CN107323380A - A kind of tractor remote operating control method and system - Google Patents

Abstract

The invention discloses a tractor remote operation control method and system, and relates to the technical field of control. The method used to solve the remote control of the tractor through autonomous navigation still has the problem of being unable to deal with emergencies. The method includes: determining the obstacle information in front of the tractor through a camera system arranged in front of the tractor, determining the current moving speed and steering wheel deflection angle of the tractor through an encoder arranged on the tractor, and from the obstacle information, Extract the first data packet whose code is smaller than the set value from the tractor’s current movement speed and steering wheel deflection information and send it to the remote driving system; Two data packets, decoding the second data packet to obtain the control information determined by the remote driving system according to the first data packet, and adjusting the moving speed and steering wheel yaw angle of the tractor according to the control information.

Description

A tractor remote operation control method and system

technical field

The present invention relates to the technical field of control, and more specifically relates to a tractor remote operation control method and system.

Background technique

Tractor is the basic power unit used to pull and drive all kinds of working machinery to complete various mobile operations. In the application of orchards, the tractor can be mounted with mechanical equipment such as rotary tillage and ridging, ditching and fertilization, and air-driven sprayers to complete the work of the corresponding production links.

In the prior art, in order to relieve tractor operators from noisy, harsh farmland environment and heavy driving work, the research and development of autonomous navigation tractors are deepening day by day. Due to the harsh agricultural environment and many uncertain factors, the mechanical components and control system of the vehicle are prone to failure. Once it cannot be dealt with in time, the tractor's autonomous navigation system will work in an unpredictable and dangerous manner, which will not only shorten its service life , can not carry out normal operations, and may even lead to catastrophic consequences. Due to safety issues of autonomous navigation solutions, especially the lack of ability to deal with emergencies and inaccurate events in unpredictable environments, existing autonomous navigation solutions cannot be commercialized in the short term.

To sum up, the existing methods of realizing remote control of tractors through autonomous navigation still have the problem of being unable to deal with emergencies.

Contents of the invention

Embodiments of the present invention provide a tractor remote operation control method and system, which are used to solve the problem that the method of realizing tractor remote control through autonomous navigation cannot handle emergencies.

An embodiment of the present invention provides a tractor remote operation control method, including:

Determine the obstacle information in front of the tractor through the camera system arranged in front of the tractor, determine the current movement speed and steering wheel deflection angle of the tractor through the encoder arranged on the tractor, from the obstacle information, the tractor is currently Extract the first data packet whose code is smaller than the set value from the moving speed and steering wheel deflection information and send it to the remote driving system;

receiving a second data packet sent by the remote driving system that is smaller than the set value, decoding the second data packet to obtain the control information determined by the remote driving system according to the first data packet, and according to the The control information is used to adjust the tractor's moving speed and steering wheel deflection angle.

Preferably, the control information determined by the remote driving system according to the first data packet specifically includes:

The remote driving system decodes the first data packet, updates the position information of the obstacle on the display screen according to the trajectory of the tractor, and determines the control to control the operation of the tractor according to the position information of the obstacle. information.

Preferably, the first data packet also includes the position information of the tractor determined according to the GPS system.

Preferably, said adjusting the moving speed and steering wheel deflection angle of said tractor according to said control information specifically includes:

The moving speed and steering wheel deflection information of the tractor are sent to the relay through the data card to turn to the stepper motor and the differential motor.

Preferably, the encoder includes an incremental photoelectric encoder and an absolute encoder, the incremental photoelectric encoder is used to obtain the movement speed of the tractor, and the absolute encoder is used to obtain the steering direction of the tractor wheel slip angle.

An embodiment of the present invention also provides a remote control system for a tractor, including:

A tractor control system, which includes a first processor, a camera system, and an encoder; the camera is used to determine information on obstacles in front of the tractor, and the encoder is used to determine the current speed of movement and steering wheel deflection angle of the tractor , the first processor is electrically connected with the camera system and the encoder, and is used to extract the code from the obstacle information, the current speed of the tractor and the steering wheel deflection information to be less than a set value The first data packet of is sent to the remote driving system;

The remote driving system is used to decode the first data packet, and send control information for adjusting the tractor's moving speed and steering wheel angle according to the current moving speed and steering wheel angle of the tractor according to the obstacle information , and send the second data packet extracted from the control information that is smaller than the set value to the tractor control system.

