Single-Beidou agricultural machinery automatic driving auxiliary device

Abstract

The invention provides a single-Beidou agricultural machinery automatic driving auxiliary device, and relates to the technical field of agricultural machinery. The single-Beidou agricultural machine automatic driving auxiliary device comprises a Beidou positioning module used for receiving Beidou satellite signals and obtaining current position information of an agricultural machine; the control unit comprises a microprocessor and is used for processing the positioning information and generating a control instruction; the driving module comprises a hydraulic steering wheel, a clutch controller, a brake controller, an accelerator controller and a hydraulic control device and is used for executing a control instruction and realizing automatic driving of the agricultural machine; the sensor module comprises a gyroscope, an accelerometer, a laser radar and a camera; and the communication module is used for carrying out data communication with a remote monitoring center. The sensor module integrates various sensors such as a gyroscope, an accelerometer, a laser radar, a camera and the like, environment information around the agricultural machine can be comprehensively sensed, and the accuracy and reliability of environment sensing are improved by adopting a multi-sensor fusion technology.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a single Beidou agricultural machinery automatic driving assistance device. Background Art

[0002] With the growth of the global population and the acceleration of urbanization, agricultural production faces huge challenges, such as labor shortage, low resource utilization, environmental pollution and other problems. In order to meet these challenges, modern agriculture is moving towards precision, intelligence and automation. Agricultural machinery is an important tool for agricultural production. Its automation and intelligence level directly affects agricultural production efficiency and sustainable development capabilities.

[0003] In the field of agricultural machinery automation, the application of automatic driving technology has become an important means to improve agricultural production efficiency, reduce labor intensity and reduce human operation errors. The traditional agricultural machinery automatic driving system mainly relies on the global positioning system GPS to achieve positioning and navigation. However, the GPS global positioning system has problems such as insufficient positioning accuracy and susceptibility to interference in actual use. The Beidou satellite navigation system, as a global satellite navigation system independently developed by China, has the characteristics of high precision and high reliability, and has broad application prospects in the agricultural field. However, the existing Beidou-based agricultural machinery automatic driving system still has some technical bottlenecks, such as insufficient environmental perception ability, imperfect intelligent control algorithm, lack of remote monitoring function, etc. Therefore, technicians in this field provide a single Beidou agricultural machinery automatic driving auxiliary device to solve the problems raised in the above background technology. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a single Beidou agricultural machinery automatic driving assistance device, which solves the problems of insufficient environmental perception ability, imperfect intelligent control algorithm and lack of remote monitoring function in the existing system when in use.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a single Beidou agricultural machinery automatic driving assistance device, comprising:

[0008] Beidou positioning module, used to receive Beidou satellite signals and obtain the current location information of agricultural machinery;

[0009] A control unit, including a microprocessor, for processing the positioning information and generating control instructions;

[0010] The drive module includes a hydraulic steering wheel, a clutch controller, a brake controller, a throttle controller and a hydraulic control device, which are used to execute control instructions and realize automatic driving of the agricultural machinery;

[0011] Sensor modules, including gyroscopes, accelerometers, lidars, and cameras, are used to sense the surrounding environment of agricultural machinery and assist in positioning and obstacle avoidance;

[0012] The communication module is used to communicate data with the remote monitoring center and transmit agricultural machinery status information in real time.

[0013] Preferably, the Beidou positioning module comprises the following steps:

[0014] S1. Beidou satellite signal reception. The Beidou positioning module first receives radio signals from Beidou satellites through a built-in or external antenna. The signals transmitted by Beidou satellites contain satellite location information, satellite health status and satellite clock information. A right-hand circularly polarized antenna is used to enhance the reception capability of Beidou satellite signals. The frequency range includes signals at 1561.098MHz, 1207.14MHz and 1268.52MHz. The received satellite signals need to be amplified and filtered to improve the signal-to-noise ratio of the signal. A low-noise amplifier is used to amplify weak satellite signals while suppressing noise. A bandpass filter is used to filter out out-of-band interference signals, and only the frequency band of Beidou satellite signals is retained. The RF signal is down-converted to an intermediate frequency signal for subsequent digital signal processing. The analog intermediate frequency signal is converted into a digital signal for subsequent digital signal processing.

