A control method for unmanned seedling transporter based on fusion information of unmanned rice transplanter

Abstract

The present invention provides a control method for an unmanned seedling transporter based on the fusion information of an unmanned rice transplanter. It is composed of an information acquisition unit, an information processing unit and a control unit. It includes the following steps: S1. Initialize the positions of the rice transplanter and the seedling transporter; S2. The seedling transporter obtains the converted position of itself and the position information of the unmanned rice transplanter; S3. Obtain the current motion information of the rice transplanter; S4. Obtain and set the operation information of the rice transplanter; S5. Determine whether the seedling transporter needs to start the action according to the above information; S6. Adjust the path tracking according to the deviation between the real-time position information of the vehicle body and the planned target path and continuously correct the final seedling filling point; S7. After completing one seedling filling, the seedling transporter predicts the next seedling filling point and repeats S5. The present invention can realize the coordinated operation of the seedling transporter and the rice transplanter, reduce the frequency of manual intervention, shorten the time for the rice transplanter to wait for seedling filling, and thus improve the overall operation efficiency, and has the advantages of low control cost and good control effect.

Description

Technical Field

[0001] The invention discloses an unmanned seedling transport machine control method based on unmanned rice transplanter fusion information, belonging to the field of intelligent agricultural equipment. Background Art

[0002] The relevant technologies of unmanned rice transplanters are becoming more and more mature, and will gradually replace manual rice transplanters in the future. In this context, the unmanned rice transplanters still need to go to the end of the field to manually supplement the seedlings, and then return to the breakpoint again, which undoubtedly increases the operation time and reduces the operation efficiency. In order to further improve the operation efficiency, there is an urgent need for seedling transporters that cooperate with unmanned rice transplanters. However, there is no relevant research on unmanned seedling transporters at this stage, and there is no exploration of the function of predicting seedling supplementation points. Summary of the invention

[0003] In view of the shortcomings in the prior art, the purpose of the present invention is to provide a control method for an unmanned seedling transporter based on the fusion information of an unmanned rice transplanter, so that the seedling transporter can accurately and dynamically obtain the position information and the remaining seedlings of the unmanned rice transplanter during the operation, realize autonomous prediction of the seedling replenishment point, and accurately arrive at the seedling replenishment point, thereby improving the operating efficiency of the rice transplanter.

[0004] In order to solve the above technical problems, the specific technical solutions adopted by the present invention are as follows:

[0005] A control system and method for an unmanned seedling transporter based on unmanned rice transplanter fusion information includes the following steps:

[0006] S1. Initialize the positions of the rice transplanter and the seedling transporter, and transform their position information into the same coordinate system;

[0007] S2. The seedling transporter obtains the converted position information of itself and the position information of the unmanned rice transplanter;

[0008] S3. The seedling transporter obtains the current movement information of the rice transplanter, including speed and operation direction;

[0009] S4. The seedling transporter obtains and sets the operation information of the rice transplanter, including the remaining seedlings, plant spacing, and the amount of seedlings taken by the planting claws;

[0010] S5. The seedling transporter determines whether the seedling transporter needs to start the action according to the above information. If not, the seedling transporter waits at the initial position and shuts down the engine through the automatic start-stop device. Otherwise, the seedling transplanter predicts the seedling filling point according to the remaining seedling amount, the operation speed, and the planting claw seedling amount setting, and starts the path planning, and then starts the engine through the automatic start-stop device.

[0011] S6. The seedling transporter adjusts the path tracking according to the deviation between the real-time position information of the vehicle body and the planned target path, and in this process, predicts the seedling filling point at a certain frequency, and continuously corrects the final seedling filling point to reduce the waiting time of the rice transplanter;

[0012] S7. After completing one seedling replacement, the seedling transport machine immediately predicts the next seedling replacement point, starts path planning to the x+2 rows of the predicted point and starts path tracking to avoid affecting the operation of the rice transplanter, and starts to repeat S5.

[0013] Furthermore, the unmanned rice transplanter is equipped with a camera capable of obtaining information on the amount of remaining seedlings, a radio station or a 4G-DTU capable of sending and receiving data over long distances, a GPS navigation device capable of obtaining its own speed and position, and the unmanned rice transplanter has the ability of autonomous navigation; the unmanned rice transplanter sends its own position information and operation information at a certain frequency, and the unmanned rice transplanter can respond to the instructions of the seedling transporter; after the seedlings are replenished, instructions can be sent to notify the seedling transporter; the rice transplanter has six operating rows, and the amount of remaining seedlings of the unmanned rice transplanter uses the minimum value of the six rows as the standard for triggering the action of the seedling transporter; the rice transplanter stops running when the minimum value of the amount of remaining seedlings is less than 5%, and waits to run again after the seedlings are replenished.

