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A centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method

A satellite positioning and agricultural machinery technology, applied in control/adjustment systems, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problems of low positioning accuracy, complicated operation, and high investment cost

Active Publication Date: 2021-07-02
HUBEI UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing agricultural machinery system, such as low positioning accuracy, complicated operation, high input cost, and the inability to work autonomously in areas such as hills and mountains, the present invention proposes a centimeter-level high-precision satellite positioning intelligent agricultural control system and method

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  • A centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method
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  • A centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method

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[0048] Combine below figure 1 as well as figure 2 The specific method steps of the embodiments of the present invention are introduced. The embodiment of the present invention comprises the following steps:

[0049] Step 1: The PixHawk flight controller calculates the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measured position of the remote control center and the measured position of the unmanned agricultural machine;

[0050] The actual position of the remote control center described in step 1 is the actual calibration position of the remote control center on the motion plane of the unmanned agricultural machinery:

[0051] (X 0 ,Y 0 )

[0052] Among them, X 0 is the actual position coordinates of the remote control center on the X-axis on the unmanned agricultural machinery movement plane, Y 0 is the actual position coordinates of the remote control center on the Y-axis on the unmanned agricultu...

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Abstract

The invention proposes a centimeter-level satellite positioning intelligent unmanned agricultural machine control system and method. The system of the present invention includes: a millimeter radar obstacle avoidance module, a camera obstacle avoidance module, an air pressure sensor, a temperature sensor, a liquid sensor, a three-axis sensor, a first satellite positioning module, a PixHawk flight controller, a propulsion motor drive module, a propulsion motor, and an angle motor A drive module, an angle motor, a first wireless transmission module, a second wireless transmission module, a remote control center, and a second satellite positioning module. The method of the present invention calculates the actual position of the unmanned agricultural machine through the actual position of the remote control center, the measurement position of the remote control center, and the measurement position of the unmanned agricultural machine, and calculates the PWM signal of the propulsion motor and the PWM signal of the angle motor according to the actual position and the target position of the unmanned agricultural machine. The PWM signal of the motor controls the propulsion motor and the PWM signal of the angle motor controls the angle motor so that the unmanned agricultural machinery moves to the target position. The advantage of the invention is that the movement precision is improved.

Description

technical field [0001] The invention belongs to the field of agricultural intelligence, and specifically relates to a centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method, which can be applied to high-precision intelligent unmanned agricultural machinery systems in hills and mountainous areas. Background technique [0002] Since ancient times, our country has been a big agricultural country and has a profound historical heritage in planting crops. With the development of science and technology, various agricultural machinery technologies have come out one after another. Nowadays, some large-scale cooperatives and farms in Northeast my country and Xinjiang have established their own remote operation control centers. Information management personnel can use the Beidou satellite system to conduct unified dispatch of agricultural machinery and operators according to operation needs. Know the location, status and workload of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 巩朋成谭颖詹云峰程慧芬李灵邓张惠王自强
Owner HUBEI UNIV OF TECH
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