[0015] S2. Signal processing and positioning calculation: Capture and track digital signals to extract pseudorange, carrier phase and Doppler frequency shift information of satellites; Calculate pseudorange between the receiver and each visible satellite based on the tracking results. Pseudorange is the geometric distance between the receiver and the satellite plus various error terms. Pseudorange is calculated by measuring the propagation time of satellite signals and combining it with the speed of light. The pseudorange measurement value is corrected using the received satellite ephemeris and clock correction information. The pseudorange measurement value includes the position, speed and orbit information of the satellite, which is used to calculate the precise position of the satellite in space, correct the errors between the satellite clock and the receiver clock, and improve the positioning accuracy; Calculate the position of the receiver using the positioning algorithm based on the corrected pseudorange and satellite position information;

[0016] S3. Data output and interface communication, convert the positioning results into a standard data format, and transmit the positioning data to the control unit through the serial port, CAN bus or Ethernet interface. The serial port communication adopts the UART protocol, and the transmission rate is usually 9600bps or higher. The CAN bus is used for high-speed data transmission, and the transmission rate can reach 1Mbps. Ethernet is used for long-distance data transmission, and the transmission rate can reach 100Mbps.

[0017] S4. Error correction and reliability assurance. Error correction is performed on the positioning results to improve positioning accuracy. Various measures are taken to ensure the reliability and stability of the positioning module. Multi-antenna and multi-receiver redundant design is adopted to improve the reliability of the system. The working status of the positioning module is monitored in real time to detect and eliminate faults in a timely manner. Important data is backed up and restored when a fault occurs.

[0018] Preferably, the control unit comprises the following steps:

[0019] S1. Data reception and preprocessing. The control unit receives positioning data from the Beidou positioning module through the interface. These data are usually transmitted in NMEA0183 format or RTCM format, and include the longitude, latitude, and altitude information of the current position of the agricultural machinery, as well as information on the positioning accuracy and the number of satellites. The control unit receives environmental perception data from the sensor module through the sensor interface. These data include information on the attitude, speed, acceleration, and surrounding environment of the agricultural machinery collected by the gyroscope, accelerometer, lidar, and camera sensors. According to the sensor type and application requirements, different data collection frequencies are set, the sensor data is calibrated, the sensor error and noise are eliminated, and the received positioning data and sensor data are preprocessed to improve the data quality and reliability.

[0020] S2. Environmental modeling and path planning: Based on sensor data, a model of the environment around the agricultural machinery is constructed to provide a basis for path planning and obstacle avoidance. The laser radar point cloud data is clustered, segmented, and feature extracted to identify obstacles, lane lines, and curbs around the agricultural machinery. The camera images are subjected to feature extraction, target recognition, and scene understanding to identify environmental information around the agricultural machinery, including but not limited to pedestrians, vehicles, and road signs. The laser radar and camera data are integrated to construct a 3D model of the environment around the agricultural machinery, including but not limited to the location, shape, and size of obstacles. The path for the agricultural machinery to travel is generated based on the current position, target position, and environmental model.

[0021] S3. Control command generation: based on the path planning and the state of the agricultural machinery, control commands for the motor driver and the steering driver are generated to realize the motion control of the agricultural machinery; based on the sensor data, attitude control commands are generated to keep the agricultural machinery running smoothly; in an emergency, when an obstacle is detected, avoidance control commands are generated; when a system failure is detected, an emergency stop command is generated to ensure the safe stop of the agricultural machinery;

[0022] S4. Data output and communication: output the generated control instructions to the drive module through the interface, execute the agricultural machinery motion control, and transmit the agricultural machinery status information to the remote monitoring center through the communication module;

[0023] S5. Feedback and correction: receive feedback information from the drive module and sensor, and correct the control instructions based on the feedback information to improve control accuracy and stability.

