Method for allowing hillside machine to travel linearly at equal intervals
A straight-line driving and equidistant technology, applied in measuring devices, instruments, surveying and mapping and navigation, etc., can solve the problems of affecting promotion, affecting the straight line stability of agricultural machinery, and large fluctuations in positioning accuracy
Inactive Publication Date: 2016-01-27
GUANGXI NORMAL UNIV
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Problems solved by technology
The high cost of GPS-based navigation technology has affected the promotion of GPS-based navigation technology in my country's agricultural production; the laser three-point dynamic positioning method has good real-time positioning, but strict synchronization is required between the fixed base station and the master station. It is convenient for the laser transmitter of the base station to track the receiver of the main station in real time. If the laser receiver cannot receive the laser, it is easy to cause large fluctuations in positioning accuracy, which will affect the stability of straight-line driving of agricultural machinery
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[0055] refer to figure 1 , 3 4. Set two fixed nodes with the same hardware structure on a straight line parallel to the reference line 17 that the mountain machine travels, and fix them on the brackets that are higher than the height of the crops, and close to the mountain machine on the left side of the mountain machine The first fixed node 1 is set as the starting point, and the second fixed node 2 is set directly in front of the first fixed node 1.
[0056] Two fixed nodes comprise: central processing unit 7, laser transmitter 3, motor 4, wireless data transceiver module 5 and power supply module; Described laser transmitter 3, motor 4, wireless data transceiver module 5, power supply module pass wire respectively Connect to the corresponding I / O port of the central processing unit 7.
[0057] A mobile node 16 is installed on the mountain machine, and the mobile node 16 includes: a central processing unit 10, a first laser receiver 8, a second laser receiver 9, a wireless...
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The invention discloses a method for allowing a hillside machine to travel linearly at equal intervals. A straight route which the hillside machine covers is divided into a plurality of line segments in equal length, a leftward and rightward deviation detection method and a course angle calculation method are established at equal diversion points, and the value of a course angle is calculated according to real-time data obtained through tests at the equal diversion points; the hillside machine calculates the values of steering angles of front wheels with a PID (proportion integration differentiation) control algorithm according to the value of the course angle, automatically corrects deviation and realizes linear traveling. Sectional type course deviation correction is performed on the hillside machine, and the method is simple and reliable; the hillside machine is allowed to travel linearly in an error allowance range, the fluctuation is little, the stability is good, the operation precision and efficiency of the hillside machine are remarkably improved, and the labor intensity of a driver is effectively reduced.
Description
technical field [0001] The invention relates to the technical field of mountain machinery driving, in particular to a method for realizing equidistant straight-line driving of mountain machinery. Background technique [0002] When performing mechanized field operations, mountain machinery is usually required to travel in a pre-planned straight line in order to make rational use of space and avoid waste. Especially in areas where interplanting is practiced in large fields, if the mountain machinery sows, if it does not follow the planned straight line operation, it will bring great difficulties to the subsequent crop harvesting and interplanting operations. The efficiency and quality of agricultural operations are of paramount importance. At the same time, when the mountain machine is working in the field, it is easy to deviate from the judgment of the driver alone, and this deviation is not easy to be noticed. Therefore, the method of realizing the straight line driving of ...
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IPC IPC(8): G01C21/34
CPCG01C21/3407
Inventor 牟向伟覃积柱王丹孙天
Owner GUANGXI NORMAL UNIV