Path tracking device and method for farmland operation machine

A technology for operating machinery and path tracking, which is applied to measuring devices, road network navigators, instruments, etc., can solve problems such as dependence, and achieve the effects of reducing performance requirements, reducing labor intensity, and low cost

Active Publication Date: 2017-03-29
SHANDONG AGRICULTURAL UNIVERSITY
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The fuzzy control algorithm has a certain degree of intelligence, but it ne

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  • Path tracking device and method for farmland operation machine
  • Path tracking device and method for farmland operation machine
  • Path tracking device and method for farmland operation machine

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Experimental program
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Embodiment Construction

[0049] The implementation of the device and algorithm will be described below in conjunction with specific illustrations.

[0050] figure 1 Schematic diagram of the tracking algorithm.

[0051] S1. The Android host computer receives a start command from the user, and sends the planned path information to the lower computer module. The lower computer module stores the planned path information, and obtains the current position coordinates and heading angle of the agricultural machinery through the GPS module and the geomagnetic sensor.

[0052] S2. The lower computer module takes the starting point of the planned path as the first approach point Q, and drives the agricultural machinery to approach point Q.

[0053] The specific approach method is as follows: first calculate the azimuth β between the current position A (a1, a2) of the agricultural machinery and the approach point Q (q1, q2) according to the formula (1), where:

[0054]

[0055]The current heading angle α of...

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Abstract

The invention relates to a path tracking device and method for a farmland operation machine. The device includes an Android upper computer and a lower computer module which are connected through a Bluetooth module. The lower computer module comprises a single-chip microcomputer, a geomagnetic sensor, a DGPS module, the Bluetooth module, a Zigbee module, a Flash memory and a power module; the lower computer module is used for receiving and storing path information sent by the Android upper computer; a planned path starting point serves as a first approaching point Q, the farmland operation machine is driven to be close to the Q point, after the farmland operation machine reaches the path starting point, a second approaching point of the farmland operation machine is found by drawing a circle in a neighbor region, and by repeating the motion continually, tracking of the whole path is achieved. The device allows the farmland operation machine to conduct accurate tracking on the planned path, the labor intensity of farming personnel in a traditional mode is greatly reduced, and the agricultural production efficiency is improved.

Description

[0001] (1) Technical field [0002] The invention relates to a path tracking device for farmland operation machinery and a tracking method thereof, belonging to the field of navigation control of farmland machinery (abbreviated as farm machinery). [0003] (2) Background technology [0004] Under the current background of scarcity of land resources, food shortage, and decreasing arable land area, the development of sustainable and intelligent modern agriculture has become an important research direction in our country. At present, various types of agricultural machinery have been developed, including soil tillage machinery, planting machinery, harvesting machinery, plant protection and management machinery, etc. In order to realize the large-scale and intelligent automatic operation of these agricultural machinery, an agricultural machinery path planning and tracking device and algorithm are essential. [0005] At present, some scientific research institutions at home and abro...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3415Y02A40/10
Inventor 闫银发张森彦张晓辉宋占华李法德李玉道陈成成宋华鲁
Owner SHANDONG AGRICULTURAL UNIVERSITY
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