Beidou Navigation and Autonomous Driving System

Introduction to Beidou Navigation and Autonomous Driving System

With the application of high-tech and the penetration of electronic information technology in our country, as well as the requirements of modern precision agriculture and the rapid development of high-tech agricultural machinery. Agricultural machinery satellite positioning and automatic navigation and driving have become an important part of modern agriculture. It plays an important role in many agricultural machinery operations such as sowing, fertilizing, spraying, harvesting, land preparation, and ridging, and has broad development prospects.
In line with the principle of developing large-scale agriculture based on large-scale agricultural machinery, Heshan Farm has continuously improved the scientific and technological content of agricultural machinery and the promotion and application of high-tech, and installed a set of satellite positioning and automatic navigation driving systems for advanced models such as Dierklas. By carrying out autumn land preparation and autumn ridging operations, this system not only improves the work quality and efficiency of the locomotives, achieves cost savings and increases efficiency, but also greatly reduces the labor intensity of the driving operators.
In the third autumn period, the locomotives have reduced heavy leakage and empty running, and the locomotives have saved tons of main fuel in total. Save tens of thousands of dollars, improve locomotive work efficiency by more than %, and increase time utilization by 10%. Achieve cost savings and efficiency increase of RMB 10,000.
System composition and working principle
System composition: Mainly including navigation light target direction sensor, communication module, navigation controller, hydraulic controller, etc.
Navigation light rake: After receiving the positioning signal and setting the navigation line, it will perform automatic straight-line navigation according to the operating width of the unit. The technical feature is that it can generate navigation lines during operations without an operation navigation map, and can accurately guide the straight-line walking operation of agricultural machinery in the field under certain positioning, so that the unit's operation is not heavy or leaky, and it has functions such as calculation and statistics of operation area. .
Direction sensor: Sends high-precision corner information to the navigation controller.
Communication module: Receive differential data from the base station.
Navigation controller: The core of the autonomous driving system? Sends instructions to the hydraulic system through the received positioning information and angle information from the direction sensor.
Hydraulic controller: The hydraulic controller changes the flow and direction of the fuel tank according to the instructions sent by the navigation controller to ensure that the agricultural machinery travels according to the set route.
Working principle
First, set the vehicle walking line on the navigation light target, and set the navigation mode, straight line or curve. By receiving base station differential data, centimeter-level satellite positioning is achieved and accurate positioning information is sent to the controller in real time. The direction sensor sends the wheel's movement direction to the controller in real time. The navigation controller sends instructions to the hydraulic control valve in real time based on the coordinates of the satellite positioning and the rotation of the wheels. By controlling the flow and direction of the oil in the hydraulic system, it controls the driving of the vehicle and ensures that the vehicle follows the route set by the navigation light rake.
Actual operation conditions
Improve land utilization.
The base station of this system is located in the farm's agricultural machinery management service center. The equipment is required to work hourly. The coverage radius of the base station can reach up to 100%, which can completely cover the entire operating area of the site and meet the requirements of farm agricultural machinery field operations. When agricultural machinery uses the automatic driving system to carry out operations such as ridging, sowing, spraying and land preparation, the deviation between the joint lines and the linearity deviation per kilometer can be controlled within centimeters, reducing crop production input costs, improving the quality of agronomic operations and avoiding accidents during the operation. The phenomenon of double leakage. Reduce production costs, improve land utilization and increase economic benefits.
Improve locomotive time utilization and operation quality
This system improves the locomotive's operating performance, extends the operation time, and can realize night sowing operations, greatly improving the locomotive's attendance rate and time utilization. At the same time, this system can reduce the labor intensity of driving operators. During the operation, the driving operators do not need to drive the steering wheel and can spend more time observing the working conditions of agricultural tools, which is beneficial to improving the quality of field operations.
Strong terrain adaptability
The system can be used on flat or sloping land. The controller's terrain compensation technology continuously corrects and compensates for the pitch and roll attitude of agricultural machinery to achieve precise navigation and driving.
Take ridging operation as an example: Traditional ridging operation relies entirely on the driver's own experience, and it is difficult to guarantee the accuracy of straightness and joint lines, especially when the area of the land and the slope are large. Under such conditions, yaw is unavoidable, and heavy leakage during operation and excessive deviation of the joint line directly cause an increase in production costs and a decrease in land utilization efficiency. Using this system can avoid the above phenomena from happening. At the same time, the system also has functions such as real-time recording of operating status and calculation and statistics of operating area. These have advantages over traditional agricultural machinery operations.
Reasonably allocate locomotives
Through satellite positioning, the field operation status of the locomotives can be grasped in real time, including the locomotive's operating location number, operating speed and other information, and the real-time operation status will be displayed on the large screen of the information center, so that Agricultural machinery management personnel scientifically and reasonably conduct unified command and dispatch of all locomotive operations at any time based on the locomotive field operation conditions.
Several things to note
Line B must be set at a distance from the forest belt according to farm requirements. The specific distance should be kept as parallel to the forest belt as possible according to the actual situation of the land number, so as to make full use of the land without wasting it and Meet standard work.
When multiple vehicles use the autonomous driving system to perform the same operation at the same location, the B lines between the vehicles must be parallel to ensure that the quality of the operation is not leaking or heavy.
When using automatic driving, when you need to accelerate, it is best to reduce the oil appropriately first, and then slowly increase the accelerator to the required position after upshifting. This can ensure the straightness of the operation. When you need to decelerate, It is best to refuel first and then downshift. Only by operating the locomotive correctly can the straightness of the operation not be affected.
When using autonomous driving to carry out suspended agricultural equipment operations, it is best to move forward slowly. After getting online, slowly fall to the edge of the field and confirm that it has entered the trench before putting down the agricultural equipment for operation. When using autonomous driving for towing operations, it is best to use manual driving online before using autonomous driving. This saves vehicles and farm tools, ensures safe operations, and avoids accidents.
When using autonomous driving operations, be sure not to sleep or lose concentration to avoid safety accidents.
In September this year, satellite positioning and automatic navigation and driving systems were installed on a total of three locomotives. Through field operations of the locomotives in the third autumn period, very good results were achieved.