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Unmanned operation cereal combined harvester navigation method and navigation apparatus

A technology of combine harvester and navigation method, applied in the field of navigation method and navigation device of unmanned grain combine harvester, can solve the problems of rare global path planning, reduce the superiority of the autonomous operation system of unmanned agricultural machinery, etc. Improve the level of operation, improve reliability, and improve the effect of modularization

Inactive Publication Date: 2019-01-01
JIANGSU UNIV
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  • Application Information

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Problems solved by technology

Although the automatic driving system of agricultural machinery based on positioning and navigation technology has received extensive attention, the global path planning of agricultural machinery, the control algorithm of headland steering and its application on combine harvesters are still very rare, especially in advance. Advantages of autonomous operating system

Method used

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  • Unmanned operation cereal combined harvester navigation method and navigation apparatus
  • Unmanned operation cereal combined harvester navigation method and navigation apparatus
  • Unmanned operation cereal combined harvester navigation method and navigation apparatus

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Embodiment Construction

[0031] The present invention will be further explained below in conjunction with the drawings.

[0032] Such as figure 1 Shown, an unmanned operation grain combine harvester navigation device, including Beidou RTK positioning module, visual CCD sensor, integrated remote communication module, angle sensor and CPU (EPC9600), visual CCD sensor and Beidou RTK positioning module to identify field boundaries , After obtaining the geographic information, it is transmitted to the CPU through the USB interface and the 232 serial port. The integrated remote communication module communicates with the CPU through the 485 serial port to realize the matching of remote monitoring and historical field operation information. The angle sensor is used to detect the front wheel of the combine harvester. The steering angle is sent to the CPU for control decision-making; the unified estimator of the navigation tracking state runs in the CPU, and the unified estimator of the navigation tracking state r...

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Abstract

The invention discloses an unmanned operation cereal combined harvester navigation method, which belongs to the field of an intelligent farm machinery device. A Beidou RTK positioning module is fusedwith a vision CCD sensor to provide an instant navigation route planning algorithm, the autonomous navigation can be realized without the manual surveying in the field before the operation, a uniformestimator of an agricultural machinery navigation tracing state can be established on the basis of simplified non-trace Kalman filter, so that the motion state estimation under a large-angle corneringand rectilinear driving condition of a harvester can be realized. The invention also discloses a navigation apparatus for the autonomous operation of the cereal combined harvester. An agricultural machine, a machine-mounted sensor, an executor and a CPU are assembled by adopting a CAN bus, so that the navigation system is easy to extend, install and maintain.

Description

Technical field [0001] The present invention relates to the field of intelligent agricultural machinery equipment, and in particular to a navigation method and navigation device for an unmanned grain combine harvester. Background technique [0002] Autonomous navigation of agricultural machinery is an important part of the development of intelligent agricultural machinery. With the development of microelectronics, software and Beidou positioning technology, the cost of high-precision satellite positioning systems based on real-time dynamic carrier phase difference technology (RTK) has been significantly reduced. The existing autonomous navigation process of agricultural machinery is divided into two parts: path planning and navigation control. Path planning is generally divided into field geographic information collection and field boundary recognition. All of them require geographic information collection in advance. Travel on a predetermined desired route, and control the vehic...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S19/43G01S19/45
CPCG01C21/20G01S19/43G01S19/45
Inventor 崔冰波魏新华李晋阳刘子文吉鑫
Owner JIANGSU UNIV
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