[0014] Furthermore, the seedling transport machine is equipped with a 4G-DTU capable of receiving data sent from an unmanned rice transplanter; the seedling transport machine needs to be equipped with a host computer (6) for data analysis and formulating corresponding strategies according to different situations; the seedling transport machine needs to be equipped with a lower computer controller (10) for motion control; the seedling transport machine is equipped with an RTK positioning module antenna (1) and an RTK positioning module receiving device (4) to obtain its own position information; the seedling transport machine is equipped with a posture sensor (8) for correcting its deviation from the target path; the seedling transport machine is equipped with an angle sensor (3) for controlling an algorithm to calculate the target angle; the seedling transport machine is equipped with an electric steering wheel (2) for automatically controlling the deflection of the front wheel angle to achieve path tracking. By being equipped with the above-mentioned devices, the seedling transport machine has the functions of automatic driving and path planning.

[0015] Further, step S4 includes: the remaining seedling amount is described in percentage, the unmanned rice transplanter sends its remaining seedling amount and other information at a frequency of 10HZ, and the seedling transport machine estimates the corresponding forward distance every time the remaining seedling amount changes by 5%. When the remaining seedling amount in a certain area is less than Set%, the seedling transport machine starts to move, and the seedling replenishment point of the seedling transport machine is predicted based on the forward distance estimated by continuous iteration; the seedling taking amount of the planting claw is changed by adjusting the gear position, and 1 to 5 are used in the status information to indicate that 5 represents the maximum seedling taking amount; the planting hole distance is expressed in a similar way to the seedling taking amount, and is expressed in 1 to 10, where 1 represents 100 mm and 10 represents 200 mm; the above information needs to be manually set and modified on the serial port display screen (9).

[0016] Furthermore, before the seedling transport machine starts working, it is first necessary to set Set% through the serial port display screen (9). The Set% value set by the user indicates that the seedling transport machine can only operate when the minimum remaining seedling amount is less than the Set% value, and predict the final seedling replenishment point based on the estimated distance before this moment, that is, the smaller the Set% value is set, the more times the estimated distance is estimated, and the more accurate the final predicted point is; the above-mentioned seedling replenishment point is the row number where the rice transplanter stops running plus one, that is, on the path of the seedling transport machine; after completing one seedling replenishment, the seedling transport machine starts a new seedling replenishment point prediction and starts path planning. Before reaching the predicted seedling replenishment point, the seedling transport machine will select a stop point on the planned path. At the stop point, the seedling transport machine calculates the actual change rate S of the remaining seedling amount from the last time the rice transplanter started working to the completion of the seedling replenishment. r , and the expected rate of change S of the predicted location of the seedling transporter p Compare and derive the estimated error, and make calculation corrections in subsequent predictions; then, when the remaining seedling amount is less than Set% again, start a new round of seedling point prediction and path planning:

[0017] |S r -S p |<5% (1);

[0018] If the above formula is not satisfied, the parameter u0 will be adjusted in the next prediction, where u0 is the optimal estimation error.

[0019] Furthermore, in step S6, the path range of the seedling transporter is always the part where the seedlings are not transplanted, and when the remaining range is insufficient to support the path planning of the seedling transporter, the current operation plot should be exited to avoid affecting the operation of the transplanter. When the remaining operation range meets the path planning requirements of the seedling transporter, the following inequality should be satisfied:

[0020] 2R min +L / 2+(N+2)W h >W d (2);

[0021] Where R min is the minimum turning radius of the seedling transporter, L is the wheelbase of the seedling transporter, N is the number of rows from the current stop point to the next stop point, and W is the distance between the current stop point and the next stop point. h is the width of the adjacent working path, W d is the width of the remaining operating range.

[0022] Prioritize, initialize the positions of the rice transplanter and the seedling transporter, and convert their position information into the same coordinate system. Specifically: after the base station is built, the rice transplanter communication device is powered on and waits for the connection request of the seedling transporter communication device. After the device completes the connection through two handshakes, the rice transplanter sends the longitude and latitude of the four vertices of the current operation plot to the seedling transporter, and updates its own position at a frequency of 10HZ and sends it to the seedling transporter; the seedling transporter establishes a coordinate system consistent with the rice transplanter based on the received plot information, first converts the longitude and latitude coordinates (B, L) of the four vertices from the geodetic plane coordinate system to the coordinates (X, Y) of the local Gaussian plane coordinate system, and then converts them into the coordinates (x0', y0'), (x1', y1'), (x2', y2'), (x3', y3') of the field coordinate system, calculates the distance between adjacent vertices, takes the longer side as the X-axis, and the shorter side as the Y-axis.