[0024] Preferably, the driving module comprises the following steps:

[0025] S1. Control instruction reception: the drive module receives control instructions from the control unit through the interface, including speed instructions of the motor driver, steering angle instructions of the steering driver, and other control parameters; the received control instructions are parsed to extract specific control parameters, including but not limited to motor speed, steering angle, and acceleration;

[0026] S2. Motor drive control: according to the motor speed parameter in the control command, the motor speed is adjusted to realize the forward, backward and speed control of the agricultural machinery. For the steerable motor, according to the steering angle parameter in the control command, the motor steering is adjusted to realize the steering control of the agricultural machinery;

[0027] S3. Steering drive control: according to the steering angle parameter in the control command, the output of the steering drive is adjusted to realize the steering control of the agricultural machinery; according to the load and driving state of the agricultural machinery, the output torque of the steering drive is adjusted to ensure the stability and safety of the steering operation;

[0028] S4. Safety protection and fault handling. When the current of the motor or steering drive exceeds the set value, the overcurrent protection mechanism is activated to prevent equipment damage. When the temperature of the motor or steering drive exceeds the set value, the overheating protection mechanism is activated to prevent equipment damage due to overheating. The working status of the drive module is monitored in real time. When a fault is detected, appropriate handling measures are taken to ensure the safety of agricultural machinery.

[0029] Preferably, the sensor module comprises the following steps:

[0030] S1. Sensor data acquisition, the gyroscope is used to measure the angular velocity of the agricultural machinery to determine the posture change of the agricultural machinery, the accelerometer is used to measure the linear acceleration of the agricultural machinery, including the acceleration of forward, backward, and sideways movement, and gravity acceleration, to assist posture estimation and motion detection; the laser radar is used to measure the distance between the agricultural machinery and the surrounding obstacles, and generate 3D point cloud data of the surrounding environment to achieve obstacle detection and avoidance; the camera is used to capture image information of the surrounding environment of the agricultural machinery to achieve target recognition, lane line detection and traffic sign recognition functions; according to application requirements, the sensor module can also integrate other types of sensors including but not limited to magnetometers, barometers, temperature sensors and humidity sensors;

[0031] S2. Data preprocessing: amplify, filter and condition the analog signal output by the sensor to remove noise and interference, improve signal quality, convert the conditioned analog signal into a digital signal for subsequent processing, calibrate the sensor data, eliminate sensor errors and deviations, improve data accuracy, and fuse data from different sensors;

[0032] S3. Data transmission and interface communication, the pre-processed sensor data is transmitted to the control unit through the interface, and the sensor data is packaged and transmitted using a unified data protocol;

[0033] S4. Status monitoring and fault handling: real-time monitoring of the working status of the sensor module, including sensor power supply, sensor connection status and data transmission status. When a sensor fault is detected, appropriate handling measures are taken;

[0034] S5. Data storage and logging, store sensor data in local storage for subsequent analysis and debugging, and record log information of sensor data, including timestamp, sensor type, data content and fault information.

[0035] Preferably, the communication module comprises the following steps:

[0036] S1. Communication module initialization. When the system starts, the communication module performs hardware initialization, including power management, RF module initialization and interface configuration, loading and initializing the communication protocol stack, and configuring network parameters.

[0037] S2. Data reception and processing, the communication module receives data packets from the remote monitoring center or other devices through the wireless channel, and further processes the received data, including data format conversion, data storage and data forwarding;

[0038] S3. Data transmission, the communication module collects the data to be sent from the control unit or sensor module, encapsulates the collected data into a data packet, adds the necessary protocol header information, and sends the encapsulated data packet through the wireless channel;

[0039] S4. Remote monitoring and control. The communication module transmits the status information of agricultural machinery to the remote monitoring center in real time to realize remote monitoring of agricultural machinery. The remote monitoring center sends control instructions to the agricultural machinery through the communication module to realize remote control of the agricultural machinery. The communication module supports remote diagnosis and maintenance functions. The remote monitoring center can remotely access the agricultural machinery system, diagnose faults and perform maintenance;

[0040] S5. Security and encryption: Encrypt the transmitted data to prevent it from being eavesdropped and tampered with. Perform identity authentication on both communicating parties to prevent unauthorized devices or users from accessing the system. Use security protocols to ensure the security of the communication process.

