GNSS dual-antenna system, operating machine, and operating machine control method

Abstract

The present invention relates to the field of navigation equipment technology, and provides a GNSS dual-antenna system, an operating machine, and a control method for the operating machine. The GNSS dual-antenna system includes: a receiver, two antennas, and an antenna drive assembly; the two antennas are electrically connected to the receiver; at least one of the two antennas is provided with the antenna drive assembly, the antenna drive assembly including a drive motor and a connecting shaft, the drive motor being in driving connection with the connecting shaft, which is connected to the antenna; the drive motor drives the drive motor to change the distance between the two antennas. Based on actual operating conditions, the drive motor is controlled to rotate forward or reverse to adjust the distance between the two antennas, thereby ensuring that the operating accuracy of the GNSS dual-antenna system reaches the target accuracy while also ensuring the passability of the operating machine in field operations.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation equipment, and in particular to a GNSS dual-antenna system, an operating machine, and a control method for the operating machine. Background Art

[0002] With the development of modern agriculture, agricultural machinery automatic navigation technology is increasingly being used in agricultural production processes such as tillage, sowing, fertilizing, spraying, and harvesting. In the agricultural machinery automatic navigation system, the measurement of the position and posture of the agricultural machinery is an important part.

[0003] Current agricultural machinery navigation systems generally use RTK-GPS, which offers centimeter-level positioning accuracy. GNSS dual-antenna positioning systems, among others, are gaining popularity because they can simultaneously output vehicle attitude information, including heading and pitch, while also providing positioning information. This avoids the cost of additional attitude sensors, and they are therefore becoming increasingly popular.

[0004] However, GNSS dual antennas have certain requirements for installation methods, and the installation distance between the two antennas has a significant impact on the accuracy of the resulting heading. Therefore, the dual antenna installation requirements affect the agricultural machinery's operating performance to a certain extent. For example, when the agricultural machinery needs to bypass obstacles during automatic driving, if the distance between the two antennas is wider than the vehicle body width, the obstacle avoidance radius of the agricultural machinery will be increased to a certain extent, reducing the operation quality and efficiency; when the distance between the obstacles in front of the agricultural machinery is greater than the vehicle body width but less than the installation width of the two antennas, it will also affect the agricultural machinery's obstacle avoidance strategy. Summary of the Invention

[0005] The present invention provides a GNSS dual-antenna system, an operating machine, and a control method for the operating machine, so as to solve the problem in the prior art that the dual antennas easily affect the operating performance of the operating machine.

[0006] In a first aspect, the present invention provides a GNSS dual-antenna system, comprising: a receiver, two antennas, and an antenna driving assembly;

[0007] The two antennas are electrically connected to the receiver; at least one of the two antennas is provided with the antenna driving component, and the antenna driving component includes a driving motor and a connecting shaft, the driving motor is transmission-connected to the connecting shaft, and the connecting shaft is connected to the antenna; under the drive of the driving motor, the distance between the two antennas changes.

[0008] According to a GNSS dual-antenna system provided by the present invention, the antenna driving assembly further includes a mounting rod, the connecting shaft is connected to the antenna via the mounting rod, and the mounting rod and the connecting shaft are arranged to intersect.

[0009] According to a GNSS dual-antenna system provided by the present invention, when each antenna is provided with the antenna driving assembly, the two antennas have a first posture and a second posture. When the two antennas are in the first posture, the two mounting poles are located in the same straight line; when the two antennas are in the second posture, the two mounting poles are parallel.

[0010] According to a GNSS dual-antenna system provided by the present invention, the mounting rod is arranged perpendicular to the connecting axis.

[0011] According to a GNSS dual-antenna system provided by the present invention, the antenna drive assembly further includes a coupling, and the drive motor is connected to the connecting shaft via the coupling.

[0012] In a second aspect, the present invention further provides a working machine, comprising: a working vehicle and the above-mentioned GNSS dual-antenna system;

[0013] The GNSS dual antenna system is provided on the working vehicle.

[0014] According to a working machine provided by the present invention, the working machine also includes a control main board, the receiver and the drive motor are electrically connected to the control main board, and the control main board is configured to control the drive motor to drive the connecting shaft to rotate forward or reverse according to obstacle information and vehicle body information of the receiver.

[0015] According to a working machine provided by the present invention, the working machine further includes a perception sensor for acquiring obstacle information, and the perception sensor is electrically connected to the control main board.

[0016] According to a working machine provided by the present invention, the perception sensor includes at least one of a 3D laser radar and a visual sensor.

[0017] In a third aspect, the present invention further provides a method for controlling a working machine, comprising:

[0018] Obtaining body information of the work vehicle and obstacle information on the travel path of the work vehicle;

[0019] determining an adjustment amount of the antenna according to the vehicle body information and the obstacle information;

[0020] According to the adjustment amount, the driving motor is controlled to rotate to a target angle.

