Control method of unmanned tractor

Abstract

The invention discloses a control method of an unmanned tractor, which belongs to the technical field of unmanned control, and specifically comprises a whole vehicle control system used for integrating and coordinating the operation of each subsystem; the navigation path system is used for planning and implementing a driving path of the unmanned tractor; the remote monitoring system is used for remotely monitoring the state and the operation condition of the unmanned tractor; the human-machine interface control system HMI is used for displaying the state, data and warning information of the machine and receiving instructions of an operator for control and adjustment; the fault diagnosis system is used for detecting, diagnosing and responding to possible faults of the unmanned tractor, the method can implement an accurate and flexible motion control strategy according to different and changeable external environment conditions, and the control strategy comprises fine regulation and control of the running speed, the steering angle, the power distribution and the like of the tractor; it is ensured that the tractor can keep a stable operation state under various complex terrains and weather conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving control, and more particularly to a control method for an unmanned driving tractor. Background Art

[0002] As a traditional labor-intensive industry, electric agriculture faces an increasingly serious labor shortage problem in many countries, especially developing countries. Therefore, the development of unmanned tractors that can replace manual work such as tillage, sowing, and fertilization has become an important means to solve the problem of labor shortage. With the advancement of global agricultural modernization, traditional agricultural production methods are gradually unable to meet the needs of high efficiency, precision, and sustainable development. Equipped with automated control systems and high-precision sensors, unmanned tractors can complete tasks such as land tillage, crop sowing, fertilization, and pesticide spraying without human intervention, which improves the level of automation in agricultural production and makes agricultural production more precise and environmentally friendly.

[0003] The prior art has a publication number of CN118192554A, which discloses an unmanned tractor system and a control method thereof. The system and the control method include a controller, an electric push rod, a terminal and a first component, wherein the first component includes a shift lever, a throttle, a lifting mechanism and a PTO switch button. The controller receives first information sent by the terminal, and sends a first control signal to the electric push rod according to the first information. After receiving the first control signal, the electric push rod performs an operation on the first component. The control signal is sent to the electric push rod through the controller in the unmanned tractor system. The electric push rod shifts gears, accelerates and decelerates, and lifts and lowers agricultural implements by pushing or pulling the clutch, the throttle, the lifting mechanism and the PTO switch button, thereby realizing simple and precise operation of the unmanned tractor.

[0004] Although the device has many beneficial effects, the following problems still exist: although the unmanned tractor system and its control method can shift gears, accelerate and decelerate, and lift farm implements by pushing or pulling the clutch, throttle, lifting mechanism and PTO switch button through the electric push rod, and realize simple and precise operation of the unmanned tractor, it is unable to perform precise motion control according to different external environments during use, and the corresponding global path and local path planning, and the adaptability is relatively poor. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the deficiencies in the prior art, the present invention provides a control method for an unmanned tractor, which solves the above-mentioned problems.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a control method of an unmanned tractor, specifically comprising:

[0009] The vehicle control system is used to integrate and coordinate the operation of various subsystems;

[0010] A navigation path system is used to plan and implement the driving path of the unmanned tractor;

[0011] Remote monitoring system, used to remotely monitor the status and operation of unmanned tractors;

[0012] Human-machine interface control system HMI, used to display machine status, data and warning information, and receive operator instructions for control and adjustment;

[0013] Fault diagnostic system for detecting, diagnosing and responding to possible faults in unmanned tractors.

[0014] Preferably, the method further comprises the following steps:

[0015] S100: Path planning control is performed. First, the current working state of the system is detected S11. If it is before operation, the preparatory work is performed. If it is during operation, the normal operation process is executed S13. Obstacles and crop information are sensed in real time and dynamic obstacle avoidance is performed. After the operation is completed, normal braking and parking are performed S14 and S15. If a fault is detected, braking is directly performed;

[0016] S200: In the human-machine interface control system HMI, the machine's working status, data and warning information are presented to the operator in text form. The operator inputs control instructions through the touch screen, and the HMI provides real-time feedback, displays the system operation status, and issues an alarm and provides fault information when the equipment fails or is abnormal;

[0017] S300: In the fault diagnosis system, receive the fault detection instruction S16, detect whether the current system has a fault S17, if a fault occurs, take corresponding processing measures S19-S24 according to the fault level, including fault alarm, and limit the drive motor power according to the fault level or lower the high voltage according to the process, and execute the fault diagnosis result command S25; if the system has not failed, perform the operation normally S18.

