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CN111026117A - An optimal control system and control method for obstacle avoidance of an intelligent rice transplanter - Google Patents

An optimal control system and control method for obstacle avoidance of an intelligent rice transplanter Download PDF

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CN111026117A
CN111026117A CN201911301243.8A CN201911301243A CN111026117A CN 111026117 A CN111026117 A CN 111026117A CN 201911301243 A CN201911301243 A CN 201911301243A CN 111026117 A CN111026117 A CN 111026117A
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obstacle
rice transplanter
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sensor
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CN111026117B (en
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夏长高
丁伟兵
杨彦祥
许秋月
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LINHAI CO Ltd
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Jiangsu University
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
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    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract

The invention discloses an optimal control system and a control method for obstacle avoidance of an intelligent rice transplanter, and relates to the field of intelligent rice transplanters, wherein the control system comprises an environment sensing module, a rice transplanter information module, an intelligent decision module and a control execution module; the environment information acquired by the environment sensing module and the parameter information of the rice transplanter acquired by the rice transplanter information module are uploaded to the intelligent decision module, and after the processing of the intelligent decision module, relevant instructions are sent to the control execution module, so that the intelligent rice transplanter can realize the optimal obstacle crossing, path planning again and corresponding warning modes, and further perform relevant operation on the rice transplanter to solve the obstacle on the advancing path. The intelligent seedling transplanter disclosed by the invention is applied to the intelligent seedling transplanter, so that the utilization rate of the land and the planting rate of seedlings can be effectively improved, the damage of obstacles to the seedling transplanter can be reduced, and the service life of the seedling transplanter is prolonged.

Description

Intelligent transplanter obstacle avoidance optimal control system and control method
Technical Field
The invention belongs to the field of intelligent rice transplanting machines, and relates to an optimal control system and an optimal control method for obstacle avoidance of an intelligent rice transplanting machine.
Background
In recent years, domestic intelligent control is rapidly developed, and the intelligent rice transplanter is widely applied to the field of agricultural machinery, the intellectualization of the agricultural machinery can be a wide concern gradually, and the intelligent rice transplanter also becomes a research hotspot gradually. When the intelligent rice transplanter plants in the field, some obstacles such as ridges, agricultural equipment, telegraph poles, sundries in the field, people and the like are inevitably encountered, the intelligent rice transplanter can lift the planting device of the intelligent rice transplanter to cross over the surmountable obstacle, additional obstacle avoidance treatment is needed for the surmountable obstacle, different types exist in the surmountable obstacle, and the optimal control effect can be achieved by carrying out corresponding control modes according to the obstacles with different properties. If the optimal control is not carried out in the obstacle avoidance process, the time for avoiding the obstacle is long, and the land utilization rate and the seedling planting rate are affected. Therefore, the development of a control system which can accurately identify the obstacles and make accurate response is important for the development of the intelligent rice transplanter.
Disclosure of Invention
In order to solve the technical problems, the invention provides an optimal obstacle avoidance system of the intelligent rice transplanter, which can accurately identify obstacles and can accurately respond, and the optimal control system is very important for the development of the intelligent rice transplanter.
The invention is realized by the following technical scheme:
an intelligent transplanter field optimal obstacle avoidance control system comprises an environment sensing module, a transplanter information module, an intelligent decision module and a control execution module; the environmental information acquired by the environmental perception module and the parameter information of the rice transplanter acquired by the rice transplanter information module are uploaded to the intelligent decision module, and after being processed by the intelligent decision module, relevant instructions are sent to the control execution module, and the control execution module carries out relevant operation on the rice transplanter to solve the obstacle on the advancing path.
Furthermore, in the intelligent decision module, obstacles are classified first, and then different analysis controls are adopted for different classifications; the method specifically comprises the steps of dividing obstacles into a first obstacle surmountable type and a first obstacle non-surmountable type and a second obstacle non-surmountable type; the hierarchical control corresponds to algorithm execution, path planning and parking warning.