[0023] Prior to this, the seedling transporter obtains the converted position information of its own position and the position information of the unmanned rice transplanter. Specifically, the seedling transporter receives its own position at a frequency of 10HZ, converts its own longitude and latitude information into (x, y) in the field coordinate system, and converts the longitude and latitude information of the rice transplanter into (x1, y1, z) in the coordinate system. Among them, because the rice transplanter moves along a fixed route, x1 represents the current operation column number, y1 represents the distance from the field head, and z represents the forward and reverse strokes, which are represented by 0 and 1 respectively, and the forward direction during the first operation is taken as the positive stroke.

[0024] Prior to this, the seedling transporter obtains the current movement information of the rice transplanter, including speed and working direction. Specifically, the seedling transporter sends instruction 1 to the rice transplanter, and the rice transplanter sends the current speed and working direction to the seedling transporter, which stores the working direction. The speed unit is Vm / s, where the speed is the target driving speed of the rice transplanter, not the actual operating speed. The working directions are mainly from left to right and from right to left, which are represented by 0 and 1 respectively in the program.

[0025] Prior to this, the seedling transporter obtains the operation information of the rice transplanter, including the planting hole distance (spacing between plants), the remaining seedlings, and the setting of the planting claw seedling quantity. Specifically, the seedling transporter sends instruction 2 to the rice transplanter, and the rice transplanter quantifies the current remaining seedlings and sends it to the seedling transporter. The remaining seedlings are expressed as the current minimum area and described in percentage. When the minimum area is less than 5%, the rice transplanter needs to stop and replenish seedlings; the planting hole distance (spacing between plants) is usually between 100mm and 200mm, which is quantified as 1 to 10 in the program; the amount of seedlings taken by the planting claw depends on the lateral movement speed of the seedling box, which can be adjusted by the gear position and quantified as 1 to 5 in the program, where 5 represents the maximum amount of seedlings; the above-mentioned planting hole distance and the amount of seedlings taken by the planting claw are used to store the optimal estimated distance under this condition, and this data can be directly extracted for calculation when predicting the seedling replenishment point under this setting condition.

[0026] Prior to this, the seedling transport machine determines whether it needs to start moving based on the above information. If not, it waits at the initial position and shuts down the engine through the automatic start-stop device. Otherwise, it predicts the transplanter's seedling filling point based on the remaining seedlings, operating speed, and planting claw seedling amount settings, starts path planning, and then starts the engine through the automatic start-stop device. Specifically, when the remaining seedlings are less than the set value, the seedling transporter starts the engine through the controller to control the automatic start-stop device, and starts path planning through the upper computer software. After the planning is completed, it is adjusted according to its own position and the first stop position is set. After completion, the seedling transporter starts path tracking. When it reaches the first stop position, the seedling transporter waits here and judges whether it needs to move. At this time, the seedling transporter stops and the engine is turned off through the automatic start-stop device; when the remaining seedlings of the transplanter reach the set value again, the seedling transporter starts, and according to the position information and operation information of the transplanter at this time, the seedling filling point is predicted again, and a new round of path planning is started until the seedling filling is completed; after the seedling filling is completed, a new round of path planning begins. The characteristics of this planning are that it plans to the next seedling filling row plus x+2, and then starts path tracking, stops after reaching the stop point, and waits for the remaining seedlings to be as low as Set% to start a new round of action. The prediction of the seedling filling point is specifically as follows: the travel distance when the remaining seedlings of the transplanter change by 5% for the first time is recorded as Y0, and Y0 is recorded as the optimal estimated value 0, and the optimal estimation error is set as u0, and the remaining Y n 、u n Calculate by the following formula; take the travel distance when the second remaining seedling amount changes by 5% as Z0, record Z0 as the measured value 0, take the navigation accuracy error as the measurement error and record it as U; take K0 as the weight of the optimal estimation error u0 and the measurement error U;

[0027]

[0028] u n =(1-K n-1 ) n-1 (2)

[0029] Y n =Y n-1 +K n (Z n -Y n-1 ) (3)

[0030] Get Y n , Y n It represents the optimal estimate, which means that the effective distance traveled by the transplanter after the remaining seedlings change by 5% is Y. n , and then according to the value of the remaining seedlings Current%, the current position of the transplanter (x1, y1, z), and the row length L and plot length L of the path planned by the transplanter p, calculate the target number of rows x′ and the distance y′ from the field where the transplanter stops operating.

[0031]

[0032] x′=N+x1 (5)

[0033] Where N represents the number of rows to be crossed, “[]” represents rounding, and when N is an even number, there is formula (6), where “%” represents remainder.

[0034] y′=N%L (6)

[0035] When N is an odd number, we have formula (7).

[0036] y′=Lp-N%L (7)

[0037] The final seedling filling point refers to the stop point on the seedling transporter path, so x″ represents the target row number of the seedling transporter. The row number difference between x″ and x′ is 1, as shown in formula (8), so the final target stop position of the seedling transporter is (x″, y′).