[0041] (III) Beneficial effects

[0042] The present invention provides a single Beidou agricultural machinery automatic driving assistance device, which has the following beneficial effects:

[0043] 1. In the present invention, the Beidou satellite navigation system is used, combined with differential positioning technology, the positioning accuracy reaches the centimeter level, which can meet the strict requirements of agricultural machinery automatic driving on accuracy. It adopts advanced signal coding and modulation technology, has strong anti-interference ability, can work stably in complex electromagnetic environments, and uses multi-frequency reception to effectively suppress interference.

[0044] 2. In the present invention, the control unit can receive and process data from the Beidou positioning module and the sensor module in real time, and quickly generate control instructions to ensure that the agricultural machinery can respond to environmental changes in a timely manner. The control unit integrates functions such as data processing, environmental perception, path planning, and control instruction generation, realizing a highly integrated design. The control unit can flexibly adjust control strategies and parameters according to different agricultural machinery types and application scenarios.

[0045] 3. In the present invention, the sensor module integrates multiple sensors such as gyroscopes, accelerometers, lidars, cameras, etc., which can fully perceive the environmental information around the agricultural machinery. It adopts multi-sensor fusion technology to fuse the data of different types of sensors, thereby improving the accuracy and reliability of environmental perception.

[0046] 4. In the present invention, advanced wireless communication technology is adopted. Different communication technologies have different coverage ranges and transmission distances, which can meet the needs of different scenarios. The communication module adopts security mechanisms such as data encryption, identity authentication, and security protocols to ensure the security of data communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall process of the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] Embodiment 1:

[0050] like Figure 1 As shown, an embodiment of the present invention provides a single Beidou agricultural machinery automatic driving assistance device, comprising:

[0051] Beidou positioning module, used to receive Beidou satellite signals and obtain the current location information of agricultural machinery;

[0052] A control unit, including a microprocessor, for processing the positioning information and generating control instructions;

[0053] The drive module includes a hydraulic steering wheel, a clutch controller, a brake controller, a throttle controller and a hydraulic control device, which are used to execute control instructions and realize automatic driving of the agricultural machinery;

[0054] Sensor modules, including gyroscopes, accelerometers, lidars, and cameras, are used to sense the surrounding environment of agricultural machinery and assist in positioning and obstacle avoidance;

[0055] The communication module is used to communicate data with the remote monitoring center and transmit agricultural machinery status information in real time.

[0056] The Beidou positioning module includes the following steps:

[0057] S1. Beidou satellite signal reception. The Beidou positioning module first receives radio signals from Beidou satellites through a built-in or external antenna. The signals transmitted by Beidou satellites contain satellite location information, satellite health status and satellite clock information. A right-hand circularly polarized antenna is used to enhance the reception capability of Beidou satellite signals. The frequency range includes signals at 1561.098MHz, 1207.14MHz and 1268.52MHz. The received satellite signals need to be amplified and filtered to improve the signal-to-noise ratio of the signal. A low-noise amplifier is used to amplify weak satellite signals while suppressing noise. A bandpass filter is used to filter out out-of-band interference signals, and only the frequency band of Beidou satellite signals is retained. The RF signal is down-converted to an intermediate frequency signal for subsequent digital signal processing. The analog intermediate frequency signal is converted into a digital signal for subsequent digital signal processing.

[0058] S2. Signal processing and positioning calculation: Capture and track digital signals to extract pseudorange, carrier phase and Doppler frequency shift information of satellites; Calculate pseudorange between the receiver and each visible satellite based on the tracking results. Pseudorange is the geometric distance between the receiver and the satellite plus various error terms. Pseudorange is calculated by measuring the propagation time of satellite signals and combining it with the speed of light. The pseudorange measurement value is corrected using the received satellite ephemeris and clock correction information. The pseudorange measurement value includes the position, speed and orbit information of the satellite, which is used to calculate the precise position of the satellite in space, correct the errors between the satellite clock and the receiver clock, and improve the positioning accuracy; Calculate the position of the receiver using the positioning algorithm based on the corrected pseudorange and satellite position information;

[0059] S3. Data output and interface communication, convert the positioning results into a standard data format, and transmit the positioning data to the control unit through the serial port, CAN bus or Ethernet interface. The serial port communication adopts the UART protocol, and the transmission rate is usually 9600bps or higher. The CAN bus is used for high-speed data transmission, and the transmission rate can reach 1Mbps. Ethernet is used for long-distance data transmission, and the transmission rate can reach 100Mbps.