Further, when the identified obstacle is a surmountable obstacle, a linear control algorithm of a rice transplanting mechanism of the lifting rice transplanter and a linear control algorithm of a transplanting device of the homing rice transplanter are established:
linear control algorithm of seedling transplanting mechanism of lifting rice transplanter
The ultrasonic sensor finds a front obstacle and the minimum distance between the ultrasonic sensor and the obstacle is set as S, and the S value adopted after the ultrasonic sensor crosses the obstacle is a negative value, because the intelligent rice transplanter is in the motion process, the S value is continuously changed; the distance between the ultrasonic sensor and the transplanting mechanism is constant Sc; the working advancing speed of the intelligent rice transplanter is constant as V1The device comprises a vehicle speed sensor, a lifting rod device, a laser radar sensor, a level meter sensor and an angular speed sensor, wherein the vehicle speed sensor is used for measuring the angular speed of the movement of the lifting rod device, the real-time angle of the rod is (theta), the angular speed of the rotation of the rod is (omega), the laser radar sensor identifies an obstacle, the measured maximum height is h, the transverse width is W, the elapsed time is t, and S, h and t are unknown quantities;
the most ideal situation of the intelligent control device is that when the transplanting mechanism is about to contact with the obstacle, the transplanting mechanism is lifted to the height capable of crossing the obstacle to stop lifting, and when the lifting rod is in the horizontal position, the ground clearance of the transplanting mechanism is h1Taking the horizontal position as a reference line, the two cases are discussed, namely, the first case is that the lifting rod can cross the obstacle without lifting beyond the horizontal line, and the second case is that the lifting rod can cross the obstacle without lifting beyond the horizontal line: the respective quantities are jointly calculated from the motion model:
when an obstacle h<h1When there is
S+Sc＝V1×t
Figure BDA0002321840480000021
The two formulas are respectively an expression of the distance S + Sc from the transplanting mechanism to the barrier and the height h of the barrier, and the two formulas are combined to obtain a relational expression of S + Sc and h:
S+Sc＝V1×(arcsin(h/L)/ω)
when the obstacle h is more than or equal to h1When there is
S+Sc＝V1×t
Figure BDA0002321840480000022
The two formulas are combined to obtain the relationship between the distance S + Sc from the transplanting mechanism to the barrier and the height h of the barrier:
S+Sc＝V1×(arcsin((h-L×sinθ)/L)+θ)/ω
after the data of the actual height of the obstacle is acquired through the environment sensing module, the measured obstacle height value h is led into a relational expression of S + Sc and h, so that the value of S + Sc can be acquired, and when the real-time S + Sc reaches the value, the execution module is controlled to work immediately, the work of the seedling transplanting mechanism is stopped, and the intelligent seedling transplanting machine is optimally controlled;
linear control algorithm of transplanting mechanism of homing transplanter
The seedling transplanting mechanism reaches a height with a certain safety distance from the obstacle under the lifting action of the lifting rod, stops lifting and passes t needed by crossing the obstacle1After the time, the transplanting mechanism is immediately reset to continue transplanting, wherein the time t is1The expression of (a) is:
Figure BDA0002321840480000023
according to the expression, a linear relation between the minimum distance S to the obstacle and the height h of the obstacle can be obtained, wherein h is an independent variable, S is a dependent variable, when the height of the obstacle measured by the laser radar sensor is h, the lifting device is started when the sum of the distance S measured by the ultrasonic sensor and the distance Sc between the ultrasonic sensor and the transplanting mechanism reaches a corresponding value in the working process, and t lasts for a certain time after the distance S is lifted to a certain position1Just cross the obstacle, the lifting rod starts to rotate reversely to return the transplanting mechanism to the working position.
Furthermore, when the type of insurmountable obstacle is one, namely the insurmountable obstacle and the immovable obstacle are encountered, the intelligent rice transplanter stops the work of the rice transplanting mechanism after working to the limit distance with the obstacle, lifts the rice transplanting mechanism, and replans the path of the intelligent rice transplanter through the path planning module, so that the turning direction of the intelligent rice transplanter is determined, and a path planning signal in the direction is selected as an actual traveling path.
Furthermore, when the type II of the insurmountable obstacle is met, namely the insurmountable obstacle is but the movable obstacle is met, when the infrared sensor detects that the movable obstacle exists in front of the intelligent transplanter, when the distance between the infrared sensor and the target reaches the range of the safe distance, the control execution module sends a command of decelerating and stopping the intelligent transplanter and starts the warning device to remind, and when the target is not on the path, the intelligent transplanter continues to work.
Furthermore, the ultrasonic sensor, the laser radar sensor and the infrared sensor in the environment sensing module transmit the data information of the distance to the obstacle, the geometrical size of the obstacle and the driving path which are respectively collected to the intelligent decision module.
Furthermore, a vehicle speed sensor, a GPS sensor, a level meter sensor and an angular velocity sensor in the transplanter information module transmit the acquired data information of the vehicle speed, the real-time position, the angle (theta) formed by the lifting rod and the horizontal plane and the angular velocity omega lifted by the lifting transplanter mechanism to the intelligent decision module.
Furthermore, an ultrasonic radar in the environment sensing module is arranged at the lower end of the front part of the intelligent rice transplanter, and a laser radar sensor and an infrared sensor are arranged at the front part of the intelligent rice transplanter.
Furthermore, a vehicle speed sensor is arranged on an output shaft of the transmission, a GPS sensor is arranged in the middle of the vehicle, and a level gauge sensor and an angular speed sensor are arranged on the lifting rod.