[0038] x″=x′+1 (8)

[0039] Prioritizes that the seedling transporter adjusts the path tracking according to the deviation between the real-time position information of the vehicle body and the planned target path, and in this process, predicts the seedling filling point at a certain frequency, and continuously corrects the final seedling filling point to reduce the waiting time of the rice transplanter. Specifically: the seedling transporter compares the real-time position of the vehicle body received by the on-board GPS device with the position information of the path planned by the host computer, obtains the corresponding lateral deviation and heading deviation, calculates the pure tracking model, and obtains the theoretical front wheel turning angle of the seedling transporter at this time, and then drives the electric steering wheel to perform corresponding actions, and repeats the above steps until it reaches the stop point on the target path. At the same time, the seedling filling point is predicted at a frequency of 10HZ based on the received operation information and position information of the rice transplanter, and the final stop point is continuously corrected.

[0040] Prioritize, after completing one seedling filling, the seedling transporter immediately predicts the next seedling filling point, and starts path planning to the predicted point x+2 rows and starts path tracking to avoid affecting the operation of the rice transplanter, and starts to repeat S5. Specifically: after completing one seedling filling, the seedling transporter first predicts the next seedling filling point, and performs initial path planning based on the predicted seedling filling point position. The destination of this path planning is H1 at the far end of the seedling filling point to avoid collision between the rice transplanter and the seedling transporter due to inaccurate prediction, and cut off the possibility of collision at the root. After arriving at H1, repeat the steps of S5, and after the action conditions are met, start a new round of path tracking, and repeat this process.

[0041] The present invention has beneficial effects

[0042] (1) In view of the fact that current seedling transporters are unable to be separated from manual driving and seedling transporters cannot predict the position of seedling replenishment, the present invention introduces a control method for an unmanned seedling transporter based on multi-source information fusion of an unmanned rice transplanter. This method can improve the operating efficiency of the seedling transporter, predict the position of the seedling replenishment point, and reduce the frequency of manual intervention. At the same time, it can reduce the parking waiting time of the rice transplanter when there are insufficient seedlings left, thereby improving the operating efficiency of the rice transplanter.

[0043] (2) The present invention can be modified appropriately so that a single seedling transport machine can serve multiple rice transplanters. In this case, in order to obtain the locations of multiple rice transplanters, it is necessary to establish a local area network and adopt a server-client mode to send and receive data. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is the main view of the overall structure of the seedling transporter;

[0045] Figure 2 This is the left view of the overall structure of the seedling transporter;

[0046] Figure 3 This is a top view of the overall structure of the seedling transporter;

[0047] Figure 4 This is a schematic diagram of the posture sensor installation;

[0048] Figure 5 This is a schematic diagram of the antenna installation location;

[0049] Figure 6 This is the upper computer connection diagram;

[0050] Figure 7 This is a schematic diagram of the control unit connection;

[0051] Figure 8 A flowchart of the procedure for predicting the seedling filling point;

[0052] Fig. 9 This is the main program flow chart of the seedling transport machine;

[0053] Fig.10 This is a schematic diagram of the route planning for the seedling transporter;

[0054] Among them: 1-RTK positioning module antenna; 2-electric steering wheel; 3-angle sensor; 4-RTK positioning module receiving device; 5-4G-DTU; 6-host computer; 7-electric throttle push rod; 8-attitude sensor; 9-serial port display; 10-controller; 11-A / D conversion interface; 12-12DC power supply; 13, 14-I / O port; 15-RS232 interface A; 16-RS232 interface B; 17-RS232 interface C; 18-RS232 interface D; 19-RS232 interface E; 20-USB interface; 21-RS485 interface; 22-host computer power interface; 23-UART interface; 24-controller power interface; 25-extended iron plate; 26-front end of the seedling transporter bucket. DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0056] The unmanned seedling transporter control system and method based on unmanned rice transplanter fusion information adopted by the present invention are composed of an unmanned rice transplanter information processing and sending device, a seedling transporter information receiving device and information processing system, and an unmanned driving control system of the seedling transporter.

[0057] The seedling transport machine information receiving device and information processing system are composed of a 4G-DTU (5) and a host computer (6).

[0058] The unmanned driving control system of the seedling transport machine comprises a vehicle body posture sensor (8), a rotation angle sensor (3), an electric steering wheel (2), an electric throttle push rod (7), a Beidou-RTK positioning module, a controller (10), and a serial port display screen (9);

[0059] The Beidou-RTK positioning module is composed of two parts: 1. Antenna (1); 2. Receiver (4). The antenna is composed of a main antenna and a secondary antenna, which are fixed to a magnetic base by threads. The magnetic base is adsorbed to the antenna installation position e, that is, the front end of the bucket of the seedling transporter. The receiver is connected to the RS232 interface B16 of the host computer (6) through the RS232 interface.

