Synchronous walking control device and method for multiple tower wagons

Abstract

The invention provides a synchronous walking control device and a synchronous walking control method, which are used for controlling a plurality of tower wagons of a sprinkler to synchronously walk, and the device comprise a navigation system control unit (1) and motion control units (2), wherein each tower wagon is provided with the motion control unit (2); the motion control unit (2) is used forobtaining the current course information and speed information of each tower wagon and obtaining the current position information of each tower wagon according to the differential data sent by the navigation system control unit (1); the navigation system control unit (1) is used for obtaining control parameters of synchronous walking of each tower wagon in the next state according to the currentposition information, course information, speed information and preset walking path of each tower wagon and sending the control parameters to the motion control units (2), so that the motion control units (2) control the tower wagons to synchronously walk according to the control parameters. The device has high control precision and timeliness, reduces transverse errors and front and rear errors when the multiple tower wagons walk, and improves the walking stability and consistency of the tower wagons.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery navigation, in particular to a multi-tower vehicle synchronous travel control device and method. Background technique [0002] As a common irrigation method, sprinkler irrigation is very suitable for large-scale planting areas due to its high degree of automation and high work efficiency. Compared with the traditional sprinkler / drip irrigation system, the sprinkler does not need to lay sprinkler irrigation pipes in the ground in advance, as well as the complicated equipment maintenance in the later stage, and has a higher degree of freedom. [0003] At present, there are three common navigation control methods for sprinklers: underground magnetic cable navigation, furrow navigation and GPS navigation. Underground magnetic cable navigation is the most common and successful sprinkler navigation control method, but this control method is not suitable for planting areas with rocks on t...

AI Technical Summary

Problems solved by technology

This navigation control method can keep the overall synchronous walking of the sprinkler irrigation machine, but the linearity of the nodes between the tower cars is not high; when the tower car deviates from the navigation path as a whole during the walking control, it cannot perform self-correction, and the distance between the tower cars Control synergy also needs to be improved, and cannot fully meet the needs of precise sprinkler irrigation

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