A control method of an intelligent transplanter field optimal obstacle avoidance control system is characterized in that when the intelligent transplanter works, data signals acquired by an environment sensing module and a transplanter information module are transmitted to an intelligent decision module, and after certain control processing, an action instruction is sent to a control execution module, so that optimal control of the transplanter is realized; the method comprises the following specific steps:
the method comprises the following steps: an ultrasonic sensor in the environment sensing module can continuously measure a front obstacle signal, after the obtained front obstacle distance signal reaches a certain distance, a laser radar sensor can start to measure the structural size of the front obstacle, and meanwhile, an infrared sensor can also measure the obstacle signal of a front driving path;
step two: a speed sensor in an information module of the rice transplanter transmits a real-time speed signal of the rice transplanter to an intelligent decision module, a GPS sensor transmits a real-time position signal of the rice transplanter to the intelligent decision module, and a level sensor and an angular speed sensor respectively transmit data signals of an included angle (theta) between a lifting rod and the horizontal direction and a rotating angular speed (omega) to the intelligent decision module;
step three: analyzing and processing barrier signals of an ultrasonic sensor, a laser radar sensor and an infrared sensor, judging the type of the barrier, and determining the type of the barrier as one of a surmountable barrier, a first type of an insurmountable barrier and a second type of an insurmountable barrier;
step four: the control execution module carries out hierarchical control in a corresponding mode according to the barrier type judged by the intelligent decision module:
a. linear control for surmountable obstacles
The intelligent decision module can effectively process the information acquired by the environment sensing module and the vehicle information module through corresponding algorithms, sends an action instruction to the control execution module after the processing is finished, and controls the rice transplanting mechanism of the rice transplanter to be lifted upwards to cross the obstacle through the rotation of the lifting rod;
b. control processing for detecting object as insurmountable obstacle type one
After data detected by the ultrasonic sensor, the infrared sensor and the laser radar sensor are transmitted to the intelligent decision module, when the result is determined to be an obstacle which cannot move autonomously, a corresponding instruction is sent to a path planning module in path planning, and the path planning module plans a path again after obtaining a path planning signal;
c. control processing for detecting obstacle as insurmountable obstacle type two
When the data detected by the ultrasonic sensor, the infrared sensor and the laser radar sensor are transmitted to the intelligent processing module and then the result is determined to be the obstacle of people and the like, a corresponding action instruction is sent to the control execution module, the control execution module can decelerate and stop in a proper distance and stop the rice transplanting operation, the warning device is started to warn, and when the obstacle leaves the sensing range of the sensor, the intelligent rice transplanting machine can continue to operate.
The invention has the beneficial effects that:
1. the intelligent rice transplanter has the advantages of simple structure and high reliability, can maximally improve the utilization rate of land when the intelligent rice transplanter encounters an obstacle in the working process, and can also well improve the planting rate.
2. The invention provides an effective linear control algorithm, and the movement of the transplanting device can be accurately controlled by applying the control algorithm, so that the generated effect can be optimally controlled.
3. The invention can process the data according to the data collected by each sensor, and can effectively help the intelligent rice transplanter working in the field to avoid obstacles, thereby reducing the loss of the machine caused by the obstacles.
4. When some obstacles such as telegraph poles are encountered, the intelligent rice transplanting vehicle can be subjected to form path re-planning.
5. The obstacle that probably appears in the field has carried out more detailed discernment, but after the obstacle discernment that some people etc. can independently move, parks in safe distance, and the warning device work warns, just need not carry out path planning again.
6. The system classifies the obstacles during the identification processing of the obstacles, divides the obstacles into a surmountable obstacle, a first type of insurmountable obstacle and a second type of insurmountable obstacle, and controls the obstacles in a real-time corresponding mode. When some surmountable obstacles pass, the lifting and returning of the transplanting mechanism are optimally controlled through the established control algorithm, so that the waste of land resources can be reduced in the obstacle avoidance process, and the land utilization rate and the seedling planting rate are maximized.
Drawings
FIG. 1 is a schematic structural diagram of an optimal obstacle avoidance control system of an intelligent rice transplanter, which is disclosed by the invention;
FIG. 2 is a representation of data parameters of the rice transplanter in the process of obstacle avoidance in the present invention;
fig. 3 is a schematic diagram of each part module of the optimal obstacle avoidance control system of the intelligent rice transplanter.
The reference numbers are as follows:
1-an ultrasonic sensor; 2-a lidar sensor; 3-an infrared sensor; 4-vehicle speed sensor; 5-a GPS sensor; 6-a level sensor; 7-a seedling transplanting mechanism; 8-lifting the rod; 9-angular velocity sensor; 10-warning device.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following first describes in detail embodiments according to the present invention with reference to the accompanying drawings
With reference to fig. 1, the encountered obstacles are controlled in a grading manner and are classified into surmountable obstacles (ridges, hard soil blocks, sundries and the like), first types of non-surmountable obstacles (telegraph poles, signs and the like) and second types of non-surmountable obstacles (people and the like), and although the obstacles belong to emergencies, the obstacles have certain probability in practice.
The obstacles are controlled in a grading way, so that the optimal control effect is obtained. When certain surmountable obstacles pass, the lifting and regression of the transplanting mechanism are optimally controlled through a control algorithm established by implantation, so that the maximization of the land utilization rate can be realized, environmental information acquired by an ultrasonic sensor 1, a laser radar sensor 2 and an infrared sensor 3 in an environment sensing module and parameter information of the transplanting machine acquired by a speed sensor 4, a GPS sensor 5 and a level meter sensor 6 in an information module of the transplanting machine are uploaded to an intelligent decision module, and relevant instructions are sent to a control module after the processing of the intelligent decision module, so that the corresponding processing is carried out; an ultrasonic radar 1 in an environment sensing module is arranged at the lower end of the front part of the intelligent rice transplanter, a laser radar sensor 2 and an infrared sensor 3 are arranged at the front part of the intelligent rice transplanter, a vehicle speed sensor 4 is arranged on an output shaft of a speed changer, a GPS sensor 5 is arranged in the middle of a vehicle, a level gauge sensor 6 and an angular velocity sensor 9 are arranged on a lifting rod 8, and the six sensors are connected with an intelligent decision-making module for signal transmission. The intelligent decision module processes the uploaded sensor data to make a corresponding control instruction, so that the optimal obstacle avoidance operation of the intelligent rice transplanter is realized.
