CN111026117B - An intelligent rice transplanter obstacle avoidance optimal control system and control method - Google Patents

Abstract

The invention discloses an optimal control system and control method for obstacle avoidance of an intelligent rice transplanter, and relates to the field of intelligent rice transplanters. The control system includes an environment perception module, a rice transplanter information module, an intelligent decision-making module and a control execution module; the environment The environmental information collected by the perception module and the rice transplanter parameter information collected by the rice transplanter information module are uploaded to the intelligent decision-making module. Obstacles, re-planning the path, giving corresponding warnings, and then performing related manipulations on the rice transplanter to solve the obstacles on the path. In the application of the intelligent rice transplanter, the invention can effectively improve the utilization rate of the land and the planting rate of the seedlings, reduce the damage to the rice transplanter caused by obstacles, and improve its service life.

Description

An intelligent rice transplanter obstacle avoidance optimal control system and control method

technical field

The invention belongs to the field of intelligent rice transplanters, and relates to an optimal control system and control method for obstacle avoidance of an intelligent rice transplanter.

Background technique

In recent years, domestic intelligent control has developed very rapidly, and it is also widely used in the field of agricultural machinery. The intelligentization of agricultural machinery has gradually become a widespread concern, and intelligent rice transplanters have gradually become a research hotspot. When the intelligent rice transplanter performs planting work in the field, it will inevitably encounter some obstacles, such as field ridges, agricultural equipment, utility poles, sundries in the field, people, etc. The intelligent rice transplanter can lift the planting device of the intelligent rice transplanter Overcoming surmountable obstacles, and insurmountable obstacles require additional obstacle avoidance processing, and there are different types of insurmountable obstacles, and corresponding control methods for obstacles of different nature can achieve optimal control. Effect. If the optimal control is not carried out in the process of obstacle avoidance, it will result in a longer time spent avoiding obstacles, which will affect the utilization rate of land and the planting rate of seedlings. Therefore, it is very important for the development of intelligent rice transplanter to develop a control system that can accurately identify obstacles and make accurate responses.

Contents of the invention

In order to solve the above technical problems, the present invention proposes an optimal obstacle avoidance system for intelligent rice transplanters that can accurately identify obstacles and respond accurately. This optimal control system is crucial to the development of intelligent rice transplanters.

The present invention is achieved through the following technical solutions:

An intelligent rice transplanter optimal obstacle avoidance control system in the field, the control system includes an environment perception module, a rice transplanter information module, an intelligent decision-making module and a control execution module; the environmental information collected by the environment perception module and the rice transplanter information module The collected parameter information of the rice transplanter 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 related operations on the rice transplanter to solve obstacles on the traveling path.

Further, in the intelligent decision-making module, obstacles are classified first, and then different analysis and control are adopted for different classifications; specifically, obstacles are divided into surmountable obstacles, non-surpassable obstacle type 1 and non-surpassable obstacle type 2 ; Hierarchical control corresponds to algorithm execution, path planning and parking warning.

Further, when the identified obstacle is a surmountable obstacle, a linear control algorithm for lifting the transplanting mechanism of the rice transplanter and a linear control algorithm for the transplanting device of the homing rice transplanter are established:

Linear Control Algorithm of Lifting Rice Transplanter's Transplanting Mechanism

The ultrasonic sensor finds the obstacle in front and the minimum distance from the obstacle is set to S. When the ultrasonic sensor crosses the obstacle, the value of S 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 and the transplanting mechanism is constant at Sc; assuming that the working speed of the intelligent rice transplanter is constant at V ₁ , measured by the vehicle speed sensor, the angular velocity of the lifting rod device is constant at ω. Sensors and angular velocity sensors can measure the real-time angle of the pole as (θ) and the angular velocity of rotation as (ω). The maximum height measured by the lidar sensor is h and the lateral width is W through the identification of obstacles. The elapsed time is t, where S, h, and t are all unknown quantities;

The most ideal situation of the intelligent control device is that when the rice transplanting mechanism is about to touch the obstacle, the rice transplanting mechanism just lifts to the height that can overcome the obstacle and stops lifting. When the lifting lever is in the horizontal position, the distance from the ground of the rice transplanting mechanism is h ₁ = L × siθn, with the horizontal position as the reference line, two cases are discussed. The first case is that the lifting rod does not need to be lifted above the horizontal line to cross the obstacle, and the second case is that the lifting rod needs to be raised above the horizontal line to cross the obstacle: The model combines the quantities to calculate:

When the obstacle h<h ₁ , there is

S+Sc=V ₁ ×t

These two formulas are respectively the expressions of the distance S+Sc from the transplanting mechanism 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＝V ₁ ×(arcsin(h/L)/ω)

When the obstacle h≥h ₁ , there is

S+Sc=V ₁ ×t

Combining these two formulas, the relationship between the distance S+Sc from the rice transplanting mechanism to the obstacle and the height h of the obstacle can be obtained:

S+Sc＝V ₁ ×(arcsin((hL×sinθ)/L)+θ)/ω

After passing the data of the actual height of the obstacle collected by the environment perception module, import the value h of the measured obstacle height into the relationship between S+Sc and h, and the value of S+Sc can be obtained. When the real-time S+ When Sc reaches this value, the control execution module will work immediately, stop the work of the rice transplanting mechanism, and optimally control the intelligent rice transplanter;

Linear Control Algorithm of Rice Transplanting Mechanism of Homing Rice Transplanter

When the rice transplanting mechanism reaches a height with a certain safe distance from the obstacle under the lifting action of the lifting rod, it will stop lifting, and after the _t1 time required for crossing the obstacle, it will immediately return the rice transplanting mechanism and continue the rice transplanting work. The expression for time _t1 is:

According to this expression, the linear relationship between the minimum distance S to the obstacle and the obstacle height h can be obtained, 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 rice transplanting mechanism reaches the corresponding value, the lifting device will be activated, and it will last for t ₁ after being lifted to a certain position. Just over the obstacle, at this moment the lifting bar just starts to reversely rotate and the rice transplanting mechanism returns to the working position.

Further, when encountering the first type of insurmountable obstacle, that is, an insurmountable obstacle and an immovable obstacle, the intelligent rice transplanter stops the work of the rice transplanting mechanism after working to the limit distance from the obstacle, and lifts the rice transplanting mechanism. The path planning module re-plans the path of the intelligent rice transplanter, so as to determine the turning direction of the intelligent rice transplanter and select the path planning signal in this direction as the actual travel path.

Further, when encountering the second type of impassable obstacle, that is, an impassable obstacle but a movable obstacle, when the infrared sensor detects that there is a movable obstacle in front, when the ultrasonic sensor detects the distance between the target and the When the distance reaches the safe distance, the control execution module will issue an instruction to slow down and stop and stop working, and start the warning device to remind. When the target is not on the way, the intelligent rice transplanter will continue to work.

Further, the ultrasonic sensor, laser radar sensor, and infrared sensor in the environmental perception module transmit the data information of the distance to the obstacle, the geometric size of the obstacle, and the driving path collected respectively to the intelligent decision-making module.

Further, the vehicle speed sensor, GPS sensor, level sensor, and angular velocity sensor in the rice transplanter information module collect the vehicle speed, real-time position, angle (θ) formed by the lifting rod and the horizontal plane of the collected intelligent rice transplanter, and the angle (θ) formed by the lifting rice transplanting mechanism. The data information of the angular velocity ω is transmitted to the intelligent decision-making module.

Further, the ultrasonic radar in the environmental perception module is installed at the lower end of the front part of the intelligent rice transplanter, and the laser radar sensor and the infrared sensor are installed at the front part of the intelligent rice transplanter.

Further, the vehicle speed sensor is installed on the output shaft of the transmission, the GPS sensor is installed in the middle of the vehicle, and the level sensor and the angular velocity sensor are all installed on the lifting rod.

A control method for the optimal obstacle avoidance control system of an intelligent rice transplanter in the field. The control method is that when the intelligent rice transplanter is working, it transmits the data signals taken by the environment perception module and the rice transplanter information module to the intelligent decision-making module. Control processing, send action instructions to the control execution module, so as to realize the optimal control of the rice transplanter; the specific steps are as follows:

Step 1: The ultrasonic sensor in the environmental 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 laser radar sensor will start to measure the structure size of the obstacle in front. At the same time, the infrared The sensor will also measure the obstacle signal of the driving path ahead;

Step 2: The vehicle speed sensor in the rice transplanter information module will transmit the real-time vehicle speed signal of the rice transplanter to the intelligent decision-making module. The GPS sensor will transmit the real-time position signal of the rice transplanter to the intelligent decision-making module. The data signals of the angle (θ) with the horizontal direction and the angular velocity of rotation (ω) are transmitted to the intelligent decision-making module;