[0060] The vehicle body posture sensor (8) is a LPMS-IG1 RS232 metal shell posture sensor, which is fixed to the vehicle body posture sensor installation position f by screws, obliquely below the seat of the seedling transporter; the vehicle body posture sensor (8) is connected to the RS232 interface E19 of the controller (10) via the RS232 interface;

[0061] The steering angle sensor (3) is a magnetic contact angle sensor of model DWQT-RS485-G / J produced by Tianhai Technology Co., Ltd. The sensor has two U-shaped fixing grooves and one fixing hole, and adopts a parallel four-bar installation method. It is installed at the right front wheel support position to ensure that it can accurately reflect the angle change of the right front wheel.

[0062] The electric steering wheel (2) is produced by Shanghai Lianshi Navigation Company and is an electric steering wheel of model AF300. The electric steering wheel is installed on the steering wheel fixed shaft and fixed with a locking device. The installation method is shown in the patent "Beidou Navigation Automatic Driving Steering Wheel Device".

[0063] The electric push rod (7) is a LD3-12-20-50-IP65-POT push rod produced by a company in Taiwan, China. This type of push rod has AD value feedback and is installed at the accelerator pedal and fixed by screws. A pull-wire speed regulation method is adopted at the accelerator mechanical pedal to achieve the purpose of automatically controlling its own speed through the feedback AD value.

[0064] The serial port display screen (9) is a DC80480F070-6111-0T resistive touch screen produced by Guangzhou Dacai Optoelectronics Technology Co., Ltd. The touch screen is integrated with a TTL interface. The serial port display screen 9 is connected to the UART interface 23 of the controller 10 via the TTL interface, and is used to display and set information such as the speed of the rice transplanter, the amount of remaining seedlings, the operating direction of the rice transplanter, the spacing between rice transplanters, and the amount of seedlings taken by the planting claws.

[0065] like Figure 1 , Figure 2 , Figure 3 As shown, the unmanned seedling transport machine control system based on the unmanned rice transplanter fusion information adopted by the present invention is composed of an information acquisition unit 27, an information processing unit 28 and a control unit 29.

[0066] The information acquisition unit 27 mainly includes a posture sensor 8 , a front wheel angle sensor 3 , an RTK positioning module receiving device 4 and a 4G-DTU 5 .

[0067] like Figure 4 As shown, the attitude sensor 8 is a LPMS-IG1 RS232 metal shell attitude sensor, which is fixed to the installation position e by screws, that is, the extended iron plate 25 installed on the front end 26 of the bucket of the seedling transporter, which is the center position of the antenna 1; wherein the extended iron plate 25 is fixed to the front end 26 of the bucket by screws; the attitude sensor 8 is connected to the RS232 interface E19 of the controller through its own RS232 serial port.

[0068] The steering angle sensor 3 is a magnetic contact angle sensor of model DWQT-RS485-G / J, which has two U-shaped fixing grooves and one fixing hole and adopts a parallel four-bar installation method; the front wheel steering angle sensor 3 is connected to the RS232 interface D18 of the controller 10 through its own RS232 serial port.

[0069] The RTK positioning module receiving device 4 is a submodule of the Beidou satellite-RTK navigation module, responsible for receiving data, and is connected to the RS232 interface B16 of the host computer 6 through its own RS232 serial port.

[0070] The 4G-DTU 5 is a wireless transmission device of model USR-G780V2 produced by a company, and is connected to the RS232 interface A15 of the host computer 6 through its own RS232 serial port.

[0071] The information processing unit 28 is composed of a host computer 6 and a controller 10 .

[0072] The host computer 6 is a touch screen embedded computer of model ZPC104-D112 with two RS232 interfaces and four USB interfaces.

[0073] The controller 10 is an EMB8616I industrial control board, which uses ST's STM32F107VCT6 as MCU. The industrial control board integrates 3 RS232 serial ports, 1 RS485 serial port, 1 UART serial port, and 8 12-bit A / D conversion interfaces.

[0074] like Figure 7 The control unit 29 includes a controller 10, an electric steering wheel 2, a rotation angle sensor 3, a serial port display screen 9, a posture sensor 8, an electric push rod 7, and a 12V DC power supply 12.

[0075] The 12V DC power supply 12 is a battery on the seedling transporter, which supplies power to the host computer 6, the controller 10, the angle sensor 3, the posture sensor 8, and the electric steering wheel 2.

[0076] The serial port display screen 9 is a DC80480F070-6111-0T resistive touch screen of Guangzhou Dacai Optoelectronics Technology Co., Ltd., and a TTL interface is integrated on the touch screen. The serial port display screen 9 is connected to the UART interface 23 of the controller 10 through the TTL interface, and is used to display and set information such as the speed of the rice transplanter, the amount of remaining seedlings, the operating direction of the rice transplanter, the spacing between rice transplanters, and the amount of seedlings taken by the planting claws.