[0021] The GNSS dual-antenna system, operating machine, and control method for the operating machine provided by the present invention control the forward or reverse rotation of the drive motor according to actual working conditions to adjust the distance between the two antennas, thereby ensuring that the operating accuracy of the GNSS dual-antenna system reaches the target accuracy while ensuring the passability of the operating machine in field operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a structural schematic diagram of the antenna driving assembly provided by the present invention;

[0024] Figure 2 This is one of the structural diagrams of the operating machinery provided by the present invention;

[0025] Figure 3 This is the second structural diagram of the operating machinery provided by the present invention;

[0026] Figure 4 This is a flow chart of the control method of the working machine provided by the present invention.

[0027] Reference numerals:

[0028] 1. Receiver; 2. Visual sensor; 3. 3D laser radar; 4. Antenna drive assembly; 41. Drive motor; 42. Coupling; 43. Connecting shaft; 44. Mounting rod; 45. Mounting bracket; 5. First antenna; 6. Second antenna; 7. Control mainboard; 8. Operation vehicle. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0030] The terms "first" and "second" in the specification and claims of the present invention may explicitly or implicitly refer to one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, the term "and / or" in the specification and claims refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0033] like Figures 1 to 3 As shown, the GNSS dual-antenna system according to an embodiment of the present invention includes: a receiver 1 , two antennas, and an antenna driving component 4 .

[0034] For the convenience of subsequent description, the two antennas are respectively referred to as the first antenna 5 and the second antenna 6, which are electrically connected to the receiver 1. The receiver 1 can output two attitude information, namely, heading and pitch, at the same time as the positioning information.

[0035] At least one of the two antennas is provided with an antenna driving component 4 , for example, the first antenna 5 is provided with an antenna driving component 4 ; or the second antenna 6 is provided with an antenna driving component 4 ; or the first antenna 5 and the second antenna 6 are respectively provided with an antenna driving component 4 .

[0036] The following description uses the example of a first antenna 5 and a second antenna 6 each equipped with an antenna driver assembly 4. Furthermore, since the antenna driver assembly 4 for the first antenna 5 and the antenna driver assembly 4 for the second antenna 6 are identical and connected in the same manner, the following description uses the connection between the first antenna 5 and the antenna driver assembly 4 as an example.

[0037] The antenna driving assembly 4 includes a driving motor 41 and a connecting shaft 43 . The driving motor 41 is drivingly connected to the connecting shaft 43 . The connecting shaft 43 is connected to the first antenna 5 . The first antenna 5 is disposed on the outer periphery of the connecting shaft 43 .

[0038] Under the driving of the driving motors 41 corresponding to the first antenna 5 and the second antenna 6 , the distance between the first antenna 5 and the second antenna 6 changes.

[0039] When the distance between the first antenna 5 and the second antenna 6 needs to be increased, the drive motor 41 corresponding to the first antenna 5 rotates clockwise, and the drive motor 41 corresponding to the second antenna 6 rotates counterclockwise; when the distance between the first antenna 5 and the second antenna 6 needs to be reduced, the drive motor 41 corresponding to the first antenna 5 rotates counterclockwise, and the drive motor 41 corresponding to the second antenna 6 rotates clockwise.

[0040] Alternatively, when the distance between the first antenna 5 and the second antenna 6 needs to be increased, the drive motor 41 corresponding to the first antenna 5 rotates clockwise, and the drive motor 41 corresponding to the second antenna 6 does not work; when the distance between the first antenna 5 and the second antenna 6 needs to be reduced, the drive motor 41 corresponding to the first antenna 5 rotates counterclockwise, and the drive motor 41 corresponding to the second antenna 6 does not work.

[0041] In an embodiment of the present invention, the forward or reverse rotation of the drive motor 41 is controlled according to the actual working conditions to adjust the distance between the two antennas, thereby ensuring that the working accuracy of the GNSS dual-antenna system reaches the target accuracy while ensuring the passing performance of the operating machinery in the field.

[0042] In an optional embodiment, the antenna driving assembly 4 further includes a mounting rod 44 , the connecting shaft 43 is connected to the first antenna 5 via the mounting rod 44 , and the mounting rod 44 and the connecting shaft 43 are arranged to intersect.

[0043] It should be noted that in order to increase the adjustable range between the first antenna 5 and the second antenna 6, the first antenna 5 is connected to the connecting shaft 43 through the mounting rod 44. At this time, one end of the mounting rod 44 is arranged on the outer periphery of the connecting shaft 43, and the first antenna 5 is arranged at the other end of the mounting rod 44.

[0044] In an optional embodiment, when each antenna is provided with an antenna driving assembly 4, the two antennas have a first posture and a second posture. When the two antennas are in the first posture, the two mounting poles 44 are located on the same straight line; when the two antennas are in the second posture, the two mounting poles 44 are parallel.

