A multi-tower vehicle synchronous travel control device and method

A walking control and tower truck technology, applied in the field of agricultural machinery navigation, can solve problems such as inability to fully satisfy precise sprinkler irrigation, control coordination needs to be improved, and self-correction cannot be performed, so as to improve timeliness, maximize efficiency, and reduce mutual influence. Effect

Active Publication Date: 2021-04-23
INST OF SEMICONDUCTORS - CHINESE ACAD OF SCI
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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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  • A multi-tower vehicle synchronous travel control device and method
  • A multi-tower vehicle synchronous travel control device and method
  • A multi-tower vehicle synchronous travel control device and method

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0024] Descriptions of structural embodiments and methods of the invention are disclosed herein. It should be understood that there is no intention to limit the invention to the particular disclosed embodiments, and that the invention can be practiced using other features, elements, methods and embodiments. Similar elements in different embodiments are generally labeled with similar numbers.

[0025] An embodiment of the present invention proposes a multi-tower vehicle synchronous travel control device, which is used to control the synchronous travel of multiple tower vehicles of a sprinkler irrigation machine. Such as figure 1 with figure 2 As shown, the device includes a navigation system control unit 1 and a motion...

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Abstract

The invention provides a synchronous walking control device and method, which are used to control the synchronous walking of multiple tower trucks of a sprinkler irrigation machine, including: a navigation system control unit (1) and a motion control unit (2), each tower truck is equipped with a motion The control unit (2); the motion control unit (2) is used to obtain the current course information and speed information of each tower vehicle, and obtain the current position information of each tower vehicle according to the differential data sent by the navigation system control unit (1); the navigation system The control unit (1) is used to obtain the control parameters of the synchronous walking of each tower car in the next state according to the current position information, course information, speed information of each tower car and the preset travel path of each tower car, and send it to the motion control The unit (2) enables the motion control unit (2) to control each tower truck to move synchronously according to the control parameters. The device has high control precision and timeliness, reduces the lateral error and the front and rear error when the multi-tower truck travels, and improves the stability and consistency of the tower truck's travel.

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...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): A01G25/09A01G25/16
CPCA01G25/09A01G25/16
Inventor孟令刚范松涛周燕
OwnerINST OF SEMICONDUCTORS - CHINESE ACAD OF SCI