[0077] A control system and method for an unmanned seedling transporter based on unmanned rice transplanter fusion information includes the following steps:

[0078] Step 1. Initialize the positions of the rice transplanter and seedling transporter, and transform their position information into the same coordinate system.

[0079] After the base station is built, the communication equipment of the rice transplanter is powered on and waits for the connection request from the communication equipment of the seedling transporter. After the equipment completes the connection through two handshakes, the rice transplanter sends the longitude and latitude of the four vertices of the current operation plot to the seedling transporter, and updates its own position at a frequency of 10HZ and sends it to the seedling transporter; the seedling transporter establishes a coordinate system consistent with the rice transplanter based on the received plot information. First, the longitude and latitude coordinates (B, L) of the four vertices are converted from the geodetic plane coordinate system to the coordinates (X, Y) in the local Gaussian plane coordinate system, and then they are converted into coordinates in the field coordinate system (x0', y0'), (x1', y1'), (x2', y2'), (x3', y3'), respectively, and the distance between adjacent vertices is calculated, and the longer side is taken as the X-axis and the shorter side as the Y-axis.

[0080] Step 2. The seedling transporter obtains the converted position information of its own position and the position information of the unmanned rice transplanter.

[0081] The seedling transporter receives its own position at a frequency of 10HZ, converts its own longitude and latitude information into (x, y) in the field coordinate system, and converts the longitude and latitude information of the rice transplanter into (x1, y1, z) in the coordinate system. Among them, because the rice transplanter moves along a fixed route, x1 represents the current operation column number, y1 represents the distance from the field head, and z represents the forward and reverse strokes, which are represented by 0 and 1 respectively, and the forward direction of the first operation column is regarded as the positive stroke.

[0082] Step 3. The seedling transporter obtains the current movement information of the rice transplanter, including speed and operation direction.

[0083] The seedling transporter sends instruction 1 to the rice transplanter, and the rice transplanter sends the current speed and working direction to the seedling transporter. The seedling transporter stores the working direction. The speed unit is Vm / s. The speed here is the target driving speed of the rice transplanter, not the actual operating speed. The working directions are mainly from left to right and from right to left, which are represented by 0 and 1 respectively in the program.

[0084] Step 4. The seedling transporter obtains and sets the operation information of the rice transplanter, including the remaining seedling quantity, plant spacing, and the seedling quantity taken by the planting claws.

[0085] The seedling transporter sends instruction 2 to the rice transplanter, which quantifies the current remaining seedlings and sends them to the seedling transporter. The remaining seedlings are represented by the current minimum area and described in percentage. When the minimum area is less than 5%, the rice transplanter needs to stop and replenish seedlings. The planting hole distance (plant spacing) usually varies from 100mm to 200mm, which is quantified as 1 to 10 in the program. The amount of seedlings taken by the planting claws depends on the lateral moving speed of the seedling box. This speed can be adjusted by the gear position and is quantified as 1 to 5 in the program, where 5 represents the maximum amount of seedlings taken. The above-mentioned planting hole distance and the amount of seedlings taken by the planting claws and other information are used to store the optimal estimated distance under this condition. When predicting the seedling replenishment point under this setting condition, this data can be directly extracted for calculation.

[0086] Step 5. The seedling transport machine determines whether it needs to start moving based on the above information. If not, it waits at the initial position and shuts down the engine through the automatic start-stop device. Otherwise, it predicts the transplanter's seedling filling point based on the remaining seedlings, operating speed, and planting claw seedling amount settings, starts path planning, and then starts the engine through the automatic start-stop device.

[0087] When the remaining seedlings are less than the set value, the seedling transporter starts the engine through the controller to control the automatic start-stop device, and starts path planning through the upper computer software. After the planning is completed, it adjusts according to its own position and sets the first stop position. After completion, the seedling transporter starts path tracking. When it reaches the first stop position, the seedling transporter waits here and judges whether it needs to move. At this time, the seedling transporter stops and turns off the engine through the automatic start-stop device; when the remaining seedlings of the transplanter reach the set value again, the seedling transporter starts, and according to the position information and operation information of the transplanter at this time, the seedling point prediction is performed again, and a new round of path planning is started until the seedling is completed; after the seedling is completed, a new round of path planning begins. The characteristics of this planning are that it plans to the next seedling row plus x+2, and then starts path tracking, stops after reaching the stop point, and waits for the remaining seedlings to be as low as Set% to start a new round of action. The prediction of the seedling point is specifically: the travel distance when the remaining seedlings of the transplanter change by 5% for the first time is recorded as Y0, and Y0 is recorded as the optimal estimated value 0, and the optimal estimation error is set as u0, and the remaining Y n 、u n Calculated by the following formula; Y n Represents the optimal estimate of the nth time n 、u n Represents the optimal estimation error of the nth time n ; The distance traveled when the amount of remaining seedlings changes by 5% for the second time is Z0, and Z0 is recorded as the measured value 0, and the distance traveled when the amount of remaining seedlings changes by 5% for the n+1th time is recorded as Z n , remember Z n For the measured value n; Take the navigation accuracy error as the measurement error and record it as U; Take K0 as the weight of the optimal estimation error u0 and the measurement error U; Take K n is the optimal estimation error u n and the weight of the measurement error U;