[0045] Specifically, when the first antenna 5 and the second antenna 6 are respectively provided with an antenna driving component 4, the first antenna 5 and the second antenna 6 have a first posture and a second posture. When the first antenna 5 and the second antenna 6 are in the first posture, the mounting rod 44 connected to the first antenna 5 and the mounting rod 44 connected to the second antenna 6 are located on the same straight line, and at this time the distance between the first antenna 5 and the second antenna 6 is the largest; when the first antenna 5 and the second antenna 6 are in the second posture, the mounting rod 44 connected to the first antenna 5 and the mounting rod 44 connected to the second antenna 6 are parallel, and at this time the distance between the first antenna 5 and the second antenna 6 is the smallest.

[0046] In an optional embodiment, the mounting rod 44 is arranged perpendicular to the connecting shaft 43 .

[0047] Specifically, the central axis of the mounting rod 44 is perpendicular to the central axis of the connecting shaft 43. The vertical arrangement of the mounting rod 44 and the connecting shaft 43 can ensure that the first antenna 5 and the second antenna 6 will not collide with surrounding equipment during the rotation around the corresponding connecting shaft 43.

[0048] In an optional embodiment, the antenna driving assembly 4 further includes a coupling 42 , and the driving motor 41 is connected to the connecting shaft 43 via the coupling 42 .

[0049] It should be noted that the drive motor 41 is connected to the connecting shaft 43 via a coupling 42 , which can ensure the alignment of the drive motor 41 and the connecting shaft 43 and improve the safety of the structure.

[0050] In addition, an embodiment of the present invention further provides a working machine, comprising: a working vehicle 8 and the above-mentioned GNSS dual-antenna system.

[0051] The GNSS dual antenna system is installed on the work vehicle 8 .

[0052] Specifically, since the operating machinery includes the GNSS dual antenna system as described above, the specific structure of the GNSS dual antenna system refers to the above embodiment, and the operating machinery shown in this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the above technical solutions, which will not be repeated here one by one.

[0053] In an optional embodiment, the operating machine also includes a control main board 7, the receiver 1 and the drive motor 41 are electrically connected to the control main board 7, and the control main board 7 is configured to control the drive motor 41 to drive the connecting shaft 43 forward or reverse according to the obstacle information and the vehicle body information of the receiver 1.

[0054] It should be noted that the control motherboard 7 obtains the body information of the work vehicle 8 and the obstacle information on the travel path of the work vehicle 8, and determines the adjustment amount of the antenna based on the body information and obstacle information; based on the adjustment amount, controls the drive motor 41 to rotate to the target angle.

[0055] Exemplarily, the control main board 7 obtains obstacle information, such as the position of the obstacle, the distance from the obstacle to the vehicle body, and determines vehicle body information, such as positioning, orientation, and posture information; and based on the obstacle information and vehicle body information, determines whether the first antenna 5 and the second antenna 6 need to be adjusted, and determines the adjustment amount of each of the first antenna 5 and the second antenna 6. Finally, based on the adjustment amount of the first antenna 5 and the second antenna 6, the rotation angle and rotation direction of the drive motor 41 corresponding to the first antenna 5 and the drive motor 41 corresponding to the second antenna 6 are determined.

[0056] It can be understood that after the drive motor 41 receives the control signal sent by the control motherboard 7, it drives the connecting shaft 43 to rotate, and records the rotation amount in real time through the built-in encoder; during the rotation process, the drive motor 41 transmits the data obtained by the encoder to the control motherboard 7 in real time, forming a control closed loop to achieve the effect of precise control, and ultimately achieve the purpose of intelligently adjusting the distance between the first antenna 5 and the second antenna 6.

[0057] Furthermore, the working machine further includes a mounting bracket 45 , and the connecting shaft 43 is provided on the working vehicle 8 through the mounting bracket 45 , so that the connecting shaft 43 can rotate relative to the working vehicle 8 .

[0058] In an optional embodiment, the operating machine further includes a perception sensor for acquiring obstacle information, and the perception sensor is electrically connected to the control main board 7 .

[0059] It should be noted that the perception sensor obtains obstacle information by sensing the external environment, and sends the obstacle point cloud data to the control mainboard 7 through its own algorithm processing.

[0060] In an optional embodiment, the perception sensor includes at least one of a 3D lidar 3 and a visual sensor 2 .

[0061] For example, the perception sensor includes a 3D laser radar 3 , or the perception sensor includes a visual sensor 2 , or the perception sensor includes a 3D laser radar 3 and a visual sensor 2 . The 3D laser radar 3 and the visual sensor 2 are provided on the work vehicle 8 .