[0018] Preferably, when executing the normal operation process S13, it also includes a step of performing dynamic obstacle avoidance according to the real-time perceived obstacle and crop information.

[0019] Preferably, in the fault diagnosis system S300, the fault levels are divided into level one, level two and level three, where:

[0020] If the fault level is level 1, a fault alarm is issued, and the drive motor power is limited to 0, and the high voltage S22 is lowered according to the process;

[0021] If the fault level is level 2, a fault alarm is issued and the drive motor power is limited to 50% S23;

[0022] If the fault level is level three, only a fault alarm is issued without processing S24.

[0023] Preferably, the method further includes a motion control system, which includes an environment perception module, a control system module and an execution module, wherein the environment perception module collects information through sensors and millimeter wave radars, the control system module makes decisions and confirms the motion target based on the perception data, and the execution module adjusts the power system of the tractor according to the instructions of the control system module to achieve precise motion control

[0024] Preferably, the motion control system is specifically:

[0025] According to driving needs, the operator uses sensors and millimeter-wave radar to perceive the surrounding environment and collect information such as terrain, obstacles, and crops;

[0026] The control system makes decisions based on the perception data and confirms the movement target;

[0027] The execution module adjusts the tractor's power system according to the control system's instructions to achieve precise motion control and make real-time adjustments based on changes in the external environment;

[0028] The vehicle controller integrates the information and makes decisions, dividing the path into global path and local path planning.

[0029] Preferably, the vehicle controller performs information fusion and decision planning, and divides the path into global path and local path planning according to the information mastered by the system.

[0030] Preferably, the whole vehicle control system serves as the core, responsible for integrating and coordinating the operation of each subsystem to ensure the overall performance and safety of the unmanned tractor.

[0031] Preferably, the navigation path system is used to plan and implement the driving path of the unmanned tractor to ensure that the tractor can operate according to a predetermined route.

[0032] Preferably, the remote monitoring system is used to remotely monitor the status and operating conditions of the unmanned tractor, including real-time position, speed, operating progress and other information, so as to make timely adjustments and optimizations.

[0033] Preferably, the human-machine interface control system HMI and the fault diagnosis system work together to ensure that the operator can understand the equipment status in a timely manner, quickly locate and handle faults, and improve the reliability and stability of the equipment.

[0034] (III) Beneficial effects

[0035] Compared with the prior art, the present invention provides a control method for an unmanned tractor, which has the following beneficial effects:

[0036] 1. A control method for an unmanned tractor, wherein the vehicle controller integrates information and makes decision-making plans, and divides the path into global path and local path planning. This collaborative planning method enables the tractor to make real-time adjustments according to changes in the local environment under the guidance of the global path, thereby improving the flexibility and adaptability of the operation. The method can implement precise and flexible motion control strategies according to different and changeable external environmental conditions, including fine regulation of the tractor's driving speed, steering angle, and power distribution, to ensure that the tractor can maintain a stable operating state under various complex terrain and climatic conditions.

[0037] 2. A control method for an unmanned tractor, the entire tractor can be connected to a remote monitoring platform to support remote control and data analysis. In this mode, the operator or manager can view the operating status of the tractor in the remote monitoring system, perform fault diagnosis, or adjust operating parameters through remote commands; the tractor's operating path, scheduling plan, etc. can also be optimized through big data analysis and algorithms to further improve production efficiency.

[0038] 3. A control method for an unmanned tractor, which is equipped with the ability to monitor the operating status of key components in real time, including but not limited to engine performance, transmission system efficiency, tire pressure, and hydraulic system, so as to ensure the keen capture of any potential faults or abnormal conditions. Once any signs of fault are found, the unmanned tractor will immediately activate the fault warning mechanism, quickly analyze the cause of the fault through the built-in algorithm, and automatically take appropriate countermeasures according to the preset fault handling plan. This may include slowing down the running speed, adjusting the working mode to avoid further damage, or safely guiding the tractor to a nearby parking area for further inspection or maintenance.