[0088]

[0089] u n =(1-K n-1 ) n-1 (2)

[0090] Y n =Y n-1 +K n (Z n -Y n-1 ) (3)

[0091] Get Y n , Y n It represents the optimal estimate, which means that the effective distance traveled by the transplanter after the remaining seedlings change by 5% is Y. n , and then according to the value of the remaining seedlings Current%, the current position of the transplanter (x1, y1, z), and the row length L and plot length L of the path planned by the transplanter p , calculate the target number of rows x′ and the distance y′ from the field where the transplanter stops operating.

[0092]

[0093] x′=N+x1 (5)

[0094] Where N represents the number of rows to be crossed, “[]” represents rounding, and when N is an even number, there is formula (6), where “%” represents remainder.

[0095] y′=N%L (6)

[0096] When N is an odd number, we have formula (7).

[0097] y′=Lp-N%L (7)

[0098] The final seedling filling point refers to the stop point on the seedling transporter path, so x″ represents the target row number of the seedling transporter. The row number difference between x″ and x′ is 1, as shown in formula (8), so the final target stop position of the seedling transporter is (x″, y′).

[0099] x″=x′+1 (8)

[0100] Step 6. The seedling transporter adjusts the path tracking according to the deviation between the real-time position information of the vehicle body and the planned target path. In this process, the seedling filling point is predicted at a certain frequency and the final seedling filling point is continuously corrected to reduce the waiting time of the rice transplanter.

[0101] The seedling transporter compares the real-time position of the vehicle body received by the vehicle-mounted GPS device with the position information of the path planned by the host computer, obtains the corresponding lateral deviation and heading deviation, calculates the pure tracking model, and obtains the theoretical front wheel turning angle of the seedling transporter at this time, and then drives the electric steering wheel to perform corresponding actions, and repeats the above steps until it reaches the stop point on the target path. At the same time, the seedling filling point is predicted at a frequency of 10HZ based on the operation information and position information received from the rice transplanter, and the final stop point is continuously corrected.

[0102] Step 7. After completing one seedling replacement, the seedling transport machine immediately predicts the next seedling replacement point, starts path planning to the x+2 rows of the predicted point and starts path tracking to avoid affecting the operation of the rice transplanter, and starts repeating step 5.

[0103] After completing a seedling transplanting operation, the seedling transporter first predicts the next seedling transplanting point and performs initial path planning based on the predicted seedling transplanting point location. The destination of this path planning is H1 at the far end of the seedling transplanting point to avoid a collision between the rice transplanter and the seedling transporter due to inaccurate predictions, thereby eliminating the possibility of a collision at the source. After arriving at H1, repeat step 5. After the action conditions are met, start a new round of path tracking, and repeat this process over and over again.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. The present invention has been described in detail with reference to the preferred embodiments. Those skilled in the art should understand that the technical solutions of the present invention can be modified and replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be covered by the scope of the claims of the present invention.