The control system of the invention carries out hierarchical control on different obstacles which are possibly met:
when the obstacles identified by the environment sensing module are passable, and the data information transmitted by the environment sensing module and the rice transplanter information module is processed by the established control algorithm, when the distance between the rice transplanter mechanism 7 and the obstacles reaches a certain limit, the lifting rod 8 rotates at a uniform angular velocity omega to lift the rice transplanter mechanism 7 and stops at a certain time, the lifting speed of the rice transplanter mechanism 7 cannot be too high to ensure the integrity of rice seedlings, the rice transplanter mechanism 7 returns to a working position after the lifting rod 8 is lifted for a certain time, and the established control algorithm can well realize the optimal control on the rice transplanter mechanism 7;
when insurmountable obstacles are identified, the automatic mobility of the obstacles is controlled according to whether the obstacles have the automatic mobility, if the obstacles face to telegraph poles and the like, the transplanting mechanism stops working and lifts, then according to the position information provided by the GPS sensor 5 and the environment information measured by the environment sensing module, the path planning module in the path planning replans the path of the intelligent transplanter, and the intelligent transplanter goes across the obstacles by turning to return to an ideal path to continue working; when the intelligent rice transplanting machine faces obstacles such as people, the intelligent rice transplanting machine decelerates and stops in a certain safe distance and stops working, the intelligent rice transplanting machine prompts through an alarm device, and the intelligent rice transplanting machine continues working when the obstacles cannot be detected.
Examples
1) Composition of optimal obstacle avoidance control system of intelligent rice transplanter
Referring to fig. 1, a mounting structure diagram of an embodiment of the invention is shown, in which mounting positions of various sensors and an early warning system are illustrated. The early warning device 10 is installed at the upper end of the front part of the automobile, the ultrasonic radar 1 is installed at the lower end of the front part of the intelligent rice transplanter, the laser radar sensor 2 is installed at the front part of the intelligent rice transplanter, the infrared sensor 3 is also installed at the front part of the intelligent rice transplanter, and the three sensors form an environment sensing module in the whole system module.
The speed sensor 4 is arranged on the output shaft of the speed changer, the GPS sensor 5 is arranged in the middle of the vehicle, the level gauge sensor 6 and the angular velocity sensor 9 are both arranged on the lifting rod, and the four sensors form an information module of the intelligent rice transplanter.
In the schematic diagram of each module of the control system shown in fig. 3, the ultrasonic sensor 1 will continuously measure the front obstacle signal, after the distance signal of the obtained front obstacle reaches a certain distance, the laser radar sensor 2 will start to measure the structural size of the front obstacle, and at the same time, the infrared sensor 3 will measure the obstacle signal of the front driving path, and the distance to the obstacle, the geometric size of the obstacle, and the data information of the driving path, which are respectively collected by the three sensors, are transmitted to the intelligent decision module;
the speed sensor can transmit the real-time speed signal of the transplanter to the intelligent decision module, the GPS sensor can transmit the real-time position signal of the transplanter to the intelligent decision module, the level meter sensor and the angular velocity sensor respectively transmit the data signal of the included angle (theta) between the lifting rod and the horizontal direction and the rotating angular velocity (omega) to the intelligent decision module, and the ultrasonic sensor 1 can continuously measure the front obstacle signal by combining the schematic diagram of each part of the module of the control system shown in figure 3, after the obtained front obstacle distance signal reaches a certain distance, the laser radar sensor 2 starts to measure the structural size of the front obstacle, meanwhile, the infrared sensor 3 can also measure the obstacle signal of the front driving path, and the distance between the three sensors and the obstacle, the geometric dimension of the obstacle and the data information of the driving path which are respectively collected by the three sensors are transmitted to the intelligent decision-making module;
the intelligent decision module analyzes and processes the data signals of the obstacles collected by the ultrasonic sensor 1, the laser radar sensor 2 and the infrared sensor 3, judges the type of the obstacles according to the collected data, decides whether the obstacle is a type I that can pass through the obstacle, a type I that cannot pass through the obstacle (such as a telegraph pole) or a type II that does not pass through the obstacle (such as a person), and makes a decision according to the type of the corresponding obstacle, thereby adopting corresponding control measures to carry out hierarchical control.
