Unmanned operation platform navigation system and navigation method

Abstract

The invention provides an unmanned operation platform navigation system and a navigation method, and relates to the technical field of high-precision GNSS positioning navigation, and the navigation system comprises a satellite signal receiving module, a signal processing and transmission module, a signal receiving module and a signal updating module. Wherein the satellite signal receiving module receives differential signals transmitted by a satellite through a mobile signal receiving module on a remote controller; the signal processing and transmission module is composed of an external port module, a wireless communication module and a dotting device module and transmits received satellite signals to the unmanned operation platform and mobile dotting positioning. The signal receiving module is composed of a wireless communication module and a chip module and used for receiving signals transmitted by a remote controller. And the signal updating module feeds back to the remote controller through the wireless communication module according to the moving track of the unmanned working platform, so that the navigation information and the position information of the unmanned working platform are updated in real time. Compared with traditional unmanned operation platform navigation, the method is more convenient, flexible and reliable.

Description

Technical Field

[0001] The present invention belongs to the field of navigation of unmanned operation platforms, and in particular relates to a navigation system and a navigation method of an unmanned operation platform. Background Art

[0002] With the rapid development of smart agriculture and automation technology, unmanned operation platforms, as an intermediate medium of agricultural productivity, are increasingly used in crop production, harvesting, fertilization and weeding. At present, the navigation system and navigation method of unmanned operation platforms mostly use artificial pre-determined range position coordinate points, or use drone flight equipment to mark fixed position coordinate points. As satellite navigation enters a new stage, satellite navigation systems have become an important part of agricultural production and other fields with their positioning, navigation and other functions.

[0003] The navigation system technology of unmanned work platforms has generally matured. That is, the signal receiving device (GNSS receiver and receiving antenna) installed on the unmanned work platform receives, senses, and analyzes the differential signals sent by the satellite, and then obtains its own position and attitude information in real time. It then carries out path planning and navigation control of the unmanned work platform, so that the unmanned work platform can complete various work tasks.

[0004] The main advantages of the existing unmanned operation platform navigation system are its simple structure and relatively mature technology. However, in order to complete the navigation deployment of multiple unmanned operation platforms, multiple navigation systems must be installed, which has a very high deployment cost in agricultural production. At the same time, satellite signals are sometimes affected by environmental factors. Faced with complex field operation environments, complex terrain, bad weather, random growth of crops and other changeable environmental conditions, the navigation technology that relies solely on pre-determined fixed position coordinate points will have serious problems of inaccurate navigation.

[0005] Compared with the existing navigation technology, it is necessary to reduce the deployment cost of the unmanned operation platform navigation system and improve the navigation flexibility, applicability and stability of the unmanned operation platform.

[0006] In view of this, it is necessary to propose a navigation system and a navigation method for an unmanned operation platform. The navigation system of the present invention has the advantages of simple structure and convenient installation, and solves the deployment cost problem of the unmanned operation platform; The navigation method of the present invention has flexibility, stability and applicability, and solves the problem of inaccurate navigation of unmanned operation platforms in complex field operation environments. In summary, the navigation system and navigation method proposed in the present invention effectively ensure that the unmanned operation platform can complete the operation tasks with high quality and high efficiency. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an unmanned work platform navigation system and navigation method.

[0008] In view of the above-mentioned technical problems, the technical solutions adopted by the present invention are as follows.

[0009] The present invention provides an unmanned operation platform navigation system and a navigation method, wherein the navigation system comprises a satellite signal receiving module (201), a signal processing and transmission module (202), a signal receiving module (203) and a signal updating module (204). The satellite signal receiving module (201) receives a differential signal transmitted by a satellite by a mobile signal receiving module (12) installed on a remote controller (1); the signal processing and transmission module (202) is composed of an external port module (17), a wireless communication module (15) and a dotting module (131), and is used to transmit the received satellite signal to the unmanned operation platform and dot positioning of a mobile position coordinate point; the signal receiving module (203) is composed of a wireless communication module (15) and a chip module (3), and is used to receive a signal transmitted by the remote controller (1); the signal updating module (204) feeds back to the remote controller (1) through the wireless communication module (15) according to the motion trajectory of the unmanned operation platform, so as to achieve real-time updating of navigation information and position trajectory of the unmanned operation platform.

