Driverless tractor control system and control method

Abstract

A driverless tractor control system and control method comprises: a satellite positioning module, an environmental perception module, a telecontrol interference module, a cloud platform module, a pathplanning module, a decision-making control module and a security module. The satellite positioning module, the environmental perception module, the telecontrol interference module, the cloud platformmodule and the path planning module are separately connected to the decision-making control module. The satellite positioning module, the environmental perception module, the telecontrol interferencemodule and the cloud platform module are separately connected to the security module. The satellite positioning module is connected to the path planning module. Because a multisensor of a laser radar, a millimeter wave radar and a machine vision camera is used, reliability is high, and a type and a distance of a barrier are identified more accurately and fast. There are the telecontrol interference module and the cloud platform module, so that security and usability of the driverless tractor are significantly improved. Two path planning modes of a nesting mode and a shuttling mode are developed, which are convenient and flexible, so that efficiency is improved, and a requirement of collaborative operation among multiple machines can be met.

Description

technical field [0001] The invention belongs to the field of tractors, and relates to an unmanned tractor control system and a control method. Background technique [0002] At present, with the continuous improvement of market requirements for tractor product quality and intelligence, the technical requirements for tractor control systems are also getting higher and higher, especially large-scale farms and agricultural machinery cooperatives have stronger demands for tractor intelligence. Due to the complex operating conditions and harsh working environment of tractors, most of the existing tractors are manually operated. Manual operation not only has low operating efficiency and poor operating quality, but also easily poses a threat to the health of the operator. The emergence of unmanned tractors has provided important support for the intelligent and refined operations of large farms and agricultural machinery cooperatives. The control system is the key technical part of ...

AI Technical Summary

Problems solved by technology

Although this utility model meets a part of the requirements of unmanned tractors, the millimeter-wave radar in the environmental perception module of this utility model has a limited detection range due to the wavelength, and cannot accurately model all surrounding obstacles. Machine vision The camera is greatly affected by environmental factors, and its reliability is not high at night, so it cannot meet the needs of all-weather work

The most important thing is that all the control functions of this utility model are finally realized by sending action commands to the main control terminal of the agricultural machinery of the OEM, which greatly depends on the performance and control logic of the main control terminal of the agricultural machinery of the OEM, and it is difficult to meet the requirements of unmanned driving. The most basic performance of the vehicle - safety

Moreover, it can only control reversing, braking, and suspension lifting, which has great limitations and is difficult to meet the actual needs of unmanned tractor operations.

[0006] All in all, the tractor intelligent driving solution in the prior art is more of an automatic assisted driving, which reduces the work intensity of the agricultural machine driver to a certain extent. Perform more operations in the cab

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