2) Working method of optimal obstacle avoidance control system of intelligent rice transplanter
An ultrasonic sensor 1 in an environment sensing module can continuously measure a front obstacle signal, after the obtained front obstacle distance signal reaches a certain distance, a laser radar sensor 2 can start to measure the structural size of the front obstacle, and meanwhile, an infrared sensor 3 can also measure the obstacle signal of a front driving path; when the obstacle detected by the environment sensing module is a surmountable obstacle, the control processing can be carried out through the established control algorithm, and the transplanting mechanism is controlled appropriately, which is divided into two situations:
1.1 obstacle h<h1When the temperature of the water is higher than the set temperature,
S+Sc＝V1×(arcsin(h/L)/ω)
1.2 when the obstacle h is more than or equal to h1When there is
S+Sc＝V1×(arcsin((h-L×sinθ)/L)+θ)/ω
After the data of the actual height of the obstacle is collected through the environment sensing module, the measured obstacle height value h is led into a relational expression of S + Sc and h, and then the value of S + Sc can be obtained, and the distance is a limit distance. When the real-time S + Sc reaches the value, the overstepping control execution module immediately works, stops the work of the transplanting mechanism 7, immediately lifts the transplanting mechanism 7 to reach the corresponding height, and stops the work after the S + Sc passes through
Figure BDA0002321840480000071
After a time of (d), last for t1When the rice transplanting machine just crosses the obstacle, the lifting rod 8 immediately starts to rotate reversely to enable the rice transplanting mechanism to return to the working position, and rice transplanting work is continued, and the process is linear control facing the obstacle surmountable;
when an insurmountable obstacle is detected, control is performed in two cases:
a. control processing for detecting object as insurmountable obstacle type one
The irreparable obstacle is an obstacle that cannot move autonomously, such as a telegraph pole. When the data detected by the environment sensing module is transmitted to the obstacle which can only be processed by the processing module and the determined result is the obstacle of the insurmountable obstacle type one, a corresponding instruction is sent to a path planning module in the path planning, the path planning module can determine the steering operation of the intelligent rice transplanter according to environment information captured by each sensor and the length of the path planning after obtaining a path planning signal, the path planning signal in the direction is selected as an actual traveling path, the rice transplanting work under the path is completed to the maximum extent, and in the process of path conversion, the intelligent rice transplanter is accelerated through an electronic accelerator by controlling various structures of the intelligent rice transplanter, is decelerated and braked through electric braking, is steered through a steering mechanism, and can also be driven reversely through a transmission mechanism. By the mode, the area under the original path can be utilized to the maximum extent under the condition that the switching path of the transplanter is not influenced, so that the optimal control is facilitated, and the utilization rate of the land is maximized;
b. control processing for detecting obstacle as insurmountable obstacle type two
The second type of insurmountable obstacles is obstacles such as people, animals and the like, although the obstacle situation belongs to an emergency situation, a certain probability occurs in practice, the data detected by the environment sensing module is transmitted to the intelligent processing module, when the result is determined that the obstacle of the second type of insurmountable obstacles is the obstacle of the insurmountable obstacles, a corresponding action instruction is sent to the control execution module, the electronic clutch and the electric brake are controlled to decelerate and stop the rice transplanting work within a proper safety distance, meanwhile, the warning device 10 is started to warn, and when the obstacle leaves the sensing range of the sensor, the warning device 10 is closed by the intelligent rice transplanting machine, and the rice transplanting work is carried out by continuing to advance through the electric accelerator. Therefore, the life safety of the labor service people is ensured to a certain extent, the path does not need to be re-planned in such a way, the optimal control concept is met, and the maximization of the land utilization rate is realized.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (10)