[0010] Furthermore, the satellite signal receiving module (201) is captured by a mobile signal receiving module (12) installed on the remote control (1), and receives the differential signal sent by the satellite to perform real-time signal tracking and positioning analysis.

[0011] Furthermore, the signal processing and transmission module (202) is composed of an external port module (17), a wireless communication module (15) and a dotting module (131), and is used to transmit the received satellite signal to the unmanned operation platform and the mobile position coordinate point for dotting positioning.

[0012] Furthermore, the signal receiving module (203) is composed of a wireless communication module (15) and a chip module (3), and is used to receive signals transmitted by the remote controller (1).

[0013] Furthermore, the signal updating module (204) feeds back the position trajectory of the unmanned operation platform to the remote controller (1) via the wireless communication module (15), thereby achieving real-time updating of the navigation information and position trajectory of the unmanned operation platform.

[0014] Furthermore, the remote controller (1) mainly comprises a remote controller antenna (11), a mobile signal receiving module (12), a dotting device antenna (13), a dotting device module (131), a remote controller display screen (14), a wireless communication module (15), a GNSS signal receiving module (16) and an external port module (17); the mobile signal receiving module (12) and the external port module (17) are connected to achieve the capture and reception of satellite signals; the external port module (17) transmits the received satellite signal to the dotting device module (131) through the dotting device antenna (13) and the wireless communication module (15), thereby achieving the dotting positioning of the unmanned operation platform while updating the position coordinate points through the remote controller (1) while moving.

[0015] Furthermore, the dotting device module (131) mainly comprises a chip module (3) and a GNSS signal receiving module (16); the GNSS signal receiving module (16) mainly comprises a GNSS signal receiving antenna and a GNSS signal receiver, and transmits the signal to the chip module (3) to realize the dotting positioning function of adding position coordinate points.

[0016] Furthermore, the dotting module (131) is installed on the remote control (1), and the satellite signal received by the mobile signal receiving module (12) is transmitted to the dotting module (131) via the wireless communication module (15), so that the remote control (1) can update the position coordinate point dotting positioning in real time and correct the position of the mobile working platform in real time according to the feedback signal.

[0017] A navigation method for an unmanned operation platform, characterized in that the method comprises the following steps: Step 1: establishing a communication connection between the satellite signal and the remote controller (1), and a communication connection between the remote controller (1) and the unmanned operation platform; Step 2: Setting the movement posture and position of the unmanned operation platform, the remote controller (1) sends instructions to the unmanned operation platform via the wireless communication module (15), specifically, the wireless communication module (15) and the chip module (3) installed on the unmanned operation platform sense signals, receive signals, and process signals, thereby completing the control and positioning of the movement posture of the unmanned operation platform; Step 3: Navigation of unmanned operation platform with preset position coordinate points: The unmanned operation platform receives satellite signals via a wireless communication module (15), and performs navigation movement by presetting fixed position coordinate points via a remote controller (1) and a dotting module (131); Step 4: Remote controller (1) corrects the navigation of the unmanned operation platform: The unmanned operation platform navigates and moves according to the fixed position coordinate point, and remote monitoring is performed through the remote controller (1) according to the signal feedback from the wireless communication module (15) on the unmanned operation platform, so as to timely correct the position of the unmanned operation platform from deviating from the predetermined navigation coordinate point; Step 5: The remote controller (1) performs real-time positioning of the position coordinate points on the unmanned operation platform navigation: (a) When the preset fixed position coordinate points cannot satisfy the navigation of the unmanned operation platform, the dotting module (131) in the remote controller (1) is activated to perform real-time navigation of the unmanned operation platform by setting the mobile position coordinate points; (b) inputting the navigation mobile position coordinate point into the dotting device module (131) through the remote controller (1), performing signal conversion through the chip module (3), GNSS receiver and receiving antenna in the dotting device module (131), and transmitting the mobile position coordinate point to the unmanned operation platform through the wireless communication module (15); (c) deploying a corresponding wireless communication module (15) and a chip module (3) on the unmanned operation platform, parsing the mobile position coordinate point signal through the GNSS receiver and receiving antenna in the chip module (3), and controlling the real-time navigation of the unmanned operation platform with the parsed mobile position coordinate point information; (d) judging whether the setting of the moving position coordinate point is completed and whether the moving position coordinate point signal is transmitted to the unmanned operation platform via the wireless communication module (15), deploying a feedback signal with the wireless communication module (15) on the unmanned operation platform, and feeding back the feedback signal to the wireless communication module (15) and the chip module (3) on the remote controller (1) via the wireless communication module (15) on the unmanned operation platform, and judging whether the moving position coordinate point is completed and correctly transmitted by comparing the moving position coordinate point signal before and after setting; (e) The navigation is completed by the moving position coordinate point set by the dotting module (131) in the remote controller (1).

