and (X2, Y2); obtain the arc trajectory passing through the three points;S223：此轨迹的切线与拖拉机当前航向角的夹角θ即为此时拖拉机的转向角度，拖拉机行驶过程中实时监测角度θ，保持θ为0；S223: The included angle θ between the tangent of the trajectory and the current heading angle of the tractor is the steering angle of the tractor at this time. The angle θ is monitored in real time during the tractor driving, and θ is kept as 0;所述数据处理模块将拖拉机的期望行驶路线和拖拉机当前航向角与最佳转向路径切线的夹角θ传输到监测模块，所述监测模块结合拖拉机的期望行驶路线、夹角θ和拖拉机的实时位置对拖拉机的偏离值作出分析；具体步骤如下：The data processing module transmits the expected driving route of the tractor and the included angle θ between the current heading angle of the tractor and the tangent to the optimal steering path to the monitoring module, which combines the expected driving route of the tractor, the included angle θ and the real-time position of the tractor. Analyze the deviation value of the tractor; the specific steps are as follows:S31：获取拖拉机实时位置的坐标(X′i，Y′i)；将点(X′i，Y′i)标记为验证点；S31: Obtain the coordinates (X'i, Y'i) of the real-time position of the tractor; mark the point (X'i, Y'i) as a verification point;S32：获取期望行驶路线中与拖拉机实时位置对应的参考点；参考点的获取准则为，获取期望行驶路线中与点(X′i，Y′i)若干不重合的对应点，计算对应点与参考点的距离，将最近距离的对应点标记为参考点；S32: Obtain reference points corresponding to the real-time position of the tractor in the desired driving route; the reference point acquisition criterion is to acquire several non-overlapping corresponding points in the expected driving route with points (X'i, Y'i), and calculate the corresponding points and The distance of the reference point, mark the corresponding point with the closest distance as the reference point;S33：将期望行驶路线中的参考点标记为(Ji，Ki)；i＝1...n；S33: Mark the reference points in the desired travel route as (Ji, Ki); i=1...n;S34：利用公式计算得出拖拉机的偏离值WE；其中，验证点与参考点的距离越近，θ越小，则拖拉机的偏离值WE越小；b1和b2为预设系数； S34: Utilize formulas
Calculate the deviation value WE of the tractor; wherein, the closer the distance between the verification point and the reference point, the smaller the θ, the smaller the deviation value WE of the tractor; b1 and b2 are preset coefficients;S34：当WE超过预设阈值时，则监测模块生成预警信号并将预警信号传输到整机控制模块；所述整机控制模块接收预警信号控制报警器发出警报并控制拖拉机停止运行。S34: When the WE exceeds the preset threshold, the monitoring module generates an early warning signal and transmits the early warning signal to the complete machine control module; the complete machine control module receives the early warning signal and controls the alarm to issue an alarm and control the tractor to stop running. - 根据权利要求1所述的一种无人驾驶拖拉机自动导航转向***，其特征在于，所述数据采集模块采集农田地块边界信息的具体工作步骤为：The automatic navigation and steering system for an unmanned tractor according to claim 1, wherein the specific working steps of the data acquisition module for collecting the boundary information of the farmland are:步骤一：所述数据采集模块发布采集任务并选取对应的采集人员，具体 步骤为：Step 1: the data collection module issues the collection task and selects the corresponding collection personnel, and the concrete steps are:S11：将待采集的农田地块边界标记为待采边界；向工作人员的手机终端发送位置获取指令获取工作人员的位置，将工作人员的位置与拖拉机初始位置进行距离差计算得到人员距离QG；S11: mark the boundary of the farmland plot to be collected as the boundary to be collected; send a position acquisition command to the mobile phone terminal of the staff to obtain the position of the staff, and calculate the distance difference between the staff's position and the initial position of the tractor to obtain the staff distance QG;S12：将工作人员的入行时间与***当前时间进行时间差计算得到工作人员的工作时长并标记为QF；S12: Calculate the time difference between the entry time of the staff and the current time of the system to obtain the working hours of the staff and mark it as QF;S13：设定工作人员的年龄为QN，设定工作人员的采集次数为QC；将人员距离、工作时长、采集次数和年龄进行去量化处理并取其数值；S13: Set the age of the staff as QN, and set the collection times of the staff as QC; quantify the distance, working hours, collection times and age of the staff and take their values;S25：利用公式得到工作人员的采集值QZ；其中，QT为工作人员的低效值；a1、a2、a3、a4和a5均为预设系数因子； S25: Utilize formulas
