Satellite navigation automatic driving system of high-speed seedling transplanter and satellite navigation automatic driving method of high-speed seedling transplanter

Abstract

A satellite navigation automatic driving system of a high-speed seedling transplanter is composed of an RTK-GPS, an attitude instrument, odometers, a rotation angle sensor, an electronic control steering wheel, a GPS data forwarding electronic control unit (ECU), an attitude instrument data forwarding electronic control unit (ECU), an odometer electronic control unit (ECU), a steering wheel electronic control unit (ECU), an embedded navigation computer EGC and the like. A traditional manual steering wheel is replaced by the electronic control steering wheel; the RTK-GPS and the attitude instrument are arranged at the center of a cross-over support on a seedling disc support; the odometers are arranged on walking reducers of left and right wheels; the rotation angle sensor is arranged at a steering mechanism of the bottom of a main reducer; each electronic control unit (ECU) is arranged near the sensor; the EGC is mounted at one side of the seedling disc support; the EGC is connected with the ECUs through a serial communication network; the EGC includes a man-machine interface as well as pre-data processing, attitude estimation and driving control modules; in seedling transplanting, a target point method is adopted to realize tracking automatic driving; and in corner turning, a method in which attitudes are adjusted around a corner turning center is adopted to realize automatic driving. With the satellite navigation automatic driving system adopted, the seedling transplanter can be driven by a computer, and therefore, onboard operation personnel can be reduced to only one seedling supplementing worker.

Description

technical field [0001] The patent of the present invention belongs to the field of navigation control, and specifically relates to an automatic driving system and method of agricultural machinery. . Background technique [0002] The operating area of ​​my country's agricultural production mechanization has exceeded 80%. Agricultural mechanization has greatly improved agricultural production efficiency and ensured the continuous increase of my country's grain production. New technologies are needed to continue to improve the efficiency of agricultural mechanization, reduce the labor intensity of operators, and reduce the labor demand of operators. At present, mechanized rice transplanting has been widely used, and various models such as riding high-speed rice transplanter, walking rice transplanter, and rice throwing machine have been used in operations. Among them, the riding high-speed rice transplanter has high working efficiency and relatively comfortable working conditio...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of the current labor shortage, the tedious work of driving a high-speed rice transplanter, and the strong scientific research of the automatic navigation driving system, the patent of the present invention provides a satellite navigation automatic driving system with a relatively popular promotion value for the existing high-speed rice transplanter. A distributed solution is adopted, that is, a navigation system is composed of an embedded navigation computer (EGC) and several ECUs, and the electronically controlled steering wheel is mainly composed of a stepping motor, and the EGC and each ECU are connected through the CAN bus network. Interface, front-end data processing, attitude estimation and driving control software modules

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