Step 3: Analyze and process the obstacle signals from ultrasonic sensors, lidar sensors, and infrared sensors, and judge the obstacle type, and identify it as one of the surmountable obstacles, impassable obstacle type 1, and impassable obstacle type 2 a type;

Step 4: The control execution module performs layered control in a corresponding manner according to the obstacle type judged by the intelligent decision-making module:

a. Linear control for surmountable obstacles

The intelligent decision-making module will effectively process the information collected by the environmental perception module and the vehicle information module through corresponding algorithms. After processing, it will send action instructions to the control execution module, and control the rice transplanter's rice transplanting mechanism to lift up and over the obstacle;

b. The control treatment of the detection object as an insurmountable obstacle type 1

When the data detected by the ultrasonic sensor, infrared sensor, and laser radar sensor are transmitted to the intelligent decision-making module and the result is determined to be an obstacle that cannot be moved autonomously, it will send corresponding instructions to the path planning module in path planning. Obtain the path planning signal and re-plan the path;

c. Control treatment of the detection obstacle as impassable obstacle type 2

When the data detected by the ultrasonic sensor, infrared sensor, and laser radar sensor are transmitted to the intelligent processing module and the result is determined to be a human-type obstacle, it will send a corresponding action command to the control execution module, and will decelerate within an appropriate distance Stop and stop the rice transplanting work, start the warning device to warn, when the obstacle leaves the sensing range of the sensor, the intelligent rice transplanter will continue to work.

Beneficial effects of the present invention:

1. The present invention has a simple structure and high reliability, and can help the intelligent rice transplanter to maximize the utilization rate of the land when it encounters obstacles in the working process, and can also improve the planting rate very well.

2. The present invention proposes an effective linear control algorithm, which can accurately control the movement of the planting device, so that the effect produced can achieve optimal control.

3. The present invention can process the data collected by each installed sensor, and can effectively help the intelligent rice transplanter working in the field to avoid obstacles, thereby reducing the loss caused by obstacles to the machine.

4. When encountering some obstacles such as electric poles, the formal path of the intelligent rice transplanting vehicle can be re-planned.

5. The obstacles that may appear in the field are identified in more detail. After identifying the obstacles that some people can move autonomously, stop within a safe distance, and the warning device will work to warn, so there is no need to re-plan the path.

6. The system classifies obstacles when identifying and processing obstacles, divides obstacles into surmountable obstacles, impassable obstacle type 1 and impassable type 2, and controls them in a corresponding manner in real time. When passing through some surmountable obstacles, by implanting the established control algorithm, the lifting and homing of the rice transplanting mechanism can be optimally controlled, so that the waste of land resources can be reduced in the process of avoiding obstacles, and the land utilization rate and Seedling planting rate is maximized.

Description of drawings

Fig. 1 is the structural representation of optimal obstacle avoidance control system of a kind of intelligent rice transplanter of the present invention;

Fig. 2 is the representation of the data parameter of rice transplanter described in the present invention in obstacle avoidance process;

Fig. 3 is a schematic diagram of various modules of an optimal obstacle avoidance control system for an intelligent rice transplanter according to the present invention.

The reference signs are as follows:

1-ultrasonic sensor; 2-lidar sensor; 3-infrared sensor; 4-vehicle speed sensor; 5-GPS sensor; .

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it is to be understood that the terms "central", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", The orientation or positional relationship indicated by "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description , rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Firstly describe in detail according to the embodiment of the present invention in conjunction with accompanying drawing

Combined with Figure 1, the obstacles encountered will be controlled hierarchically, divided into surmountable obstacles (field ridges, hard soil blocks, sundries, etc.), insurmountable obstacle type 1 (such as utility poles, markers, etc.), and insurmountable obstacle types Two (such as people), although these obstacle situations belong to sudden situations, they also have a certain probability to occur in practice.

These barriers are controlled hierarchically, so as to obtain the optimal control effect. When passing through some surmountable obstacles, by implanting the established control algorithm, the lifting and returning of the rice transplanting mechanism can be optimally controlled, so that the land utilization can be maximized. Among the environmental perception modules, ultrasonic sensors 1, The environmental information collected by the laser radar sensor 2 and the infrared sensor 3 and the rice transplanter parameter information collected by the vehicle speed sensor 4, GPS sensor 5, and level sensor 6 in the rice transplanter information module are uploaded to the intelligent decision-making module and processed by the intelligent decision-making module Finally, send relevant instructions to the control module to perform corresponding processing; the ultrasonic radar 1 in the environmental perception module is installed at the lower end of the front of the intelligent rice transplanter, the laser radar sensor 2 and the infrared sensor 3 are installed at the front of the intelligent rice transplanter, and the vehicle speed sensor 4 is installed on the output shaft of the transmission, the GPS sensor 5 is installed in the middle of the vehicle, the level sensor 6 and the angular velocity sensor 9 are installed on the lifting rod 8, and these six sensors are connected with the intelligent decision-making module for signal transmission. The intelligent decision-making module makes corresponding control instructions by processing the uploaded sensor data to realize the optimal obstacle avoidance operation of the intelligent rice transplanter.