[0060] S4. Error correction and reliability assurance. Error correction is performed on the positioning results to improve positioning accuracy. Various measures are taken to ensure the reliability and stability of the positioning module. Multi-antenna and multi-receiver redundant design is adopted to improve the reliability of the system. The working status of the positioning module is monitored in real time to detect and eliminate faults in a timely manner. Important data is backed up and restored when a fault occurs.

[0061] The control unit comprises the following steps:

[0062] S1. Data reception and preprocessing. The control unit receives positioning data from the Beidou positioning module through the interface. These data are usually transmitted in NMEA0183 format or RTCM format, and include the longitude, latitude, and altitude information of the current position of the agricultural machinery, as well as information on the positioning accuracy and the number of satellites. The control unit receives environmental perception data from the sensor module through the sensor interface. These data include information on the attitude, speed, acceleration, and surrounding environment of the agricultural machinery collected by the gyroscope, accelerometer, lidar, and camera sensors. According to the sensor type and application requirements, different data collection frequencies are set, the sensor data is calibrated, the sensor error and noise are eliminated, and the received positioning data and sensor data are preprocessed to improve the data quality and reliability.

[0063] S2. Environmental modeling and path planning: Based on sensor data, a model of the environment around the agricultural machinery is constructed to provide a basis for path planning and obstacle avoidance. The laser radar point cloud data is clustered, segmented, and feature extracted to identify obstacles, lane lines, and curbs around the agricultural machinery. The camera images are subjected to feature extraction, target recognition, and scene understanding to identify environmental information around the agricultural machinery, including but not limited to pedestrians, vehicles, and road signs. The laser radar and camera data are integrated to construct a 3D model of the environment around the agricultural machinery, including but not limited to the location, shape, and size of obstacles. The path for the agricultural machinery to travel is generated based on the current position, target position, and environmental model.

[0064] S3. Control command generation: based on the path planning and the state of the agricultural machinery, control commands for the motor driver and the steering driver are generated to realize the motion control of the agricultural machinery; based on the sensor data, attitude control commands are generated to keep the agricultural machinery running smoothly; in an emergency, when an obstacle is detected, avoidance control commands are generated; when a system failure is detected, an emergency stop command is generated to ensure the safe stop of the agricultural machinery;

[0065] S4. Data output and communication: output the generated control instructions to the drive module through the interface, execute the agricultural machinery motion control, and transmit the agricultural machinery status information to the remote monitoring center through the communication module;

[0066] S5. Feedback and correction: receive feedback information from the drive module and sensor, and correct the control instructions based on the feedback information to improve control accuracy and stability.

[0067] The driver module includes the following steps:

[0068] S1. Control instruction reception: the drive module receives control instructions from the control unit through the interface, including speed instructions of the motor driver, steering angle instructions of the steering driver, and other control parameters; the received control instructions are parsed to extract specific control parameters, including but not limited to motor speed, steering angle, and acceleration;

[0069] S2. Motor drive control: according to the motor speed parameter in the control command, the motor speed is adjusted to realize the forward, backward and speed control of the agricultural machinery. For the steerable motor, according to the steering angle parameter in the control command, the motor steering is adjusted to realize the steering control of the agricultural machinery;

[0070] S3. Steering drive control: according to the steering angle parameter in the control command, the output of the steering drive is adjusted to realize the steering control of the agricultural machinery; according to the load and driving state of the agricultural machinery, the output torque of the steering drive is adjusted to ensure the stability and safety of the steering operation;

[0071] S4. Safety protection and fault handling. When the current of the motor or steering drive exceeds the set value, the overcurrent protection mechanism is activated to prevent equipment damage. When the temperature of the motor or steering drive exceeds the set value, the overheating protection mechanism is activated to prevent equipment damage due to overheating. The working status of the drive module is monitored in real time. When a fault is detected, appropriate handling measures are taken to ensure the safety of agricultural machinery.