Obtain the collected value QZ of the staff; wherein, QT is the low efficiency value of the staff; a1, a2, a3, a4 and a5 are all preset coefficient factors;S26：选取采集值QZ最大的工作人员为待采边界的采集人员；S26: Select the staff with the largest collection value QZ as the collection staff at the boundary to be collected;步骤二：将拖拉机初始位置和拖拉机目标位置发送至该采集人员的手机终端上；同时该采集人员的采集次数增加一次；Step 2: sending the initial position of the tractor and the target position of the tractor to the mobile phone terminal of the collector; at the same time, the number of collections of the collector is increased by one;步骤三：采集人员到达拖拉机初始位置后，采集人员首次操控拖拉机顺时针绕行待采边界一周，绕行过程中打开GPS；拖拉机绕行过程中，拖拉机左车轮紧贴待采边界，且绕行车速保持较低匀速；得到农田地块边界曲线；Step 3: After the collector arrives at the initial position of the tractor, the collector controls the tractor clockwise around the boundary to be mined for the first time, and turns on the GPS during the detour; during the detour, the left wheel of the tractor is close to the boundary to be mined and detours The speed of the vehicle is kept low and uniform; the boundary curve of the farmland plot is obtained;步骤四：将采集结束时刻与采集开始时刻进行时间差计算获取得到采集人员的采集时长，将其标记为R1；设定用户输入的评分值为A；将采集时长与输入的评分值进行去量化处理并取其值，利用公式获取得到采集人员的单次值，将采集人员的所有单次值进行求和并取平均值得到采集人员的低效值QT；b1和b2均为预设比例系数。 Step 4: Calculate the time difference between the collection end time and the collection start time to obtain the collection time of the collection personnel, and mark it as R1; set the score value input by the user to A; dequantize the collection time length and the input score value and take its value, using the formula
The single value of the collector is obtained, and all single values of the collector are summed and averaged to obtain the low-efficiency value QT of the collector; b1 and b2 are both preset proportional coefficients. - 根据权利要求1所述的一种无人驾驶拖拉机自动导航转向***，其特 征在于，所述整机控制模块还用于将预警信号和拖拉机的位置信息传输到预警管理模块；所述预警管理模块接收到预警信号和拖拉机的位置信息并分配至对应的管理人员进行处理；具体步骤为：The automatic navigation and steering system for an unmanned tractor according to claim 1, wherein the whole machine control module is further used to transmit the early warning signal and the position information of the tractor to the early warning management module; the early warning management module Receive the early warning signal and the location information of the tractor and assign it to the corresponding management personnel for processing; the specific steps are:S41：获取当前时间上班的管理人员并将其标记为初选人员，用符号Hj表示，j＝1，2，……，m；S41: Obtain the management personnel who are on duty at the current time and mark them as primary candidates, represented by the symbol Hj, j=1, 2, ..., m;S42：设定初选人员当天的管理总时长为T1 Hj；将初选人员的入职时间与***当前时间进行时间差计算得到初选人员的入职时长并标记为T2 Hj；设定初选人员的年龄为N Hj； S42: Set the total management time of the primary candidates on the day as T1 Hj ; calculate the time difference between the entry time of the primary candidates and the current time of the system to obtain the entry time of the primary candidates and mark it as T2 Hj ; set the age of the primary candidates is N Hj ;S43：利用公式计算得到初选人员的管理值DF；其中T3 Hj为初选人员的辅助时长；r1、r2、r3和r4均为预设因子； S43: Utilize formulas