The control system of the present invention has carried out hierarchical control to different obstacles that may be encountered:

When the obstacle identified by the environment perception module is passable, after the data information transmitted by the environment perception module and the rice transplanter information module is processed by the established control algorithm, when the distance between the rice transplanting mechanism 7 and the obstacle reaches When a certain limit is reached, the lifting rod 8 will rotate and lift the rice transplanting mechanism 7 at a uniform angular speed ω and stop within a certain period of time. The lifting speed of the rice transplanting mechanism 7 cannot be too fast to ensure the integrity of the rice seedlings. 8. Return the rice transplanting mechanism 7 to the working position, and the created control algorithm can well realize the optimal control of the rice transplanting mechanism 7;

When an insurmountable obstacle is identified, it will be controlled according to whether the obstacle has autonomous mobility. For example, when facing obstacles such as utility poles, the rice transplanting mechanism stops working and lifts, and then according to the position information provided by the GPS sensor 5 and The environmental information measured by the environmental perception module, the path planning module in the path planning will re-plan the path of the intelligent rice transplanter, by turning over the obstacle, and returning to the ideal path to continue working; in the face of people, etc. When there is an obstacle, the intelligent rice transplanter will slow down and stop within a certain safe distance and stop working, and will be prompted by the alarm device, and continue to work when no obstacle is detected.

Example

1) Composition of an optimal obstacle avoidance control system for an intelligent rice transplanter

Shown in conjunction with accompanying drawing 1 is the installation structure diagram of the embodiment of the present invention, has illustrated the installation position of each sensor and early warning system in the figure. Wherein the early warning device 10 is installed on the upper front of the car, the ultrasonic radar 1 is installed on the lower front of the intelligent rice transplanter, the laser radar sensor 2 is installed on the front of the intelligent rice transplanter, and the infrared sensor 3 is also installed on the front of the intelligent rice transplanter. These three sensors form the environment perception module in the overall system module.

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 all installed on the lift bar, and these four sensors form the information module of the intelligent rice transplanter.

Combined with the schematic diagram of each part of the control system in Figure 3, the ultrasonic sensor 1 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 laser radar sensor 2 will start to measure the obstacle in front. At the same time, the infrared sensor 3 will also measure the obstacle signal of the driving path ahead, and the distance to the obstacle, the geometric size of the obstacle, and the data information of the driving path collected by the three sensors are transmitted to the intelligent decision-making module;

The vehicle speed sensor will transmit the real-time vehicle speed signal of the rice transplanter to the intelligent decision-making module, and the GPS sensor will transmit the real-time position signal of the rice transplanter to the intelligent decision-making module. , the rotational angular velocity (ω) data signal is transmitted to the intelligent decision-making module, combined with the schematic diagram of each part of the control system in the accompanying drawing 3, the ultrasonic sensor 1 will continuously measure the signal of the obstacle ahead, and when the obtained distance signal of the obstacle ahead reaches After a certain distance, the laser radar sensor 2 will start to measure the structural size of the obstacle in front, and at the same time, the infrared sensor 3 will also measure the obstacle signal in the driving path ahead, and the distances to the obstacle collected by the three sensors are respectively , the geometric size of the obstacle, and the data information of the driving path are transmitted to the intelligent decision-making module;

The intelligent decision-making module analyzes and processes the obstacle data signals collected by the ultrasonic sensor 1, the laser radar sensor 2, and the infrared sensor 3, and judges the obstacle type according to the collected data, and determines whether it is a surmountable obstacle or an impassable obstacle type One (such as electric poles, etc.) or the type two (such as people, etc.) without deduction, and make a decision based on the type of the corresponding obstacle, so as to take corresponding control measures for hierarchical control.