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: The present invention provides a navigation system and a navigation method for an unmanned work platform. The navigation system of the present invention has the advantages of simple structure and convenient installation, and solves the deployment cost problem of the unmanned work platform. The navigation method of the present invention has flexibility, stability and applicability, and solves the navigation accuracy problem of the unmanned work platform facing a complex field work environment. In summary, the navigation system and navigation method proposed in the present invention effectively ensure that the unmanned work platform can complete the work task with high quality and high efficiency; BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a hardware block diagram of the navigation system of an unmanned operation platform.

[0020] Figure 2 The present invention is a schematic diagram of the structure of a remote controller for an unmanned operation platform.

[0021] Figure 3 The present invention is a schematic diagram of the navigation control process of an unmanned operation platform.

[0022] Figure 4 The present invention is a flowchart of a navigation method for an unmanned operation platform.

[0023] In the figure: 1-remote control; 11-remote control antenna; 12-mobile signal receiving module; 13-dotting device antenna; 131-dotting device module; 14-remote control display screen; 15-wireless communication module; 16-GNSS signal receiving module; 17-external port module; 201-satellite signal receiving module; 202-signal processing and transmission module; 203-signal receiving module; 204-signal update module; 3-chip module; DETAILED DESCRIPTION

[0024] All steps in all methods or processes, or all features disclosed in this specification, except mutually exclusive steps and / or features, can be combined in any manner.

[0025] Any feature disclosed in this specification (including any additional claims and abstract), unless otherwise stated, may be replaced by other alternative features that are equivalent or have similar purposes or functions. That is, unless otherwise stated, each feature is only an example of one or a series of equivalent or similar features.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1The figure shows a hardware block diagram of an unmanned operation platform navigation system, comprising a satellite signal receiving module (201), a signal processing and transmission module (202), a signal receiving module (203) and a signal updating module (204); the satellite signal receiving module (201) is captured by a mobile signal receiving module (12) installed on a remote controller (1), receives differential signals sent by satellites, and performs real-time signal tracking and positioning analysis; the signal processing and transmission module (202) is composed of an external port module (17), a wireless communication module (15) and a dotting module (131), and is used to transmit the received satellite signal to the unmanned operation platform and perform mobile dotting positioning; the signal receiving module (203) is composed of a wireless communication module (15) and a chip module (3), and is used to receive signals transmitted by the remote controller (1); the signal updating module (204) feeds back to the remote controller (1) through the wireless communication module (15) according to the motion trajectory of the unmanned operation platform, so as to achieve real-time updating of navigation information and motion trajectory of the unmanned operation platform.

[0028] like Figure 2 The figure shows a schematic diagram of the structure of a remote controller for an unmanned operation platform. The remote controller (1) mainly comprises a remote controller antenna (11), a mobile signal receiving module (12), a dotting device antenna (13), a dotting device module (131), a remote controller display screen (14), a wireless communication module (15), a GNSS signal receiving module (16) and an external port module (17); the mobile signal receiving module (12) and the external port module (17) are connected to realize the capture and reception of satellite signals; the external port module (17) transmits the received satellite signal to the dotting device module (131) through the dotting device antenna (13) and the wireless communication module (15), so as to realize the dotting positioning while the unmanned operation platform moves.

[0029] In this example, the dotting device module (131) mainly includes a chip module (3) and a GNSS signal receiving module (16); the GNSS signal receiving module (16) mainly includes a GNSS signal receiving antenna and a GNSS signal receiver, which transmits the signal to the chip module (3) to realize the dotting positioning function.

[0030] The dotting module (131) is installed on the remote controller (1), and the mobile signal receiving module (12) transmits the received satellite signal to the dotting module (131) via the wireless communication module (15), thereby realizing the mobile dotting positioning of the remote controller (1) and real-time correction of the position of the mobile working platform according to the feedback signal.