Preferably, the remote driving system includes a second processor and a force feedback steering wheel assembly;

The second processor is used to decode the first data packet, and update the position information of the obstacle on the display screen according to the trajectory of the tractor;

The force feedback steering wheel assembly is used to determine and adjust the tractor's moving speed and steering wheel deflection control information according to the position information of the obstacle on the display screen.

Preferably, the tractor control system further includes a GPS system, and the GPS system is used for the determined position information of the tractor.

Preferably, the encoder includes an incremental photoelectric encoder and an absolute encoder, the incremental photoelectric encoder is used to obtain the movement speed of the tractor, and the absolute encoder is used to obtain the turning speed of the tractor wheel slip angle.

In the embodiment of the present invention, a tractor remote operation control method and system are provided, the method includes: determining the obstacle information in front of the tractor through a camera system arranged in front of the tractor, and determining the obstacle information in front of the tractor through an encoder arranged on the tractor The tractor's current speed and steering wheel deflection, from the obstacle information, the tractor's current motion speed and steering wheel deflection information, extract the first data packet whose code is smaller than the set value and send it to the remote driving system; receiving a second data packet sent by the remote driving system that is smaller than the set value, decoding the second data packet to obtain the control information determined by the remote driving system according to the first data packet, and according to the The control information is used to adjust the tractor's moving speed and steering wheel deflection angle. The above method controls the tractor system through the remote driving system, and sends control information between the tractor system and the remote driving system through data packets smaller than the set value, which solves the problem of communication delay and can ensure safe operation of the system. Therefore, the problem that the existing remote control of the tractor cannot handle emergencies is solved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flow chart of a tractor remote operation control method provided by an embodiment of the present invention;

Fig. 2 is a schematic flowchart of a tractor remote operation control method provided by Embodiment 1 of the present invention;

Fig. 3 is a schematic structural diagram of a tractor operating system provided by an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Fig. 1 exemplarily shows a schematic flowchart of a tractor remote operation control method provided by an embodiment of the present invention.

As shown in Figure 1, the tractor remote operation control method mainly includes the following steps:

Step 101, determine the obstacle information in front of the tractor through the camera system arranged in front of the tractor, determine the current moving speed and steering wheel deflection angle of the tractor through the encoder arranged on the tractor, from the obstacle information, the Extract the first data packet whose code is smaller than the set value from the tractor’s current speed and steering wheel deflection information and send it to the remote driving system;

Step 102, receiving a second data packet sent by the remote driving system that is smaller than the set value, decoding the second data packet to obtain control information determined by the remote driving system based on the first data packet , adjusting the tractor's moving speed and steering wheel deflection according to the control information.

In step 101, the first processor provided in the electrical control system of the tractor is electrically connected with the camera system and the encoder respectively. Specifically, the camera system is installed on the front of the tractor and is mainly used to obtain information on obstacles in front of the tractor, while the encoders installed on the wheels of the tractor are mainly used to determine the current speed of the tractor and the deflection angle of the steering wheel.

In the embodiment of the present invention, the encoder mainly includes an incremental encoder and an absolute encoder, wherein the incremental encoder is used to measure the driving speed of the tractor, and the absolute encoder is mainly used to measure the deflection angle of the steering wheel .

Further, in practical applications, the incremental encoder and the absolute encoder are respectively electrically connected to the data acquisition card, and the data acquisition card is electrically connected to the first processor. Specifically, the data acquisition card sends the current driving speed of the tractor and the deflection angle of the steering wheel acquired by the incremental encoder and the absolute encoder to the first processor.

Further, the tractor electrical control system also includes a GPS system, the GPS system is electrically connected to the first processor, and the GPS system is used to acquire the current position information of the tractor, and send the acquired position information to the first processor.

The first processor extracts key motion parameters and key information of obstacles from the obtained obstacle information, the tractor's current driving speed, the deflection angle of the steering wheel and the tractor's current position information, and encodes the extracted information into value of the first packet. Further, the first processor sends the determined first data packet to the wireless communication network. It should be noted that the set value is 1MB.

In the embodiment of the present invention, the wireless communication network is a bridge established for data communication between the tractor electronic control system and the driving system. Specifically, the tractor electronic control system is connected to the mobile network based on the mobile communication network card, and then connected to the Internet through the gateway server of the wireless network operator, and the remote driving system receives and sends data through the Internet.