2) A working method of an optimal obstacle avoidance control system for an intelligent rice transplanter

The ultrasonic sensor 1 in the environmental 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 laser radar sensor 2 will start to measure the structural size of the obstacle in front. At the same time, the infrared sensor 3. It will also measure the obstacle signal of the driving path ahead; when the obstacle detected by the environmental perception module is a surmountable obstacle, it can be controlled and processed through the established control algorithm, and the rice transplanting mechanism can be properly controlled. Two situations:

1.1 When the obstacle h<h ₁ ,

S+Sc＝V ₁ ×(arcsin(h/L)/ω)

1.2 When the obstacle h≥h ₁ , there is

S+Sc＝V ₁ ×(arcsin((hL×sinθ)/L)+θ)/ω

After passing the data of the actual height of the obstacle taken by the environment perception module, import the value h of the measured obstacle height into the relationship between S+Sc and h, and then the value of S+Sc can be obtained. This distance is the limit distance. When the real-time S+Sc reaches this value, the overriding control execution module will work immediately, stop the work of the rice transplanting mechanism 7, immediately lift the rice transplanting mechanism 7 to reach the corresponding height and then stop. After a period of time, continue _t1 just to cross the obstacle, at this time the lifting lever 8 immediately starts to reversely rotate to return the rice transplanting mechanism to the working position, and continue the rice transplanting work. This process is the linear control facing the surmountable obstacle;

When the detected obstacle is insurmountable, it is divided into two situations for control:

a. The detection object is the control treatment of insurmountable obstacle type 1

Impassable obstacle type one is an obstacle that cannot be moved independently, such as a utility pole. When the data detected by the environment perception module is transmitted to the only processing module and the result is determined to be an obstacle of the insurmountable obstacle type 1, it will send the corresponding instruction to the path planning module in the path planning, and the path planning module will obtain the path planning signal , according to the environmental information captured by each sensor and the length of the path planning, the steering operation of the intelligent rice transplanter will be determined, and the path planning signal in this direction will be selected as the actual travel path, and the rice transplanting under this path will be completed to the maximum extent. In the process of path conversion, by controlling the various structures of the intelligent rice transplanter, it can be accelerated through the electronic accelerator, decelerated and braked through the electric brake, steered through the steering mechanism, and can also be reversed through the transmission mechanism. to drive etc. In this way, the area under the original path can be utilized to the maximum without affecting the conversion path of the rice transplanter, which is conducive to optimal control, thereby maximizing the utilization rate of the land;

b. The control treatment of the test obstacle being the second type of insurmountable obstacle

The second type of insurmountable obstacle is obstacles such as people and animals. Although this obstacle is an emergency situation, it also has a certain probability of occurrence in practice. The data detected by the environment perception module should be transmitted to the intelligent processing module. The determined result is When the obstacle of type 2 cannot be crossed, it will send a corresponding action command to the control execution module, and will decelerate and stop by controlling the electronic clutch and electric brake within an appropriate safe distance and stop the rice planting work, and at the same time start the warning device 10 For warning, when the obstacle leaves the sensing range of the sensor, the intelligent rice transplanter will close the warning device 10, and continue to move forward by the electric throttle to carry out the rice transplanting work. This ensures the life safety of the working people to a certain extent. In this way, there is no need to re-plan the route. This also satisfies the optimal control concept and maximizes the land utilization rate.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.

Claims (7)