[0072] The sensor module includes the following steps:

[0073] S1. Sensor data acquisition, the gyroscope is used to measure the angular velocity of the agricultural machinery to determine the posture change of the agricultural machinery, the accelerometer is used to measure the linear acceleration of the agricultural machinery, including the acceleration of forward, backward, and sideways movement, and gravity acceleration, to assist posture estimation and motion detection; the laser radar is used to measure the distance between the agricultural machinery and the surrounding obstacles, and generate 3D point cloud data of the surrounding environment to achieve obstacle detection and avoidance; the camera is used to capture image information of the surrounding environment of the agricultural machinery to achieve target recognition, lane line detection and traffic sign recognition functions; according to application requirements, the sensor module can also integrate other types of sensors including but not limited to magnetometers, barometers, temperature sensors and humidity sensors;

[0074] S2. Data preprocessing: amplify, filter and condition the analog signal output by the sensor to remove noise and interference, improve signal quality, convert the conditioned analog signal into a digital signal for subsequent processing, calibrate the sensor data, eliminate sensor errors and deviations, improve data accuracy, and fuse data from different sensors;

[0075] S3. Data transmission and interface communication, the pre-processed sensor data is transmitted to the control unit through the interface, and the sensor data is packaged and transmitted using a unified data protocol;

[0076] S4. Status monitoring and fault handling: real-time monitoring of the working status of the sensor module, including sensor power supply, sensor connection status and data transmission status. When a sensor fault is detected, appropriate handling measures are taken;

[0077] S5. Data storage and logging, store sensor data in local storage for subsequent analysis and debugging, and record log information of sensor data, including timestamp, sensor type, data content and fault information.

[0078] The communication module includes the following steps:

[0079] S1. Communication module initialization. When the system starts, the communication module performs hardware initialization, including power management, RF module initialization and interface configuration, loading and initializing the communication protocol stack, and configuring network parameters.

[0080] S2. Data reception and processing, the communication module receives data packets from the remote monitoring center or other devices through the wireless channel, and further processes the received data, including data format conversion, data storage and data forwarding;

[0081] S3. Data transmission, the communication module collects the data to be sent from the control unit or sensor module, encapsulates the collected data into a data packet, adds the necessary protocol header information, and sends the encapsulated data packet through the wireless channel;

[0082] S4. Remote monitoring and control. The communication module transmits the status information of agricultural machinery to the remote monitoring center in real time to realize remote monitoring of agricultural machinery. The remote monitoring center sends control instructions to the agricultural machinery through the communication module to realize remote control of the agricultural machinery. The communication module supports remote diagnosis and maintenance functions. The remote monitoring center can remotely access the agricultural machinery system, diagnose faults and perform maintenance;

[0083] S5. Security and encryption: Encrypt the transmitted data to prevent it from being eavesdropped and tampered with. Perform identity authentication on both communicating parties to prevent unauthorized devices or users from accessing the system. Use security protocols to ensure the security of the communication process.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A single Beidou agricultural machinery automatic driving assistance device, characterized in that: include: Beidou positioning module, used to receive Beidou satellite signals and obtain the current location information of agricultural machinery; A control unit, including a microprocessor, for processing the positioning information and generating control instructions; The drive module includes a hydraulic steering wheel, a clutch controller, a brake controller, a throttle controller and a hydraulic control device, which are used to execute control instructions and realize automatic driving of the agricultural machinery; Sensor modules, including gyroscopes, accelerometers, lidars, and cameras, are used to sense the surrounding environment of agricultural machinery and assist in positioning and obstacle avoidance; The communication module is used to communicate data with the remote monitoring center and transmit agricultural machinery status information in real time.