1.一种智能插秧机田间最优避障控制系统，其特征在于，该控制系统包括环境感知模块、插秧机信息模块、智能决策模块和控制执行模块；所述环境感知模块采集的环境信息与所述插秧机信息模块所采集的插秧机参数信息上传到智能决策模块中，经智能决策模块处理后，发送相关指令给控制执行模块，控制执行模块对插秧机进行相关操纵来解决行进路径上的障碍。1. an intelligent rice transplanter field optimal obstacle avoidance control system, is characterized in that, this control system comprises environment perception module, rice transplanter information module, intelligent decision-making module and control execution module; The rice transplanter parameter information collected by the rice transplanter information module is uploaded to the intelligent decision-making module, and after being processed by the intelligent decision-making module, relevant instructions are sent to the control execution module, and the control execution module performs relevant operations on the rice transplanter to solve the problem on the travel path. obstacle. 2.根据权利要求1所述的智能插秧机田间最优避障控制系统，其特征在于，所述智能决策模块中，先对障碍物进行分级，再对不同的分级采取不同的分析控制；具体为将障碍物分为可越障碍、不可越障碍类型一和不可越障碍类型二；分级控制对应的为算法执行、路径规划和停车警示。2. The field optimal obstacle avoidance control system for an intelligent rice transplanter according to claim 1, wherein, in the intelligent decision-making module, the obstacles are first graded, and then different analysis controls are adopted for different grades; In order to divide the obstacles into passable obstacles, impassable obstacle type 1 and impassable obstacle type 2; the hierarchical control corresponds to algorithm execution, path planning and parking warning. 3.根据权利要求2所述的智能插秧机田间最优避障控制系统，其特征在于，当所识别的障碍为可逾越障碍时，分别建立举升插秧机插秧机构(7)的线性控制算法和归位插秧机插秧机构(7)的线性控制算法：3. The field optimal obstacle avoidance control system for an intelligent rice transplanter according to claim 2, is characterized in that, when the identified obstacle is a surmountable obstacle, the linear control algorithm and The linear control algorithm of the transplanting mechanism (7) of the homing rice transplanter: A.举升插秧机插秧机构的线性控制算法A. Linear Control Algorithm of the Transplanting Mechanism of the Lifting Rice Transplanter 超声波传感器发现前方障碍且与障碍物最小的距离设为S，当超声波传感器越过障碍后所采取的S的数值为负值，因为智能插秧机是在运动过程中，S的数值是不断变换的；超声波传感器(1)与插秧机构(7)之间的距离恒定为Sc；设智能插秧机的工作行进速度恒定为V1，有车速传感器测出，抬升杆装置运动的角速度恒定为ω，通过安装在抬升杆上的水平仪传感器、角速度传感器，可以测得抬升杆的实时角度为θ、转动的角速度为ω，激光雷达传感器通过对障碍物的识别，所测得的最大高度为h，横向宽度为W，所经历的时间为t，其中S、h、t都是未知量；The ultrasonic sensor finds an obstacle in front and the minimum distance from the obstacle is set to S. When the ultrasonic sensor passes the obstacle, the value of S taken is a negative value, because the intelligent rice transplanter is in the process of movement, and the value of S is constantly changing; The distance between the ultrasonic sensor (1) and the transplanting mechanism (7) is constant as Sc; the working speed of the intelligent rice transplanter is set to be constant as V 1 , measured by the vehicle speed sensor, and the angular speed of the movement of the lifting rod device is constant as ω. The level sensor and angular velocity sensor on the lifting rod can measure the real-time angle of the lifting rod as θ and the angular velocity of rotation as ω. The lidar sensor recognizes obstacles, and the measured maximum height is h, and the lateral width is W, the elapsed time is t, where S, h, and t are all unknowns; 该智能控制装置最理想的情况就是在插秧机构(7)快要接触障碍物时，插秧机构(7)正好举升到可越过障碍物的高度停止举升，当抬升杆(8)处于水平位置时，插秧机构(7)的离地距离为h1＝L×sinθ，以水平位置为参照线，分两种情况进行讨论，情况一为抬升杆不需要抬升超过水平线就能越过障碍，情况二为抬升杆需要抬升超过水平线才能越过障碍；根据运动模型将各个量联合计算：The ideal situation of the intelligent control device is that when the transplanting mechanism (7) is about to touch the obstacle, the transplanting mechanism (7) just lifts to a height that can go over the obstacle and stops lifting, and when the lifting rod (8) is in a horizontal position , the distance from the ground of the transplanting mechanism (7) is h 1 =L×sinθ, taking the horizontal position as the reference line, the discussion is divided into two cases, the first case is that the lifting rod can cross the obstacle without being lifted beyond the horizontal line, and the second case is The lifting rod needs to be raised above the horizontal line to cross the obstacle; the various quantities are jointly calculated according to the motion model: 当障碍物h<h1时，有When the obstacle h< h1 , there is S+Sc＝V1×tS+Sc=V 1 ×t
Figure FDA0002321840470000011
Figure FDA0002321840470000011
 这两式分别为插秧机构(7)到障碍物的距离S+Sc与障碍物高度h的表达式，将这两个公式进行联立，可得S+Sc与h关系式：These two formulas are the expressions of the distance S+Sc from the transplanting mechanism (7) to the obstacle and the height h of the obstacle. By combining these two formulas, the relationship between S+Sc and h can be obtained: S+Sc＝V1×(arcsin(h/L)/ω)S+Sc=V 1 ×(arcsin(h/L)/ω) 当障碍物h≥h1时，有When the obstacle h ≥ h 1 , there is S+Sc＝V1×tS+Sc=V 1 ×t
Figure FDA0002321840470000021
Figure FDA0002321840470000021