Claims

1. A control method for an unmanned seedling transporter based on fusion information of an unmanned rice transplanter, characterized in that: S1. Initial positions of the unmanned rice transplanter and the seedling transporter, and transforming the position information of the two into the same coordinate system; S2. The seedling transporter obtains the converted position information of itself and the position information of the unmanned rice transplanter; S3. The seedling transporter obtains the current movement information of the rice transplanter, including speed and operation direction; S4. The seedling transporter obtains and sets the operation information of the rice transplanter, including the remaining seedlings, plant spacing, and the amount of seedlings taken by the planting claws; S5. The seedling transporter determines whether the seedling transporter needs to start the action according to the above information. If not, the seedling transporter waits at the initial position and shuts down the engine through the automatic start-stop device. Otherwise, the seedling transplanter predicts the seedling filling point according to the remaining seedling amount, the operation speed, and the planting claw seedling amount setting, and starts the path planning, and then starts the engine through the automatic start-stop device. S6. The seedling transporter adjusts the path tracking according to the deviation between the real-time position information of the vehicle body and the planned target path, and in this process, predicts the seedling filling point at a certain frequency, and continuously corrects the final seedling filling point to reduce the waiting time of the rice transplanter; S7. After completing one seedling filling, the seedling transporter immediately predicts the next seedling filling point, and starts path planning to the predicted point x+2 rows and starts path tracking to avoid affecting the operation of the rice transplanter, and starts to repeat S5, where x represents the predicted row number of the seedling filling point; The unmanned rice transplanter is equipped with a camera capable of obtaining information on the amount of remaining seedlings, a radio station or a 4G-DTU device for sending and receiving data over a long distance, a GPS navigation device capable of obtaining its own speed and position, and the unmanned rice transplanter has the ability of autonomous navigation; the unmanned rice transplanter sends its own position information and operation information at a certain frequency, and the unmanned rice transplanter can respond to the instructions of the seedling transporter; after the seedlings are replenished, an instruction can be sent to notify the seedling transporter; the number of operating rows of the rice transplanter is six, and the amount of remaining seedlings of the unmanned rice transplanter is the minimum value in the six rows as the standard for triggering the action of the seedling transporter; when the minimum value of the amount of remaining seedlings of the rice transplanter is less than 5%, the operation stops, and the operation is resumed after the seedlings are replenished; The seedling transport machine is equipped with a 4G-DTU capable of receiving data sent from an unmanned rice transplanter; the seedling transport machine needs to be equipped with a host computer (6) for data analysis and formulating corresponding strategies according to different situations; the seedling transport machine needs to be equipped with a lower computer controller (10) for motion control; the seedling transport machine is equipped with an RTK positioning module antenna (1) and an RTK positioning module receiving device (4) to obtain its own position information; the seedling transport machine is equipped with a posture sensor (8) to correct its deviation from the target path; the seedling transport machine is equipped with an angle sensor (3) for controlling an algorithm to calculate the target angle; the seedling transport machine is equipped with an electric steering wheel (2) to automatically control the deflection of the front wheel angle to achieve path tracking. By carrying the above devices, the seedling transport machine has the functions of automatic driving and path planning; The step S4 comprises: the remaining seedling amount is described in percentage, the unmanned rice transplanter sends its remaining seedling amount and other information at a frequency of 10HZ, and the seedling transporter estimates the corresponding forward distance every time the remaining seedling amount changes by 5%. When the remaining seedling amount in a certain area is less than Set%, the seedling transporter starts to move, and the seedling replenishment point of the seedling transporter is predicted according to the forward distance estimated by continuous iteration; the seedling taking amount of the planting claw is changed by adjusting the gear position, and 1 to 5 are used in the status information to indicate that 5 represents the maximum seedling taking amount; the planting hole distance is expressed in a similar manner to the seedling taking amount, and is expressed in 1 to 10, where 1 represents 100 mm and 10 represents 200 mm; the above information needs to be manually set and modified on the serial port display screen (9); In step S6, the path range of the seedling transporter is always the part where the seedlings are not transplanted, and when the remaining range is insufficient to support the path planning of the seedling transporter, the current operation plot should be exited to avoid affecting the operation of the transplanter. When the remaining operation range meets the path planning requirements of the seedling transporter, the following inequality should be satisfied: 2R min +L / 2+(N+2)W h >W d (2); Where R min is the minimum turning radius of the seedling transporter, L is the wheelbase of the seedling transporter, N is the number of rows from the current stop point to the next stop point, and W is the distance between the current stop point and the next stop point. h is the width of the adjacent working path, W d is the width of the remaining operating range.

2. The unmanned seedling transporter control method based on unmanned rice transplanter fusion information according to claim 1, characterized in that: Before the seedling transport machine starts working, it is first necessary to set Set% through the serial port display screen (9). The Set% value set by the user means that the seedling transport machine can only operate when the minimum remaining seedling amount is less than the Set% value, and predict the final seedling replenishment point based on the estimated distance before this moment, that is, the smaller the Set% value is set, the more times the estimated distance is estimated, and the more accurate the final predicted point is; the above-mentioned seedling replenishment point is the row number where the rice transplanter stops running plus one, that is, on the path of the seedling transport machine; after completing one seedling replenishment, the seedling transport machine starts a new seedling replenishment point prediction and starts path planning. Before reaching the predicted seedling replenishment point, the seedling transport machine will select a stop point on the planned path. At the stop point, the seedling transport machine calculates the actual change rate S of the remaining seedling amount from the last time the rice transplanter started working to the completion of seedling replenishment. r , and the expected rate of change S of the predicted location of the seedling transporter p Compare and derive the estimated error, and make calculation corrections in subsequent predictions; then, when the remaining seedling amount is less than Set% again, start a new round of seedling point prediction and path planning: |S r -S p |<5% (1); If the above formula is not satisfied, the parameter u0 will be adjusted in the next prediction, where u0 is the optimal estimation error.

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