1. an intelligent rice transplanter optimal obstacle avoidance control system in the field is characterized in that the control system includes an environment perception module, a rice transplanter information module, an intelligent decision-making module and a control execution module; the environment information collected by the environment perception module and 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 related operations on the rice transplanter to solve problems on the travel path. obstacle; In the intelligent decision-making module, obstacles are classified first, and then different analysis and control are adopted for different classifications; specifically, obstacles are divided into surmountable obstacles, impassable obstacle type 1 and impassable obstacle type 2; hierarchical control Corresponding to algorithm execution, path planning and parking warning; When the identified obstacle is a surmountable obstacle, a linear control algorithm for lifting the transplanting mechanism (7) of the rice transplanter and a linear control algorithm for the transplanting mechanism (7) of the rice transplanter are respectively established: A. Linear control algorithm for lifting rice transplanter transplanting mechanism The ultrasonic sensor finds the obstacle in front and the minimum distance from the obstacle is set to S. When the ultrasonic sensor crosses the obstacle, the value of S 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 rice transplanting mechanism (7) is constant at Sc; assuming that the working speed of the intelligent rice transplanter is constant at V ₁ , measured by the vehicle speed sensor, the angular velocity of the lifting rod device is constant at ω, by installing The level sensor and angular velocity sensor on the lifting pole can measure the real-time angle of the lifting pole as θ and the angular velocity of rotation as ω. The maximum height measured by the lidar sensor is h and the lateral width is h through the identification of obstacles. W, the time elapsed is t, where S, h, and t are all unknown quantities; When the rice transplanting mechanism (7) is about to touch the obstacle, the rice transplanting mechanism (7) just lifts to the height that can cross the obstacle and stops lifting. The distance is h ₁ ＝L×sinθ, and the horizontal position is used as the reference line. There are two cases for discussion. The first case is that the lifting pole does not need to be lifted above the horizontal line to cross the obstacle. The second case is that the lifting pole needs to be lifted above the horizontal line to cross the obstacle. ;Jointly calculate the quantities according to the motion model: When the obstacle h<h ₁ , there is S+Sc=V ₁ ×t These two formulas are respectively the expressions of the distance S+Sc and the height h of the obstacle from the rice transplanting mechanism (7) to the obstacle. By combining these two formulas, the relationship between S+Sc and h can be obtained: S+Sc＝V ₁ ×(arcsin(h/L)/ω) When the obstacle h≥h ₁ , there is S+Sc=V ₁ ×t Combining these two formulas, the relationship between the distance S+Sc from the rice transplanting mechanism to the obstacle and the height h of the obstacle can be obtained: S+Sc＝V ₁ ×(arcsin((hL×sinθ)/L)+θ)/ω After obtaining the data of the actual height of the obstacle through the environment perception module, import the value h of the measured obstacle height 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 will work immediately, stop the work of the rice transplanting mechanism (7), and optimally control the intelligent rice transplanter; B. Linear control algorithm of transplanting mechanism of homing rice transplanter When the rice 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, and after the _t1 time required for crossing the obstacle, the rice transplanting mechanism will be returned to its original position immediately. Continue to transplant rice seedlings, where the expression of time _t1 is: According to this expression, the linear relationship between the minimum distance S to the obstacle and the obstacle height h can be obtained, 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 rice transplanting mechanism reaches the corresponding value, the lifting device will be activated, and it will last for t ₁ after being lifted to a certain position. Just cross the obstacle, at this moment the lifting bar (8) just starts to reversely rotate and makes the rice transplanting mechanism (7) return to the working position. 2. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 1, characterized in that, when encountering an insurmountable obstacle type one, that is, an insurmountable obstacle and an immovable obstacle, the intelligent rice transplanter is working After reaching the limit distance from the obstacle, stop the work of the rice transplanting mechanism (7), lift the rice 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 The path planning signal in the direction is used as the actual travel path. 3. intelligent rice transplanter field optimum obstacle avoidance control system according to claim 1, it is characterized in that, when running into impenetrable obstacle type two, promptly impenetrable obstacle but movable obstacle, when infrared sensor ( 3) When a movable obstacle is detected in front, when the ultrasonic sensor (1) detects that the distance between the target and the target reaches the range of the safe distance, the control execution module will issue an instruction to decelerate, stop and stop working, and start The warning device reminds, when the target is not on the way, the intelligent rice transplanter will continue to work. 4. intelligent rice transplanter field optimum obstacle avoidance control system according to claim 1, is characterized in that, ultrasonic sensor (1), lidar sensor (2), infrared sensor (3) will collect respectively in the environmental perception module The distance to the obstacle, the geometric size of the obstacle, and the data information of the driving path are transmitted to the intelligent decision-making module. 5. intelligent rice transplanter field optimal obstacle avoidance control system according to claim 1 is characterized in that, in the rice transplanter information module, vehicle speed sensor (4), GPS sensor (5), level sensor (6), angular velocity sensor ( 9) The collected data information of the vehicle speed, real-time position of the intelligent rice transplanter, the angle (θ) between the lifting rod (8) and the horizontal plane, and the angular velocity ω raised by the lifting rice transplanting mechanism (7) is transmitted to the intelligent decision-making module. 6. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 4 is characterized in that the ultrasonic sensor (1) in the environmental perception module is installed at the lower end of the front part of the intelligent rice transplanter, and the laser radar sensor (2) and Infrared sensor (3) is installed on the intelligent rice transplanter front. 7. The intelligent rice transplanter field optimal obstacle avoidance control system according to claim 5, characterized in that, the vehicle speed sensor (4) is installed on the output shaft of the transmission, the GPS sensor (5) is installed in the middle of the vehicle, and the level sensor (6) ) and angular velocity sensor (9) are all installed on the lifting rod (8).