Navigation control method for agricultural machinery

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

Active Publication Date: 2007-12-26
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

[0078] 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.

[0079] 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. The system, the principle structure is shown in Figure 8.

[0080] 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 d...

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Abstract

A navigation-controlling method of agricultural machine includes measuring out current attitude and movement state data of agricultural machine by navigation transducer, applying dynamic-target point searching algorithm to calculate out horizontal tracking error and longitudinal heading deflection, using fuzzy-PID control algorithm to calculate out operation-control value and carrying out actual control on agricultural machine according to said operation-control value for realizing path-tracking.

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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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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