A kind of electrical system control method based on unmanned mowing vehicleTechnical field
The present invention relates to a kind of electrical system control methods based on unmanned mowing vehicle, belong to vehicle electrical systemTechnical field.
Background technique
Domestic existing large-scale mowing apparatus is the similar tractor-type agricultural machinery mowing apparatus of someone's operation, grass cutting action masterIf being equipped by these big machineries of manual control to complete, it is low, at high cost and big etc. to the injury on lawn that there are operating efficienciesDrawback.It can using the autonomous operation vehicle that the dedicated large-scale grassland of the electrical system production of the vehicle of the invention is mowedTo solve the above problems, the unmanned vehicle high-voltage electric system is quasi- according to making decisions on one's own with remotely controlling the method combined, passes throughIndustrial personal computer decision-making subsystem, sensing subsystem, mechanical subsystem, long-range control subsystem, remote manual control subsystem, power driveThe system coordinations such as subsystem work, realizes unmanned mowing in known region.
Summary of the invention
The purpose of the present invention is to provide a kind of electrical system control methods based on unmanned mowing vehicle, realize at nobodyVehicle is by the application in the special equipment of planning path autonomous operation.
The present invention to achieve the goals above, adopts the following technical scheme that
A kind of electrical system control method based on unmanned mowing vehicle, electrical system includes main control unit work in the control methodControl machine decision-making subsystem, sensor subsystem, long-range control subsystem, remote manual control subsystem, power drive subsystem harmonyLight alert sub-system, power supply subsystem；
Wherein, main control unit industrial personal computer decision-making subsystem uses industrial personal computer, is controlled by sampling module by sensor subsystem, remotelySubsystem, remote manual control subsystem signal acquisition into the industrial personal computer of main control unit, industrial personal computer according to sampled data analyzeThe movement instruction to be executed or functional mapping instruction are obtained afterwards, and power drive subsystem, sound-light alarm subsystem are controlled.
Further, its man-machine interface of long-range control subsystem has following major function: monitoring map interface, cameraReal-time pictures, long-range control, parameter regulation, model selection.
Further, sensor subsystem includes front and back obstacle avoidance sensor, front and back radar obstacle avoidance sensor, infrared obstacle avoidance biographySensor, temperature detection sensor, measure voltage & current sensor and Rotating speed measring sensor, are measured in real time system, defeatedBe out of order alerting signal.
Further, remote manual control subsystem is made of Digiplex and remote control receiver, unmanned vehicle manual modeUnder, operator emits wireless control directives by Digiplex and gives unmanned vehicle receiver, and remote-control receiver and industrial personal computer are logicalNews, and then control unmanned vehicle movement and various functions movement.
Further, power drive subsystem is made of driver and servo motor, the moving forward and backward of unmanned vehicle, left/right rotationIt is required to control motor drive machinery by industrial personal computer process control by motor servo driver and hold to, ceding of Taiwan up and down motionRow mechanism, is flexibly moved in all directions.
Further, sound-light alarm subsystem it include loudspeaker, tri coloured lantern and headlight composition, each function has industrial personal computerIt is controlled by intermediate module, for the fault alarm of system, the night running of unmanned vehicle.
Further, power supply subsystem is made of 180V, 24V, 12V and 5V voltage platform respectively, is provided for each subsystemElectric energy.
The operation of unmanned vehicle system divides Three models.Remote manual control mode, remote control mode and remote independent operational mode,The operation under the complex environments such as the storage outbound of unmanned vehicle can be carried out under remote manual control mode, after outbound to the grassland planned,Unmanned vehicle communication condition can be tested by remote control mode, not regulating and controlling unmanned vehicle processed to correct path will after readySystem is switched to remote independent operational mode and carries out autonomous operation, and cooperation remote console monitors unmanned vehicle operation in real timeAnd the operation such as long-range starting stopping.
Beneficial effects of the present invention:
A kind of whole control electrical system method for large-scale mowing vehicle special equipment of the invention, improves mowingOperating efficiency reduces and mows at high cost and reduce significantly to the injury on lawn, also mitigates the labor intensity of worker, improves operationEnvironment.Separately using unmanned mowing, it can be achieved that the fault of manual operation, improves the efficient stable of equipment.It can be applicable to airport grassLevel ground, Football Field Turf, golf course lawn etc. large size grassland in.The present invention has very heavy in large-scale unmanned grass-cutting vehicle fieldBig economic benefit and social benefit.
Detailed description of the invention
Fig. 1 is electrical system architecture schematic block diagram of the invention.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings.:
A kind of electrical system control method based on unmanned mowing vehicle, electrical system includes main control unit work in the control methodControl machine decision-making subsystem 1, sensor subsystem 3, long-range control subsystem 2, remote manual control subsystem 4, power drive subsystemWith acousto-optic alert sub-system 6, power supply subsystem 7；
Wherein, main control unit industrial personal computer decision-making subsystem 1 uses industrial personal computer, by sampling module by sensor subsystem 3, long-rangeControl subsystem 2, the signal acquisition of remote manual control subsystem 4 are into the industrial personal computer of main control unit, and industrial personal computer is according to sampled dataThe movement instruction to be executed or functional mapping instruction are obtained after analysis, and power drive subsystem, sound-light alarm subsystem are carried outControl.
Long-range its man-machine interface of control subsystem 2 has following major function: monitoring map interface, camera are drawn in real timeFace, long-range control, parameter regulation, model selection.
Sensor subsystem 3 includes front and back obstacle avoidance sensor, front and back radar obstacle avoidance sensor, IR evading obstacle sensors, temperatureDetection sensor, measure voltage & current sensor and Rotating speed measring sensor are spent, system is measured in real time, output failure mentionsAwake signal.
Remote manual control subsystem 4 is made of Digiplex and remote control receiver, under unmanned vehicle manual mode, operatorMember emits wireless control directives by Digiplex and gives unmanned vehicle receiver, remote-control receiver and industrial computer communication, and then controlsUnmanned vehicle movement and various functions movement processed.
Power drive subsystem is made of driver and servo motor 5, the moving forward and backward of unmanned vehicle, left and right turn, the ceding of TaiwanUp and down motion is required to through industrial personal computer process control, controls motor drive machinery executing agency by motor servo driver,It is flexibly moved in all directions.
It includes that loudspeaker, tri coloured lantern and headlight form to sound-light alarm subsystem 6, and each function has industrial personal computer to pass through centreModule control, for the fault alarm of system, the night running of unmanned vehicle.
Power supply subsystem 7 is made of 180V, 24V, 12V and 5V voltage platform respectively, provides electric energy for each subsystem.
The operation of unmanned vehicle system divides Three models.Remote manual control mode, remote control mode and remote independent operational mode,The operation under the complex environments such as the storage outbound of unmanned vehicle can be carried out under remote manual control mode, after outbound to the grassland planned,Unmanned vehicle communication condition can be tested by remote control mode, not regulating and controlling unmanned vehicle processed to correct path will after readySystem is switched to remote independent operational mode and carries out autonomous operation, and cooperation remote console monitors unmanned vehicle operation in real timeAnd the operation such as long-range starting stopping.