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Alternative TitleAgricultural machine automatic navigation controller and control method
胡静涛; 高雷; 李逃昌; 白晓平; 迟浩东; 王鹤; 刘晓光
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention discloses an agricultural machine automatic navigation controller and control method. The controller is divided into two layers which are a control unit at the lower layer and an expansion unit at the upper layer. The control unit is mainly composed of a processor module based on a 32-bit ARM9 kernel, a memory module, a CAN communication module and a power management module. The expansion unit is mainly composed of universal intelligent node modules from the first to the sixth and a GPS module. The universal intelligent node modules and the GPS module are connected via a slot and a back plate of the expansion unit. The control unit and the expansion unit are connected to each other via a flat cable. The method provided by the invention mainly combines an embedded operating system, the control unit adopts a multi-tasking, event triggering design idea and a path tracking algorithm based on a fuzzy adaptive pure tracking model, and an expected wheel steering angle required for an agricultural machine to track a field path is calculated in real time so that the actual steering wheel angle of the steering wheel angle and the desired consistency to enable automatic navigation control of the agricultural machine in the field.
PCT Attributes
Application Date2012-12-28
Date Available2016-12-28
Application NumberCN201210592219.6
Open (Notice) NumberCN103914066A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
胡静涛,高雷,李逃昌,等. 农机自动导航控制器及其控制方法[P]. 2014-07-09.
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File name: CN201210592219.6.pdf
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