[0039] 4. This control method for an unmanned tractor, through the integration and coordination of the vehicle control system, enables each subsystem to operate efficiently and orderly, thereby significantly improving the overall performance and safety of the unmanned tractor. This highly integrated control method not only simplifies the operating process, but also improves the response speed and accuracy of the equipment, allowing the tractor to complete various operating tasks more intelligently.

[0040] 5. A control method for an unmanned tractor collects information through sensors and millimeter-wave radars through a motion control system. The control system makes decisions and confirms motion targets based on the perceived data. The execution module adjusts the tractor's power system according to the instructions of the control system module to achieve precise motion control. This precise control method enables the tractor to complete various complex operating tasks more accurately, thereby improving the accuracy and efficiency of the operation.

[0041] 6. This method for controlling an unmanned tractor can accurately plan and implement the driving path of the unmanned tractor through a navigation path system, ensuring that the tractor can operate according to a predetermined route. At the same time, combined with real-time perceived obstacle and crop information, the tractor can dynamically adjust the driving route, effectively avoid collisions and damage, and improve the safety and efficiency of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the overall structure of the unmanned tractor of the present invention;

[0043] Figure 2 It is a flow chart of the motion control system of the unmanned tractor of the present invention;

[0044] Figure 3 This is a flow chart of the path planning control system of the unmanned tractor of the present invention;

[0045] Figure 4 A block diagram of a human-machine interface HMI control system for an unmanned tractor of the present invention;

[0046] Figure 5 The figure is a flow chart of the fault diagnosis system of the unmanned tractor of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1-5 , the present invention provides a technical solution:

[0049] A control method for an unmanned tractor comprises the following steps:

[0050] The vehicle control system is used to integrate and coordinate the operation of various subsystems;

[0051] A navigation path system is used to plan and implement the driving path of the unmanned tractor;

[0052] Remote monitoring system, used to remotely monitor the status and operation of unmanned tractors;

[0053] Human-machine interface control system HMI, used to display machine status, data and warning information, and receive operator instructions for control and adjustment;

[0054] Fault diagnostic system for detecting, diagnosing and responding to possible faults in unmanned tractors.

[0055] Furthermore, the method further comprises the following steps:

[0056] S100: Path planning control is performed. First, the current working state of the system is detected S11. If it is before operation, the preparatory work is performed. If it is during operation, the normal operation process is executed S13. Obstacles and crop information are sensed in real time and dynamic obstacle avoidance is performed. After the operation is completed, normal braking and parking are performed S14 and S15. If a fault is detected, braking is directly performed;

[0057] S200: In the human-machine interface control system HMI, the machine's working status, data and warning information are presented to the operator in text form. The operator inputs control instructions through the touch screen, and the HMI provides real-time feedback, displays the system operation status, and issues an alarm and provides fault information when the equipment fails or is abnormal;

[0058] S300: In the fault diagnosis system, receive the fault detection instruction S16, detect whether the current system has a fault S17, if a fault occurs, take corresponding processing measures S19-S24 according to the fault level, including fault alarm, and limit the drive motor power according to the fault level or lower the high voltage according to the process, and execute the fault diagnosis result command S25; if the system has not failed, perform the operation normally S18.

[0059] Furthermore, when executing the normal operation process S13, it also includes a step of performing dynamic obstacle avoidance according to the real-time perceived obstacle and crop information.

[0060] Furthermore, in the fault diagnosis system S300, the fault levels are divided into level 1, level 2 and level 3, where:

[0061] If the fault level is level 1, a fault alarm is issued, and the drive motor power is limited to 0, and the high voltage S22 is lowered according to the process;

[0062] If the fault level is level 2, a fault alarm is issued and the drive motor power is limited to 50% S23;

[0063] If the fault level is level three, only a fault alarm is issued without processing S24.