[0062] Exemplarily, the operating machine can be a corn sowing robot or a corn-soybean composite sowing robot. During the sowing operation, the sensing sensor of the sowing robot senses the farmland obstacle information in real time, and then sends the sensed information to the control main board 7 in the form of a three-dimensional point cloud; at the same time, the GNSS dual-antenna system sends the measured real-time position, heading, posture and other body information of the sowing robot to the control main board 7 through the positioning board on the receiver 1; after the control main board 7 obtains the three-dimensional point cloud and the data sent by the GNSS dual-antenna system, it calculates the optimal value of the distance between the first antenna 5 and the second antenna 6, and converts the calculation result into control information and sends it to the drive motor 41 corresponding to the first antenna 5 and the drive motor 41 corresponding to the second antenna 6; after receiving the control instruction, the drive motor 41 corresponding to the first antenna 5 and the drive motor 41 corresponding to the second antenna 6 respectively adjust the first antenna 5 and the second antenna 6, thereby achieving intelligent adjustment of the distance between the first antenna 5 and the second antenna 6, thereby achieving the purpose of improving the passability of the sowing robot.

[0063] In addition, if Figure 4 As shown, an embodiment of the present invention further provides a control method for an operating machine, comprising:

[0064] S100 , obtaining body information of the work vehicle 8 and obstacle information on the travel path of the work vehicle 8 .

[0065] Among them, the perception sensor perceives the farmland obstacle information in real time, and then sends the perceived information to the control main board 7 in the form of a three-dimensional point cloud; at the same time, the GNSS dual antenna system sends the measured real-time position, heading, attitude and other body information of the working vehicle 8 to the control main board 7 through the positioning board on the receiver 1.

[0066] S200: Determine an adjustment amount for the antenna based on vehicle body information and obstacle information.

[0067] Based on the obstacle information and the vehicle body information, a judgment is made as to whether the first antenna 5 and the second antenna 6 need to be adjusted, and respective adjustment amounts of the first antenna 5 and the second antenna 6 are determined.

[0068] S300: Control the driving motor 41 to rotate to a target angle according to the adjustment amount.

[0069] The rotation angles and rotation directions of the driving motor 41 corresponding to the first antenna 5 and the driving motor 41 corresponding to the second antenna 6 are determined based on the adjustment amounts of the first antenna 5 and the second antenna 6 .

[0070] In an embodiment of the present invention, the forward or reverse rotation of the drive motor 41 is controlled according to the actual working conditions to adjust the distance between the first antenna 5 and the second antenna 6, thereby ensuring that the working accuracy of the GNSS dual-antenna system reaches the target accuracy while ensuring the passing performance of the operating machinery in the field.

[0071] 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. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A GNSS dual-antenna system, characterized in that: include: receiver, two antennas, and antenna driver components; The two antennas are electrically connected to the receiver; At least one of the two antennas is provided with the antenna driving assembly, the antenna driving assembly comprising a driving motor and a connecting shaft, the driving motor being in driving connection with the connecting shaft, and the connecting shaft being connected to the antenna; under the drive of the driving motor, the distance between the two antennas changes; The antenna driving assembly further includes a mounting rod, the connecting shaft is connected to the antenna via the mounting rod, and the mounting rod and the connecting shaft are arranged to intersect; When each antenna is provided with the antenna driving assembly, the two antennas have a first posture and a second posture, and when the two antennas are in the first posture, the two mounting rods are located on the same straight line; When the two antennas are in the second posture, the two mounting poles are parallel to each other.

2. The GNSS dual antenna system according to claim 1, characterized in that: The mounting rod is arranged perpendicular to the connecting shaft.

3. The GNSS dual-antenna system according to claim 1, wherein: The antenna driving assembly further includes a coupling, and the driving motor is connected to the connecting shaft via the coupling.

4. A working machine, characterized in that: include: A working vehicle and a GNSS dual-antenna system according to any one of claims 1 to 3; The GNSS dual antenna system is provided on the working vehicle.

5. The working machine according to claim 4, characterized in that: The operating machine also includes a control main board, the receiver and the drive motor are electrically connected to the control main board, and the control main board is configured to control the drive motor to drive the connecting shaft to rotate forward or reverse according to obstacle information and vehicle body information of the receiver.

6. The working machine according to claim 5, characterized in that: The operating machine further includes a perception sensor for acquiring obstacle information, and the perception sensor is electrically connected to the control main board.

7. The working machine according to claim 6, characterized in that: The perception sensor includes at least one of a 3D lidar and a visual sensor.

8. A method for controlling a working machine according to any one of claims 4 to 7, characterized in that: include: Obtaining body information of the work vehicle and obstacle information on the travel path of the work vehicle; determining an adjustment amount of the antenna according to the vehicle body information and the obstacle information; According to the adjustment amount, the driving motor is controlled to rotate to a target angle.

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