In step 102, the remote driving system mainly includes a second processor and a force feedback steering wheel assembly, the second processor is used for virtual scene modeling and display, and the force feedback steering wheel assembly includes steering wheel, accelerator and brake components. The remote driving system decodes the first data packet, updates the position information of the obstacle on the display screen according to the movement track of the tractor, and determines the control information for controlling the operation of the tractor according to the position information of the obstacle.

It should be noted that, in the embodiment of the present invention, the force feedback steering wheel assembly includes a steering wheel, accelerator and brake components, and the operator can determine the control of the tractor through the control of the steering wheel, accelerator and brake, that is, determine the control of the tractor. The control information sent by the system to control the operation of the tractor.

In the embodiment of the present invention, the second processor will encode the key data into a second data packet that does not exceed the set value from the control information or key data to be sent to the tractor electrical control system, and convert the second data packet forwarded to the wireless communication network.

After step 102, after the tractor electrical control system receives the second data packet forwarded through the wireless communication network, it decodes the second data packet, obtains the control information for the tractor from the second data packet, and sends the control information to data acquisition card. Further, the data acquisition card sends the control information to the relay accordingly, turning to the stepping motor and the differential motor, so as to control the motion state of the tractor through the changes of the relay, turning to the stepping motor and the differential motor.

Example 1

In order to clearly introduce a tractor remote operation control method provided by the embodiment of the present invention, the following takes the flow diagram of a tractor remote operation control method shown in FIG. 2 as an example to introduce the control method provided by the embodiment of the present invention. As shown in Figure 2, the method includes the following steps:

Step 301, the basic data measurement of the orchard, mainly measuring the GPS data of each inflection point around the orchard and the row distance of the orchard, and collecting the tractor driving path data in advance;

Step 302, adjusting the virtual scene model of the orchard, inputting the basic parameters of the orchard in the computer software of the virtual driving terminal, and generating a virtual scene model matching the information of the orchard;

Step 303, the system is turned on, and the equipment power-on, start-up and debugging of the tractor electronic control system and the remote driving system are completed;

Step 304, whether the job is completed, if it is completed, then execute step 306 and step 307, if not, then execute step 305;

Step 305, shutting down the system;

Step 306, start the remote driving system;

Step 307, turn on the tractor electrical control system; it should be noted that there is no strict execution order of steps 306 and 307, that is, step 306 can be executed first, and then step 307 can be executed; step 306 and step 307 can also be executed simultaneously.

Step 308, the remote driving system runs;

Step 309, the tractor is running; it should be noted that the key information communication between the remote driving system and the tractor electronic control system is normal. Real-time feedback of encoded key information, including positioning information, obstacle information, forward speed and front wheel angle information, the remote driving system receives and decodes the key feedback information in real time;

Step 310, whether there is obstacle information on the front of the tractor, if so, go to step 312, if not, go to step 308;

Step 311, whether to stick to the obstacle, if yes, execute step 313, if not, execute step 309; it should be noted that when there is obstacle information in the key information decoded by the computer of the remote driving system, a prompt will appear on the screen, and the operator Immediately step on the brake pedal and send a stop control signal at the same time, the tractor electronic control system receives the stop signal, the relay connected to the power supply is disconnected, and the tractor stops.

After steps 314 and 315, when the staff removes the obstacle on site, the system restarts; if the task is completed, the operator sends a signal to shut down the system, shutting down the tractor's electronic control system, the remote driving system software, and the computer operating system with power supply.

Based on the same inventive concept, the embodiment of the present invention provides a tractor remote operation control system. Since the principle of the system to solve technical problems is similar to a tractor remote operation control method, the implementation of the system can refer to the implementation of the method, repeat I won't repeat them here.

FIG. 3 is a schematic structural diagram of a tractor operating system provided by an embodiment of the present invention. As shown in FIG. 3 , the system includes a tractor control system 301 and a remote driving system 302 .

The tractor control system 301 includes a first processor, a camera system, and an encoder; the camera is used to determine the obstacle information in front of the tractor, and the encoder is used to determine the current movement speed and steering wheel deviation of the tractor Angle, the first processor is electrically connected with the camera system and the encoder, and is used to extract codes from the obstacle information, the current speed of the tractor and the steering wheel deflection angle information less than the set The first data packet of the value is sent to the remote driving system;

The remote driving system 302 is configured to decode the first data packet, and adjust the tractor's moving speed and steering wheel yaw according to the current moving speed and steering wheel yaw of the obstacle information. information, and send the second data packet extracted from the control information that is smaller than the set value to the tractor control system.