[0064] Furthermore, the method also includes a motion control system, which includes an environment perception module, a control system module and an execution module, wherein the environment perception module collects information through sensors and millimeter wave radars, the control system module makes decisions and confirms motion targets based on the perception data, and the execution module adjusts the power system of the tractor according to the instructions of the control system module to achieve precise motion control

[0065] Furthermore, the motion control system is specifically:

[0066] According to driving needs, the operator uses sensors and millimeter-wave radar to perceive the surrounding environment and collect information such as terrain, obstacles, and crops;

[0067] The control system makes decisions based on the perception data and confirms the movement target;

[0068] The execution module adjusts the tractor's power system according to the control system's instructions to achieve precise motion control and make real-time adjustments based on changes in the external environment;

[0069] The vehicle controller integrates the information and makes decisions, dividing the path into global path and local path planning.

[0070] Furthermore, the vehicle controller integrates information and makes decisions, and divides the path into global path and local path planning according to the information mastered by the system.

[0071] Furthermore, the vehicle control system serves as the core and is responsible for integrating and coordinating the operation of each subsystem to ensure the overall performance and safety of the unmanned tractor.

[0072] Furthermore, the navigation path system is used to plan and implement the driving path of the unmanned tractor to ensure that the tractor can operate according to the predetermined route.

[0073] Furthermore, the remote monitoring system is used to remotely monitor the status and operation status of the unmanned tractor, including real-time position, speed, operation progress and other information, so as to make timely adjustments and optimizations.

[0074] Furthermore, the human-machine interface control system HMI and the fault diagnosis system work together to ensure that the operator can understand the equipment status in a timely manner, quickly locate and handle faults, and improve the reliability and stability of the equipment.

[0075] A control method for an unmanned tractor system, the steps are as follows:

[0076] S1. The operator turns on the high voltage of the tractor, turns on the navigation controller display terminal of the tractor, clicks the button on the screen, enters the satellite status interface, and checks whether the signal is normal through the differential positioning base station. If normal, proceed to the next step; if not, check for faults.

[0077] S2, the operator powers on the tractor and waits until the vehicle network equipment communicates successfully before proceeding to the next step;

[0078] S3. The operator perceives the surrounding environment through sensors according to driving needs, collects information such as terrain, obstacles, and farmland crops through millimeter-wave radar, and the control system makes decisions based on the perceived data and confirms the movement target. The execution module adjusts the tractor's power system through control system instructions, performs precise movement control to achieve the mission goal, and then makes real-time adjustments according to changes in the external environment at any time. The vehicle controller integrates information and makes decision plans, and divides the path into global path and local path planning based on the information mastered by the system;

[0079] S4, when path planning control is performed, then enter S100;

[0080] S11: Detect the working status of the current system. If it is before operation, enter S12; if it is in operation, enter S13; if a fault occurs, brake directly;

[0081] S13: Execute the normal operation process and perform dynamic obstacle avoidance based on the real-time perceived obstacles and crop information;

[0082] S14: The work is completed;

[0083] S15: Normal braking and parking are adopted after the operation is completed;

[0084] S5. The control system of the whole vehicle tractor is equipped with a human-machine interface (HMI). The operator can view the working status of the tractor in real time, adjust the operating parameters, and select different working modes through the interface. It is also equipped with a remote monitoring system, which uploads the tractor's operating data to the cloud through wireless communication technology for remote monitoring, fault diagnosis and scheduling management. The remote scheduling system can also optimize the tractor's operating path and scheduling plan through big data analysis and algorithms, further improving production efficiency;

[0085] S6. The specific operation steps of the fault diagnosis are as follows:

[0086] S16: receiving a fault detection instruction, and then proceeding to S17;

[0087] S17: Check whether the current system fails. If yes, go to S19; if not, go to S18;

[0088] S18: Execute the operation normally;

[0089] S19: Check whether the current system fault level is level 1, if yes, go to S22, if not, go to S20;

[0090] S20: Check whether the current system fault level is level 2, if yes, go to S23, if not, go to S21;

[0091] S21: Check whether the current system fault level is level 3, if yes, go to S24;

[0092] S22: Fault alarm is issued, and the driving motor power is limited to 0, and high voltage is lowered according to the process;

[0093] S23: Fault alarm is issued and the driving motor power is limited to 50%;

[0094] S24: Only fault alarm is given without any processing;

[0095] S25: Execute the fault diagnosis result command.