 将这个两个公式进行联立，可得插秧机构到障碍物的距离S+Sc与障碍物高度h之间的关系：By combining these two formulas, the relationship between the distance S+Sc from the transplanting mechanism to the obstacle and the height h of the obstacle can be obtained: S+Sc＝V1×(arcsin((h-L×sinθ)/L)+θ)/ωS+Sc=V 1 ×(arcsin((hL×sinθ)/L)+θ)/ω 当通过环境感知模块获得障碍的实际高度的数据后，将所测取障碍物高度数值h导入到S+Sc与h的关系式中，就可以得到S+Sc的数值，当实时的S+Sc达到这一数值时，控制执行模块立即工作，停止插秧机构(7)的工作，并对智能插秧机进行最优的控制；When the actual height data of the obstacle is obtained through the environment perception module, the measured obstacle height value h is imported into the relationship between S+Sc and h, and the value of S+Sc can be obtained. When the real-time S+Sc When this value is reached, the control execution module works immediately, stops the work of the rice transplanting mechanism (7), and performs optimal control on the intelligent rice transplanter; B.归位插秧机插秧机构的线性控制算法B. Linear control algorithm of the transplanting mechanism of the homing rice transplanter 插秧机构(7)在抬升杆(8)的抬升作用下达到与障碍有一定安全距离的高度，就会停止抬升，经过越过障碍所需要的t1时间后，就立即对插秧机构进行归位，继续进行插秧工作，其中时间t1的表达式为：When the transplanting mechanism (7) reaches a height with a certain safety distance from the obstacle under the lifting action of the lifting rod ( 8 ), it will stop lifting. Proceed to the planting work, where the expression of time t 1 is:
Figure FDA0002321840470000022
Figure FDA0002321840470000022
 根据该表达式可以获得与障碍物的最小距离S与障碍物高度h之间的线性关系，h为自变量，S为因变量，当激光雷达传感器测取的障碍物的高度为h时，那么在工作过程中当超声波传感器所测得的距离S与超声波传感器和插秧机构之间的距离Sc两者的距离和达到相应的数值时就会启动举升装置，在提升到一定位置之后持续t1刚好越过障碍，这时抬升杆(8)就开始反向转动使插秧机构(7)回归到工作位置。According to this expression, the linear relationship between the minimum distance S to the obstacle and the height h of the obstacle can be obtained, where h is the independent variable, and S is the dependent variable. When the height of the obstacle measured by the lidar sensor is h, then During the working process, when the distance between the distance S measured by the ultrasonic sensor and the distance Sc between the ultrasonic sensor and the transplanting mechanism reaches the corresponding value, the lifting device will be activated, and it will continue for t 1 after being lifted to a certain position. Just over the obstacle, the lifting rod (8) starts to rotate in the reverse direction to make the transplanting mechanism (7) return to the working position. 4.根据权利要求2所述的智能插秧机田间最优避障控制系统，其特征在于，在遇到不可逾越障碍类型一时，即不可逾越障碍且不可移动的障碍物时，智能插秧机在工作到与障碍物的极限距离后停止插秧机构(7)的工作，并将插秧机构(7)进行抬升，通过路径规划模块对智能插秧机重新规划路径，从而确定智能插秧机的转弯方向并选取该方向上的路径规划信号作为实际行进路径。4. The field optimal obstacle avoidance control system for an intelligent rice transplanter according to claim 2, wherein the intelligent rice transplanter is working when encountering an insurmountable obstacle type 1, that is, an insurmountable obstacle and an immovable obstacle. After reaching the limit distance from the obstacle, stop the work of the transplanting mechanism (7), lift the transplanting mechanism (7), and re-plan the path of the intelligent rice transplanter through the path planning module, so as to determine the turning direction of the intelligent rice transplanter and select the intelligent rice transplanter. The path planning signal in the direction is used as the actual travel path. 5.根据权利要求2所述的智能插秧机田间最优避障控制系统，其特征在于，在遇到不可逾越障碍类型二时，即不可逾越障碍但可移动的障碍物时，当红外传感器(3)检测到前方存在可移动的障碍物时，当超声波传感器(1)测取到与目标之间的距离达到安全距离的范围，控制执行模块就会发出减速停车并停止工作的指令，并且启动警示装置进行提醒，当目标不在行径路上，智能插秧机就会继续工作。5. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 2, is characterized in that, when encountering insurmountable obstacle type two, i.e. insurmountable obstacle but movable obstacle, when the infrared sensor ( 3) When it is detected that there is a movable obstacle ahead, when the ultrasonic sensor (1) measures the distance from the target to a safe distance, the control execution module will issue an instruction to decelerate and stop and stop working, and start The warning device reminds that when the target is not on the path, the intelligent rice transplanter will continue to work. 6.根据权利要求1所述的智能插秧机田间最优避障控制系统，其特征在于，环境感知模块中超声波传感器(1)、激光雷达传感器(2)、红外传感器(3)将分别采集的与障碍物的距离、障碍物的几何尺寸、行驶路径的数据信息传递给智能决策模块。6. The field optimal obstacle avoidance control system for an intelligent rice transplanter according to claim 1, wherein the ultrasonic sensor (1), the lidar sensor (2), and the infrared sensor (3) in the environmental perception module will collect the data collected respectively. The data information of the distance to the obstacle, the geometric size of the obstacle, and the driving path is transmitted to the intelligent decision-making module. 7.根据权利要求1所述的智能插秧机田间最优避障控制系统，其特征在于，插秧机信息模块中车速传感器(4)、GPS传感器(5)、水平仪传感器(6)、角速度传感器(9)将所采集的智能插秧机的车速、实时位置、抬升杆(8)与水平面所成的角度(θ)以及抬升插秧机构(7)所提升的角速度ω的数据信息传递给智能决策模块。7. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 1 is characterized in that, in the rice transplanter information module, a vehicle speed sensor (4), a GPS sensor (5), a level sensor (6), an angular velocity sensor ( 9) The collected data information of the speed of the intelligent rice transplanter, the real-time position, the angle (θ) formed by the lifting rod (8) and the horizontal plane, and the angular velocity ω raised by the lifting and transplanting mechanism (7) are transmitted to the intelligent decision-making module. 8.根据权利要求6所述的智能插秧机田间最优避障控制系统，其特征在于，环境感知模块中的超声波雷达(1)安装在智能插秧机前部下端，激光雷达传感器(2)与红外传感器(3)安装在智能插秧机前部。8. The field optimal obstacle avoidance control system for an intelligent rice transplanter according to claim 6, wherein the ultrasonic radar (1) in the environmental perception module is installed at the lower end of the front part of the intelligent rice transplanter, and the lidar sensor (2) is connected to the The infrared sensor (3) is installed at the front of the intelligent rice transplanter. 