[0031] like Figure 3 The figure shows a schematic diagram of the navigation control process of an unmanned operation platform. It includes the following steps: Step S1: receiving a differential signal transmitted by a satellite signal through a satellite signal receiving module (201); Step S2: sensing, analyzing and processing the received differential signal through the signal processing and transmission module (202); Step S3: receiving the position coordinate point signal parsed and processed by the signal processing and transmission module (202) through the signal receiving module (203) installed on the unmanned operation platform, so as to control the navigation and movement trajectory of the unmanned operation platform; Step S4: The unmanned operation platform feeds back the updated position coordinate point information to the signal processing and receiving module (202) through the signal updating module (204) according to its real-time moving trajectory and position, so as to control the position and moving trajectory of the unmanned operation platform in real time.

[0032] like Figure 4 The figure is a flow chart of a navigation method for an unmanned operation platform. The navigation method for an unmanned operation platform of the present invention comprises: Step 1: establishing a communication connection between the satellite signal and the remote controller (1), and a communication connection between the remote controller (1) and the unmanned operation platform; Step 2: Setting the movement posture and position of the unmanned operation platform, the remote controller (1) sends instructions to the unmanned operation platform via the wireless communication module (15), specifically, the wireless communication module (15) and the chip module (3) installed on the unmanned operation platform sense signals, receive signals, and process signals, thereby completing the control and positioning of the movement posture of the unmanned operation platform; Step 3: Navigation of unmanned operation platform with preset position coordinate points: The unmanned operation platform receives satellite signals via a wireless communication module (15), and performs navigation movement by presetting fixed position coordinate points via a remote controller (1) and a dotting module (131); Step 4: Remote controller (1) corrects the navigation of the unmanned operation platform: The unmanned operation platform navigates and moves according to the fixed position coordinate point, and remote monitoring is performed through the remote controller (1) according to the signal feedback from the wireless communication module (15) on the unmanned operation platform, so as to timely correct the position of the unmanned operation platform from deviating from the predetermined navigation coordinate point; Step 5: The remote controller (1) performs real-time positioning of the position coordinate points on the unmanned operation platform navigation: (a) When the preset fixed position coordinate points cannot satisfy the navigation of the unmanned operation platform, the dotting module (131) in the remote controller (1) is activated to perform real-time navigation of the unmanned operation platform by setting the mobile position coordinate points; (b) inputting the navigation mobile position coordinate point into the dotting device module (131) through the remote controller (1), performing signal conversion through the chip module (3), GNSS receiver and receiving antenna in the dotting device module (131), and transmitting the mobile position coordinate point to the unmanned operation platform through the wireless communication module (15); (c) deploying a corresponding wireless communication module (15) and a chip module (3) on the unmanned operation platform, parsing the mobile position coordinate point signal through the GNSS receiver and receiving antenna in the chip module (3), and controlling the real-time navigation of the unmanned operation platform with the parsed mobile position coordinate point information; (d) judging whether the setting of the moving position coordinate point is completed and whether the moving position coordinate point signal is transmitted to the unmanned operation platform via the wireless communication module (15), deploying a feedback signal with the wireless communication module (15) on the unmanned operation platform, and feeding back the feedback signal to the wireless communication module (13) and the chip module (3) on the remote controller (1) via the wireless communication module (15) on the unmanned operation platform, and judging whether the moving position coordinate point is completed and correctly transmitted by comparing the moving position coordinate point signal before and after setting; (e) The navigation is completed by the moving position coordinate point set by the dotting module (131) in the remote controller (1).

[0033] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An unmanned operation platform navigation system, characterized in that: The system comprises: The satellite signal receiving module (201) is used by a mobile signal receiving module (12) installed on the remote controller (1) to capture and receive differential signals sent by satellites to perform real-time signal tracking and positioning analysis; The signal processing and transmission module (202) is composed of an external port module (17), a wireless communication module (15) and a dotting module (131), and is used to transmit the received satellite signal to the unmanned operation platform and mobile dotting positioning; The signal receiving module (203) is composed of a wireless communication module (15) and a chip module (3), and is used to receive a signal transmitted by the remote controller (1); The signal updating module (204) feeds back the movement trajectory of the unmanned operation platform to the remote controller (1) through the wireless communication module (15), thereby achieving real-time updating of the navigation information and position trajectory of the unmanned operation platform.

