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Unmanned turning method for agricultural machinery

A technology for unmanned driving and agricultural machinery, which is applied in control/regulation systems, non-electric variable control, instruments, etc., and can solve problems such as discontinuous curvature, large headspace, and long paths.

Pending Publication Date: 2021-02-12
黑龙江惠达科技股份有限公司
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Problems solved by technology

[0008] The purpose of the present invention is to provide a method for unmanned driving of agricultural machinery to solve the problems of long path, large headland space, discontinuous curvature and discontinuous curvature proposed in the above background technology

Method used

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  • Unmanned turning method for agricultural machinery
  • Unmanned turning method for agricultural machinery
  • Unmanned turning method for agricultural machinery

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Embodiment

[0033] see Figure 1-6 , the present invention provides a technical solution: an unmanned agricultural machinery U-turn method, the specific steps of the Unmanned agricultural machinery U-turn method are as follows:

[0034] The unmanned U-turn method of agricultural machinery is divided into five operation sections:

[0035] S1: Straight line section 1 for forward work: straight-line driving, the driving direction is parallel to the road direction;

[0036] S2: Advance arc segment 2: Enter this stage at the tail end of step S1, the advance arc segment 2 is in the shape of an arc moving forward to the left, and the advance arc segment 2 is divided into three stages: the first stage and the second stage. The third stage uses the Euler spiral formula to calculate the driving direction and distance, the second stage is to maintain a fixed radius, and the beginning and end of the second stage are respectively connected to the end of the first stage and the beginning of the third ...

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Abstract

The invention belongs to the technical field of automatic driving of agricultural machinery, and particularly relates to an unmanned turning method for agricultural machinery. The method comprises thespecific steps of S1 advancing an operation straight line section 1: carrying out straight line driving in which the driving direction is parallel to the road direction; S2 advancing an arc section 2; S3 reversing a straight line section 3; S4 advancing an arc section 4; and S5 advancing an operation straight line section 5. The agricultural machinery is unmanned, and automatic turning control isneeded in the ground. According to the scheme, the Euler screws are used for planning the arc sections, the automatic turning path of the agricultural machinery is in a cross type, the arc sections are in a sectional type, the Euler screws are used for planning the front sections and the rear sections, and the minimum turning radius of a vehicle is used for planning the middle sections, so that the minimization of the groundspace is guaranteed, and the curvature continuity is guaranteed; and therefore, agricultural machinery turning control can be carried out strictly along with the path, andthe agricultural machinery is prevented from deviating from the planned path.

Description

technical field [0001] The invention relates to the technical field of automatic driving of agricultural machinery, in particular to a U-turn method for unmanned driving of agricultural machinery. Background technique [0002] Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems to work together to allow computers to automatically and safely operate motor vehicles without any active human intervention. [0003] With the development and popularization of agricultural automation, automatic driving of agricultural machinery is gradually being promoted. In the field of automatic driving of agricultural machinery, automatic U-turning at the head of the field often involves U-turn path planning. [0004] Generally, there are three schemes, Dubins curve path planning: [0005] No reversing path planning (such as Figure 4 As shown), the path is long, requires a large headspace, and the curvature is discontin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0088
Inventor 游顺兴
Owner 黑龙江惠达科技股份有限公司
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