9.根据权利要求7所述的智能插秧机田间最优避障控制系统，其特征在于，车速传感器(4)安装在变速器输出轴上，GPS传感器(5)安装在车辆中部，水平仪传感器(6)和角速度传感器(9)都安装于抬升杆(8)上。9. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 7, wherein the vehicle speed sensor (4) is installed on the transmission output shaft, the GPS sensor (5) is installed in the middle of the vehicle, the level sensor (6) ) and the angular velocity sensor (9) are mounted on the lift rod (8). 10.一种智能插秧机田间最优避障控制系统的控制方法，其特征在于，该控制方法为智能插秧机在工作时，根据环境感知模块与插秧机信息模块采取的数据信号传输到智能决策模块中，经过一定的控制处理，向控制执行模块发出动作指令，从而实现插秧机的最优控制；具体步骤如下：10. A control method for an optimal obstacle avoidance control system for an intelligent rice transplanter in the field, characterized in that the control method is that when the intelligent rice transplanter is working, the data signal taken by the environment perception module and the rice transplanter information module is transmitted to the intelligent decision-making In the module, after a certain control process, an action command is sent to the control execution module, so as to realize the optimal control of the rice transplanter; the specific steps are as follows: 步骤一：环境感知模块中的超声波传感器(1)会不断测取前方障碍物信号，在获得的前方障碍物距离信号到达一定距离后，激光雷达传感器(2)就会开始测取前方障碍物结构尺寸，与此同时红外传感器(3)也会对前方行驶路径的障碍物信号进行测取；Step 1: The ultrasonic sensor (1) in the environment perception module will continuously measure the signal of the obstacle in front. After the obtained distance signal of the obstacle in front reaches a certain distance, the lidar sensor (2) will start to measure the structure of the obstacle in front. At the same time, the infrared sensor (3) will also measure the obstacle signal of the driving path ahead; 步骤二：插秧机信息模块中的车速传感器(4)会将插秧机实时的车速信号传输给智能决策模块，GPS传感器(5)会将插秧机的实时位置信号传输给智能决策模块，水平仪传感器(6)、角速度传感器(9)分别将抬升杆(8)与水平方向的夹角(θ)、转动的角速度(ω)的数据信号传输到智能决策模块；Step 2: The vehicle speed sensor (4) in the information module of the rice transplanter will transmit the real-time vehicle speed signal of the rice transplanter to the intelligent decision-making module, and the GPS sensor (5) will transmit the real-time position signal of the rice transplanter to the intelligent decision-making module, and the level sensor ( 6), the angular velocity sensor (9) transmits the data signals of the angle (θ) between the lifting rod (8) and the horizontal direction and the angular velocity (ω) of the rotation to the intelligent decision-making module; 步骤三：根据超声波传感器(1)、激光雷达传感器(2)、红外传感器(3)的障碍物信号进行分析、处理，并对障碍物类型进行判断，认定为可逾越障碍、不可逾越障碍类型一、不可逾越障碍类型二中的某一个类型；Step 3: Analyze and process the obstacle signals of the ultrasonic sensor (1), the lidar sensor (2), and the infrared sensor (3), and judge the type of the obstacle, and identify it as a passable obstacle or an impassable obstacle. , one of the two types of insurmountable obstacles; 步骤四：控制执行模块根据智能决策模块所判断的障碍物类型采取相对应的方式进行分层控制：Step 4: The control execution module adopts a corresponding method to perform hierarchical control according to the obstacle type judged by the intelligent decision-making module: a.对于可逾越障碍的线性控制a. Linear control for surmountable obstacles 智能决策模块会将环境感知模块与插秧机信息模块所采集的信息经过相应的算法进行有效的处理，处理完毕后向控制执行模块发送动作指令，通过抬升杆(8)的转动控制插秧机插秧机构(7)向上抬升越过障碍；The intelligent decision-making module will effectively process the information collected by the environmental perception module and the rice transplanter information module through the corresponding algorithm, and after the processing is completed, send action instructions to the control execution module, and control the transplanting mechanism of the rice transplanter through the rotation of the lifting rod (8). (7) Raise upwards over obstacles; b.对检测物为不可逾越障碍类型一的控制处理b. Control processing of the detected object as insurmountable obstacle type 1 通过超声波传感器(1)、红外传感器(3)、激光雷达传感器(2)所检测的数据传输到智能决策模块后确定结果为不可自主移动的障碍物时，就会向路径规划中的路径规划模块发送相应的指令，路径规划模块在获得路径规划信号，重新规划路径；When the data detected by the ultrasonic sensor (1), infrared sensor (3), and lidar sensor (2) are transmitted to the intelligent decision-making module and the result is determined to be an obstacle that cannot be moved autonomously, it will be sent to the path planning module in the path planning. Send the corresponding command, and the path planning module re-plans the path after obtaining the path planning signal; c.对检测障碍为不可逾越障碍类型二的控制处理c. Control processing of detection obstacle as insurmountable obstacle type 2 通过超声波传感器(1)、红外传感器(3)、激光雷达传感器(2)所检测的数据传输到智能处理模块后所确定结果为人等类型的障碍物时，则向控制执行模块发送相应的动作指令，在适当距离内进行减速停车并停止插秧工作，启动警示装置(10)进行警示，当障碍离开传感器感应范围，则智能插秧机就会继续工作。When the data detected by the ultrasonic sensor (1), infrared sensor (3), and lidar sensor (2) are transmitted to the intelligent processing module and the determined result is a human or other type of obstacle, the corresponding action command is sent to the control execution module , decelerate and stop within an appropriate distance and stop the rice transplanting work, start the warning device (10) to warn, and when the obstacle leaves the sensing range of the sensor, the intelligent rice transplanter will continue to work.
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