2. According to claim 1, the unmanned operation platform navigation system is characterized by: The remote controller (1) mainly comprises a remote controller antenna (11), a mobile signal receiving module (12), a dotting device antenna (13), a dotting device module (131), a remote controller display screen (14), a wireless communication module (15), a GNSS signal receiving module (16) and an external port module (17); the mobile signal receiving module (12) and the external port module (17) are connected to achieve the capture and reception of satellite signals; the external port module (17) transmits the received satellite signal to the dotting device module (131) through the dotting device antenna (13) and the wireless communication module (15), thereby achieving dotting positioning of the unmanned operation platform while updating the position coordinate points through the remote controller (1) while moving.

3. The unmanned operation platform navigation system according to claim 1, characterized in that: The dotting device module (131) mainly comprises a chip module (3) and a GNSS signal receiving module (16); the GNSS signal receiving module (16) mainly comprises a GNSS signal receiving antenna and a GNSS signal receiver, and transmits the signal to the chip module (3) to realize the dotting positioning function of adding position coordinate points.

4. The unmanned operation platform navigation system according to claim 1, characterized in that: The dotting module (131) is installed on the remote controller (1), and the mobile signal receiving module (12) transmits the received satellite signal to the dotting module (131) via the wireless communication module (15), so that the remote controller (1) can update the dotting positioning of the position coordinate point in real time and correct the position of the mobile working platform in real time according to the feedback signal.

5. A navigation method for an unmanned operation platform, characterized in that: The method comprises the following steps: Step 1: establishing a communication connection between the satellite signal and the remote controller (1), and a communication connection between the remote controller (1) and the unmanned operation platform; Step 2: Setting the movement posture and position of the unmanned operation platform, the remote controller (1) sends instructions to the unmanned operation platform via the wireless communication module (15), specifically, the wireless communication module (15) and the chip module (3) installed on the unmanned operation platform sense signals, receive signals, and process signals, thereby completing the control and positioning of the movement posture of the unmanned operation platform; Step 3: Navigation of unmanned operation platform with preset position coordinate points: The unmanned operation platform receives satellite signals via a wireless communication module (15), and performs navigation movement by presetting fixed position coordinate points via a remote controller (1) and a dotting module (131); Step 4: Remote controller (1) corrects the navigation of the unmanned operation platform: The unmanned operation platform navigates and moves according to the fixed position coordinate point, and remote monitoring is performed through the remote controller (1) according to the signal feedback from the wireless communication module (15) on the unmanned operation platform, so as to timely correct the position of the unmanned operation platform from deviating from the predetermined navigation coordinate point; Step 5: The remote controller (1) performs real-time positioning of the position coordinate points on the unmanned operation platform navigation: (a) When the preset fixed position coordinate points cannot satisfy the navigation of the unmanned operation platform, the dotting module (131) in the remote controller (1) is activated to perform real-time navigation of the unmanned operation platform by setting the mobile position coordinate points; (b) inputting the navigation mobile position coordinate point into the dotting device module (131) through the remote controller (1), performing signal conversion through the chip module (3), GNSS receiver and receiving antenna in the dotting device module (131), and transmitting the mobile position coordinate point to the unmanned operation platform through the wireless communication module (15); (c) deploying a corresponding wireless communication module (15) and a chip module (3) on the unmanned operation platform, parsing the mobile position coordinate point signal through the GNSS receiver and receiving antenna in the chip module (3), and controlling the real-time navigation of the unmanned operation platform with the parsed mobile position coordinate point information; (d) judging whether the setting of the moving position coordinate point is completed and whether the moving position coordinate point signal is transmitted to the unmanned operation platform via the wireless communication module (15), deploying a feedback signal with the wireless communication module (15) on the unmanned operation platform, and feeding back the feedback signal to the wireless communication module (15) and the chip module (3) on the remote controller (1) via the wireless communication module (15) on the unmanned operation platform, and judging whether the moving position coordinate point is completed and correctly transmitted by comparing the moving position coordinate point signal before and after setting; (e) The navigation is completed by the moving position coordinate point set by the dotting module (131) in the remote controller (1).

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