2. A single Beidou agricultural machinery automatic driving assistance device according to claim 1, characterized in that: The Beidou positioning module comprises the following steps: S1. Beidou satellite signal reception. The Beidou positioning module first receives radio signals from Beidou satellites through a built-in or external antenna. The signals transmitted by Beidou satellites contain satellite location information, satellite health status and satellite clock information. A right-hand circularly polarized antenna is used to enhance the reception capability of Beidou satellite signals. The frequency range includes signals at 1561.098MHz, 1207.14MHz and 1268.52MHz. The received satellite signals need to be amplified and filtered to improve the signal-to-noise ratio of the signal. A low-noise amplifier is used to amplify weak satellite signals while suppressing noise. A bandpass filter is used to filter out out-of-band interference signals, and only the frequency band of Beidou satellite signals is retained. The RF signal is down-converted to an intermediate frequency signal for subsequent digital signal processing. The analog intermediate frequency signal is converted into a digital signal for subsequent digital signal processing. S2. Signal processing and positioning calculation: Capture and track digital signals to extract pseudorange, carrier phase and Doppler frequency shift information of satellites; Calculate pseudorange between the receiver and each visible satellite based on the tracking results. Pseudorange is the geometric distance between the receiver and the satellite plus various error terms. Pseudorange is calculated by measuring the propagation time of satellite signals and combining it with the speed of light. The pseudorange measurement value is corrected using the received satellite ephemeris and clock correction information. The pseudorange measurement value includes the position, speed and orbit information of the satellite, which is used to calculate the precise position of the satellite in space, correct the errors between the satellite clock and the receiver clock, and improve the positioning accuracy; Calculate the position of the receiver using the positioning algorithm based on the corrected pseudorange and satellite position information; S3. Data output and interface communication, convert the positioning results into a standard data format, and transmit the positioning data to the control unit through the serial port, CAN bus or Ethernet interface. The serial port communication adopts the UART protocol, and the transmission rate is usually 9600bps or higher. The CAN bus is used for high-speed data transmission, and the transmission rate can reach 1Mbps. Ethernet is used for long-distance data transmission, and the transmission rate can reach 100Mbps. S4. Error correction and reliability assurance. Error correction is performed on the positioning results to improve positioning accuracy. Various measures are taken to ensure the reliability and stability of the positioning module. Multi-antenna and multi-receiver redundant design is adopted to improve the reliability of the system. The working status of the positioning module is monitored in real time to detect and eliminate faults in a timely manner. Important data is backed up and restored when a fault occurs.

3. The single Beidou agricultural machinery automatic driving assistance device according to claim 1, characterized in that: The control unit comprises the following steps: S1. Data reception and preprocessing. The control unit receives positioning data from the Beidou positioning module through the interface. These data are usually transmitted in NMEA0183 format or RTCM format, and include the longitude, latitude, and altitude information of the current position of the agricultural machinery, as well as information on the positioning accuracy and the number of satellites. The control unit receives environmental perception data from the sensor module through the sensor interface. These data include information on the attitude, speed, acceleration, and surrounding environment of the agricultural machinery collected by the gyroscope, accelerometer, lidar, and camera sensors. According to the sensor type and application requirements, different data collection frequencies are set, the sensor data is calibrated, the sensor error and noise are eliminated, and the received positioning data and sensor data are preprocessed to improve the data quality and reliability. S2. Environmental modeling and path planning: Based on sensor data, a model of the environment around the agricultural machinery is constructed to provide a basis for path planning and obstacle avoidance. The laser radar point cloud data is clustered, segmented, and feature extracted to identify obstacles, lane lines, and curbs around the agricultural machinery. The camera images are subjected to feature extraction, target recognition, and scene understanding to identify environmental information around the agricultural machinery, including but not limited to pedestrians, vehicles, and road signs. The laser radar and camera data are integrated to construct a 3D model of the environment around the agricultural machinery, including but not limited to the location, shape, and size of obstacles. The path for the agricultural machinery to travel is generated based on the current position, target position, and environmental model. S3. Control command generation: based on the path planning and the state of the agricultural machinery, control commands for the motor driver and the steering driver are generated to realize the motion control of the agricultural machinery; based on the sensor data, attitude control commands are generated to keep the agricultural machinery running smoothly; in an emergency, when an obstacle is detected, avoidance control commands are generated; when a system failure is detected, an emergency stop command is generated to ensure the safe stop of the agricultural machinery; S4. Data output and communication: output the generated control instructions to the drive module through the interface, execute the agricultural machinery motion control, and transmit the agricultural machinery status information to the remote monitoring center through the communication module; S5. Feedback and correction: receive feedback information from the drive module and sensor, and correct the control instructions based on the feedback information to improve control accuracy and stability.