It should be noted that, in the embodiment of the present invention, the tractor control system 301 and the remote driving system 402 communicate through a wireless communication network.

Preferably, the remote driving system includes a second processor and a force feedback steering wheel assembly;

The second processor is used to decode the first data packet, and update the position information of the obstacle on the display screen according to the trajectory of the tractor;

The force feedback steering wheel assembly is used to determine and adjust the tractor's moving speed and steering wheel deflection control information according to the position information of the obstacle on the display screen.

Preferably, the tractor control system 301 further includes a GPS system, and the GPS system is used for determining the position information of the tractor.

Preferably, the encoder includes an incremental photoelectric encoder and an absolute encoder, the incremental photoelectric encoder is used to obtain the movement speed of the tractor, and the absolute encoder is used to obtain the steering direction of the tractor wheel slip angle.

It should be understood that the units included in the above tractor remote operation control system are only logically divided according to the functions realized by the device, and in practical applications, the above units can be superimposed or split. And the functions realized by the tractor remote operation control system provided in this embodiment correspond one-to-one with the tractor remote operation control method provided in the above embodiment. It has been described in detail in Embodiment 1, and will not be described in detail here.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and combinations of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a Means for realizing the functions specified in one or more steps of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.

Claims (9)

1. a kind of tractor remote operating control method, it is characterised in that including：

The tractor front obstacle information is determined by being arranged on the camera system in front of tractor, it is dilatory by being arranged on Encoder on machine determines the current movement velocity of the tractor and deflecting roller drift angle, described from the obstacle information In the current movement velocity of tractor and deflecting roller drift angle information extract coding less than setting value the first packet send to Distal end control loop；

The second packet less than the setting value that the distal end control loop is sent is received, second packet is decoded and obtains The control information for taking the distal end control loop to be determined according to first packet, is dragged according to control information adjustment The movement velocity of machine drawing, deflecting roller drift angle.

2. the method as described in claim 1, it is characterised in that the distal end control loop is determined according to first packet Control information, specifically include：

The distal end control loop decodes first packet, and the barrier is updated according to the movement locus of the tractor Positional information on a display screen, according to the positional information of the barrier, it is determined that controlling the control information of the tractor operation.

3. the method as described in claim 1, it is characterised in that also include in first packet true according to gps system The positional information of the fixed tractor.

4. the method as described in claim 1, it is characterised in that the fortune that the tractor is adjusted according to the control information Dynamic speed, deflecting roller drift angle is specifically included：

The movement velocity of the tractor and deflecting roller drift angle information are sent to relay by data card, stepper motor is turned to And differential speed motor.

5. the method as described in claim 1, it is characterised in that the encoder includes incremental optical-electricity encoder and absolute type Encoder, the incremental optical-electricity encoder is used for the movement velocity for obtaining the tractor, and the absolute type encoder is used for Obtain the deflecting roller drift angle of the tractor.

6. a kind of tractor remote operating control system, it is characterised in that including：

Tractor control system, it includes first processor, camera system, encoder；The shooting embodies described for determining Tractor front obstacle information, the encoder is used to determine that the current movement velocity of the tractor and deflecting roller are inclined Angle, the first processor is electrically connected with the camera system and the encoder respectively, for from the obstacle information, institute State and first packet transmission of the coding less than setting value is extracted in the current movement velocity of tractor and deflecting roller drift angle information To distal end control loop；

Distal end control loop, for first decoded packet data, the tractor according to the obstacle information is current Movement velocity and deflecting roller drift angle send the movement velocity for adjusting the tractor, the control information of deflecting roller drift angle, and incite somebody to action The second packet less than setting value extracted from the control information is sent to the tractor control system.

7. control system as claimed in claim 6, it is characterised in that the distal end control loop includes second processor and power Feed back steering wheel assembly；

The second processor is used to decode first packet, and the obstacle is updated according to the movement locus of the tractor Thing positional information on a display screen；

The force feedback steering wheel component is for according to the barrier, positional information to determine that adjustment is described dilatory on a display screen The movement velocity of machine, the control information of deflecting roller drift angle.

8. control system as claimed in claim 6, it is characterised in that the tractor control system also includes gps system, institute State gps system be used for determine the tractor positional information.

9. control system as claimed in claim 6, it is characterised in that the encoder includes incremental optical-electricity encoder and exhausted To formula encoder, the incremental optical-electricity encoder is used for the movement velocity for obtaining the tractor, the absolute type encoder Deflecting roller drift angle for obtaining the tractor.