[0096] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control method for an unmanned tractor, characterized in that: Specifically include: The vehicle control system is used to integrate and coordinate the operation of various subsystems; A navigation path system is used to plan and implement the driving path of the unmanned tractor; Remote monitoring system, used to remotely monitor the status and operation of unmanned tractors; Human-machine interface control system (HMI), used to display machine status, data and warning information, and receive operator instructions for control and adjustment; Fault diagnostic system for detecting, diagnosing and responding to possible faults in unmanned tractors.

2. The control method of an unmanned tractor according to claim 1, characterized in that: The method further comprises the following steps: S100: Path planning control is performed. First, the current working state of the system is detected (S11). If it is before operation, the preparatory work is performed. If it is during operation, the normal operation process is executed (S13). Obstacles and crop information are sensed in real time and dynamic obstacle avoidance is performed. After the operation is completed, normal braking and parking are performed (S14, S15); if a fault is detected, braking is directly performed; S200: In the human-machine interface control system (HMI), the machine's working status, data and warning information are presented to the operator in text form. The operator inputs control instructions through the touch screen, and the HMI provides real-time feedback, displays the system operation status, and issues an alarm and provides fault information when the equipment fails or is abnormal; S300: In the fault diagnosis system, a fault detection instruction is received (S16), and it is detected whether a fault occurs in the current system (S17). If a fault occurs, corresponding processing measures are taken according to the fault level (S19-S24), including a fault alarm, and limiting the drive motor power according to the fault level or lowering the high voltage according to the process, and executing the fault diagnosis result command (S25); if the system does not fail, the operation is performed normally (S18).

3. The control method of an unmanned tractor according to claim 2, characterized in that: When executing the normal operation process (S13), it also includes the step of performing dynamic obstacle avoidance according to the obstacle and crop information perceived in real time.

4. The control method of an unmanned tractor according to claim 2, characterized in that: In the fault diagnosis system (S300), the fault levels are divided into level one, level two and level three, where: If the fault level is level one, a fault alarm is issued, and the drive motor power is limited to 0, and the high voltage is lowered according to the process (S22); If the fault level is level 2, a fault alarm is issued and the power of the driving motor is limited to 50% (S23); If the fault level is level three, only a fault alarm is issued without any processing (S24).

5. The control method of an unmanned tractor according to claim 1, characterized in that: The method also includes a motion control system, which includes an environment perception module, a control system module and an execution module, wherein the environment perception module collects information through sensors and millimeter wave radars, the control system module makes decisions and confirms motion targets based on the perception data, and the execution module adjusts the tractor's power system according to the instructions of the control system module to achieve precise motion control.

6. The control method of an unmanned tractor according to claim 5, characterized in that: The motion control system is specifically: According to driving needs, the operator uses sensors and millimeter-wave radar to perceive the surrounding environment and collect information such as terrain, obstacles, and crops; The control system makes decisions based on the perception data and confirms the movement target; The execution module adjusts the tractor's power system according to the control system's instructions to achieve precise motion control and make real-time adjustments based on changes in the external environment; The vehicle controller integrates the information and makes decisions, dividing the path into global path and local path planning.

7. The control method of an unmanned tractor according to claim 1, characterized in that: The vehicle controller integrates information and makes decisions, and divides the path into global path and local path planning based on the information mastered by the system.

8. The control method of an unmanned tractor according to claim 1, characterized in that: The vehicle control system serves as the core and is responsible for integrating and coordinating the operation of each subsystem to ensure the overall performance and safety of the unmanned tractor.

9. The control method of an unmanned tractor according to claim 1, characterized in that: The navigation path system is used to plan and implement the driving path of the unmanned tractor to ensure that the tractor can operate according to the predetermined route. The remote monitoring system is used to remotely monitor the status and operation of the unmanned tractor, including real-time position, speed, operation progress and other information, so as to make timely adjustments and optimizations. The human-machine interface control system (HMI) and the fault diagnosis system work together to ensure that the operator can understand the equipment status in time, quickly locate and handle faults, and improve the reliability and stability of the equipment.

10. A method for controlling an unmanned tractor according to any one of claims 1 to 9, characterized in that: This method is applicable to various farmland operation environments and can autonomously complete tasks such as farming, harvesting, and transportation, thereby improving agricultural production efficiency and accuracy.

Images