4. The single Beidou agricultural machinery automatic driving assistance device according to claim 1, characterized in that: The driving module comprises the following steps: S1. Control instruction reception: the drive module receives control instructions from the control unit through the interface, including speed instructions of the motor driver, steering angle instructions of the steering driver, and other control parameters; the received control instructions are parsed to extract specific control parameters, including but not limited to motor speed, steering angle, and acceleration; S2. Motor drive control: according to the motor speed parameter in the control command, the motor speed is adjusted to realize the forward, backward and speed control of the agricultural machinery. For the steerable motor, according to the steering angle parameter in the control command, the motor steering is adjusted to realize the steering control of the agricultural machinery; S3. Steering drive control: according to the steering angle parameter in the control command, the output of the steering drive is adjusted to realize the steering control of the agricultural machinery; according to the load and driving state of the agricultural machinery, the output torque of the steering drive is adjusted to ensure the stability and safety of the steering operation; S4. Safety protection and fault handling. When the current of the motor or steering drive exceeds the set value, the overcurrent protection mechanism is activated to prevent equipment damage. When the temperature of the motor or steering drive exceeds the set value, the overheating protection mechanism is activated to prevent equipment damage due to overheating. The working status of the drive module is monitored in real time. When a fault is detected, appropriate handling measures are taken to ensure the safety of agricultural machinery.

5. The single Beidou agricultural machinery automatic driving assistance device according to claim 1, characterized in that: The sensor module comprises the following steps: S1. Sensor data acquisition, the gyroscope is used to measure the angular velocity of the agricultural machinery to determine the posture change of the agricultural machinery, the accelerometer is used to measure the linear acceleration of the agricultural machinery, including the acceleration of forward, backward, and sideways movement, and gravity acceleration, to assist posture estimation and motion detection; the laser radar is used to measure the distance between the agricultural machinery and the surrounding obstacles, and generate 3D point cloud data of the surrounding environment to achieve obstacle detection and avoidance; the camera is used to capture image information of the surrounding environment of the agricultural machinery to achieve target recognition, lane line detection and traffic sign recognition functions; according to application requirements, the sensor module can also integrate other types of sensors including but not limited to magnetometers, barometers, temperature sensors and humidity sensors; S2. Data preprocessing: amplify, filter and condition the analog signal output by the sensor to remove noise and interference, improve signal quality, convert the conditioned analog signal into a digital signal for subsequent processing, calibrate the sensor data, eliminate sensor errors and deviations, improve data accuracy, and fuse data from different sensors; S3. Data transmission and interface communication, the pre-processed sensor data is transmitted to the control unit through the interface, and the sensor data is packaged and transmitted using a unified data protocol; S4. Status monitoring and fault handling: real-time monitoring of the working status of the sensor module, including sensor power supply, sensor connection status and data transmission status. When a sensor fault is detected, appropriate handling measures are taken; S5. Data storage and logging, store sensor data in local storage for subsequent analysis and debugging, and record log information of sensor data, including timestamp, sensor type, data content and fault information.

6. The single Beidou agricultural machinery automatic driving assistance device according to claim 1, characterized in that: The communication module comprises the following steps: S1. Communication module initialization. When the system starts, the communication module performs hardware initialization, including power management, RF module initialization and interface configuration, loading and initializing the communication protocol stack, and configuring network parameters. S2. Data reception and processing, the communication module receives data packets from the remote monitoring center or other devices through the wireless channel, and further processes the received data, including data format conversion, data storage and data forwarding; S3. Data transmission, the communication module collects the data to be sent from the control unit or sensor module, encapsulates the collected data into a data packet, adds the necessary protocol header information, and sends the encapsulated data packet through the wireless channel; S4. Remote monitoring and control. The communication module transmits the status information of agricultural machinery to the remote monitoring center in real time to realize remote monitoring of agricultural machinery. The remote monitoring center sends control instructions to the agricultural machinery through the communication module to realize remote control of the agricultural machinery. The communication module supports remote diagnosis and maintenance functions. The remote monitoring center can remotely access the agricultural machinery system, diagnose faults and perform maintenance; S5. Security and encryption: Encrypt the transmitted data to prevent it from being eavesdropped and tampered with. Perform identity authentication on both communicating parties to prevent unauthorized devices or users from accessing the system. Use security protocols to ensure the security of the communication process.

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