Navigation control method for agricultural machinery

A technology of agricultural machinery and control methods, applied in two-dimensional position/channel control, navigation, mapping and navigation, etc., can solve problems such as difficulties in establishing agricultural machinery kinematics and dynamic models

Active Publication Date: 2009-06-24
SOUTH CHINA AGRI UNIV
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Problems solved by technology

However, it is difficult to establish the kinematics and dynamics models of agricultural machinery under field conditions.

Method used

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  • Navigation control method for agricultural machinery
  • Navigation control method for agricultural machinery
  • Navigation control method for agricultural machinery

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Embodiment Construction

[0079] The present invention will be described in further detail below in conjunction with the examples, but the embodiments of the present invention are not limited thereto.

[0080] The agricultural machinery used in this embodiment is a Kubota rice transplanter, on which a navigation sensor combination, a steering control system and a portable computer are loaded, and the portable computer is connected with the navigation sensor combination and the steering control system through a USB-RS232 data transmission line to form a navigation control system. system, the principle structure is as Figure 8 .

[0081] The navigation sensor portfolio includes pseudorange differential GPS, electronic compass and micromachined gyroscope. The pseudo-range differential GPS can collect the positioning coordinates of the rice transplanter in the WGS-84 coordinate system as preliminary positioning information; the electronic compass measures its heading angle information (the north directio...

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Abstract

The invention discloses a navigation control method for agricultural machinery, which comprises obtaining the pose and motion state data of the agricultural machinery at the current moment through measurement by a navigation sensor; and calculating two navigation state parameters by using a dynamic target point search algorithm based on preview control That is, the lateral tracking error and the longitudinal heading deviation; then the steering control amount, that is, the front wheel steering deflection angle, is calculated through the Fuzzy-PID control algorithm; finally, the agricultural machinery is controlled in real time according to the steering control amount to realize path tracking. The present invention makes full use of the advantages of the traditional navigation control method, combines the fuzzy control method, takes into account the steady-state tracking accuracy and control stability, and improves the navigation tracking accuracy, stability and safety of agricultural machinery operating conditions; it is not only suitable for agricultural machinery in dry land The operation requirements are also applicable to the operation requirements of paddy field agricultural machinery, and have broad prospects for popularization and application.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to a navigation control method for agricultural machinery. Background technique [0002] The main task of agricultural machinery navigation control is to determine the positional relationship between the agricultural machinery and the predetermined route according to the navigation and positioning results, and then combine the motion state of the agricultural machinery to determine the appropriate steering wheel steering angle to correct the path tracking error. There are three commonly used navigation control methods abroad, namely linear model control method, optimal control method and fuzzy control method. The University of Tokyo used machine vision technology to conduct research on the navigation control technology of the KUBOTA SPJ45A Kubota rice transplanter. He compared the target direction angle with the vehicle longitudinal direction angle, and calculated the steering ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C21/00G01C21/20
Inventor 罗锡文张智刚赵祚喜林卫平
Owner SOUTH CHINA AGRI UNIV
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