The management value DF of the primary candidates is calculated; T3 Hj is the auxiliary time of the primary candidates; r1, r2, r3 and r4 are all preset factors;S44：选取管理值最大的初选人员为选中人员；预警管理模块向选中人员的手机终端发送预警信号和拖拉机的位置信息；S44: Select the primary selection personnel with the largest management value as the selected personnel; the early warning management module sends an early warning signal and the location information of the tractor to the mobile terminal of the selected personnel;S45：选中人员通过手机终端接收到预警信号和拖拉机的位置信息后，选中人员到达拖拉机的位置处并通过手机终端拍摄拖拉机的图片并将拖拉机的图片和管理开始指令发送至预警管理模块；S45: After the selected person receives the early warning signal and the position information of the tractor through the mobile phone terminal, the selected person arrives at the position of the tractor, takes a picture of the tractor through the mobile phone terminal, and sends the picture of the tractor and the management start instruction to the early warning management module;S46：预警管理模块接收到管理开始指令和拖拉机的图片后将该拖拉机标记为预警机，当预警机的偏离值小于等于预设阈值时，则预警管理模块生成管理完成指令并发送至选中人员的手机终端上；S46: After the early warning management module receives the management start instruction and the picture of the tractor, the tractor is marked as an early warning machine. When the deviation value of the early warning machine is less than or equal to the preset threshold, the early warning management module generates a management completion command and sends it to the mobile terminal of the selected person superior;S47：预警管理模块将接收到管理开始指令的时刻标记为该选中人员的管理开始时刻，将生成管理完成指令的时刻为该选中人员的管理完成时刻，将 管理完成时刻与管理开始时刻进行时间差计算获取得到单次管理时长；S47: The early warning management module marks the time when the management start instruction is received as the management start time of the selected person, the time when the management completion instruction is generated is the management completion time of the selected person, and the time difference between the management completion time and the management start time is calculated. Get the duration of a single management;将选中人员的当天单次管理时长进行求和得到选中人员当天的的管理总时长T1 Hj； Summing up the single management time of the selected person on the day to obtain the total management time T1 Hj of the selected person on the day;同时获取选中人员在***当前时间三十天内所有的单次管理时长进行求和并取均值得到选中人员的辅助时长T3 Hj。 At the same time, all single management durations of the selected personnel within 30 days of the current system time are obtained, summed, and the average value is obtained to obtain the auxiliary duration T3 Hj of the selected personnel. - 根据权利要求1所述的一种无人驾驶拖拉机自动导航转向***，其特征在于，所述雷达模块由安装于拖拉机前部的毫米波雷达构成，所述雷达模块用于检测障碍物的存在与否，并在检测到障碍物的存在时，向数据处理模块发送障碍物的位置信息，所述数据处理模块根据障碍物的位置信息生成避让指示和路径导航信息，并将该避让指示和路径导航信息传送给整机控制模块，所述整机控制模块根据所述避让指示和路径导航信息对拖拉机进行控制。The automatic navigation and steering system for an unmanned tractor according to claim 1, wherein the radar module is composed of a millimeter-wave radar installed at the front of the tractor, and the radar module is used to detect the existence of obstacles and No, and when detecting the existence of the obstacle, send the position information of the obstacle to the data processing module, the data processing module generates the avoidance instruction and the path navigation information according to the position information of the obstacle, and uses the avoidance instruction and the path navigation information. The information is transmitted to the complete machine control module, and the complete machine control module controls the tractor according to the avoidance instruction and the route navigation information.根据权利要求1所述的一种无人驾驶拖拉机自动导航转向***，其特征在于，所述位姿信息包括位置信息、加速度、速度以及航向角；所述农田地块边界信息包括农田地块边界曲线；所述道路边界信息包括道路边缘线位置信息，根据所述道路边缘线位置信息得到道路中线。The automatic navigation and steering system for an unmanned tractor according to claim 1, wherein the pose information includes position information, acceleration, speed and heading angle; the farmland plot boundary information includes the farmland plot boundary curve; the road boundary information includes road edge line position information, and the road center line is obtained according to the road edge line position information.
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