CN113377101B - Unmanned tractor capable of automatically planning driving route based on GIS - Google Patents
Unmanned tractor capable of automatically planning driving route based on GISDownload PDFInfo
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- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
- 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
- G05D1/0276—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
- 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
- G05D1/0276—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
Description
Technical Field
The invention relates to the technical field of unmanned tractors, in particular to an unmanned tractor with an automatic driving route planning based on a GIS.
Background
Along with the continuous improvement of the automation and intellectualization level of the agricultural machinery, a user puts higher requirements on the automation degree of the agricultural machinery to generate an unmanned tractor, and the unmanned tractor is used for realizing the automatic driving of the unmanned tractor in different field operation processes such as ridging, seeding, plant protection and the like, thereby ensuring an ideal operation effect;
the geographic information system GIS is a comprehensive discipline, combining geography and cartography, as well as remote sensing and computer discipline, has been widely used in different fields, and is a computer system for inputting, storing, querying, analyzing and displaying geographic data;
the existing unmanned tractor has the problems that the oil quantity cannot be reasonably analyzed according to a driving route and supplemented, so that the oil quantity supplementation is inconvenient or the operation cannot be completed;
in view of the above technical drawbacks, a solution is proposed.
Disclosure of Invention
The invention aims to solve the problems that the oil quantity cannot be reasonably analyzed according to a driving route and supplemented, so that the oil quantity is inconvenient to supplement or the operation cannot be completed in the automatic operation of the existing unmanned tractor, and provides an unmanned tractor with a driving route automatically planned based on a GIS (geographic information system).
The purpose of the invention can be realized by the following technical scheme:
the unmanned tractor capable of automatically planning the driving route based on the GIS comprises an unmanned tractor body and a tractor control system for controlling the unmanned tractor body to work, wherein the tractor control system comprises a data communication module and a processor, and the data communication module is used for the processor to be in communication connection with a server and enabling the processor to exchange data; the server comprises a GIS module, the GIS module is used for inputting geographic data of a farmland to be operated by an operator and analyzing the geographic data to generate a geographic model of the farmland to be operated, and the tractor control system further comprises:
the path planning module is used for acquiring a geographic model of a farmland to be operated through the processor and generating an unmanned route according to the geographic model;
the driving control module is used for controlling the unmanned tractor body to execute the unmanned driving route to operate the farmland to be operated;
the data acquisition module is used for acquiring tractor data of the unmanned tractor body and sending the tractor data to the data analysis module; the tractor data comprises a real-time position, oil quantity information, a real-time video and a driving route of the unmanned tractor; the oil quantity information comprises the oil quantity of the unmanned tractor body at the initial operation, the real-time residual oil quantity in the operation and the running operation distance;
the data analysis module is used for sending the tractor data to the server through the processor and analyzing the tractor data at the same time; the specific analysis steps are as follows:
the method comprises the following steps: marking the oil mass of the unmanned tractor body at the initial operation as YL1; when the unmanned tractor body travels a first preset distance, calculating a difference value between the residual oil amount at the moment and the initial oil amount to obtain a first consumption, when the unmanned tractor body travels a second preset distance, calculating a difference value between the residual oil amount at the moment and the residual oil amount when the unmanned tractor body travels the first preset distance to obtain a second consumption, and repeating the steps, and after the unmanned tractor body travels a plurality of preset distances, calculating an average value of all the obtained consumptions to obtain a consumption average value;
step two: calculating to obtain a remaining operation distance through the unmanned driving route and the driving operation distance; dividing the remaining working distance by a preset distance, and multiplying the calculated distance by the consumption average value to obtain the estimated oil consumption of the unmanned tractor body and marking the estimated oil consumption as YL2; setting a reminding oil mass threshold YL3;
step three: when YL1-YL2 is not more than YL3, generating an information acquisition instruction, sending the information acquisition instruction and the real-time position of the unmanned tractor body into a server through a processor, after receiving the information acquisition instruction, drawing a circle by taking the real-time position of the unmanned tractor body as the center of the circle and then taking a preset radius to obtain a screening range, and feeding oil station information corresponding to a gas station with the position within the screening range back to a data analysis module;
step four: the data analysis module receives the oil station information and analyzes the oil station information, and the specific steps are as follows:
s41: calculating the distance difference between the position of the gas station and the position of the unmanned tractor body to obtain a conveying distance and marking the conveying distance as LG1;
s42: acquiring the fuel delivery value of the gas station through a server and marking the fuel delivery value as LG2; marking the residual oil quantity and the oil price of the gas station as LG3 and LG4 respectively;
s43: normalizing the delivery distance, the fuel delivery value, the residual fuel amount and the fuel price of the gas station and taking the numerical values of the delivery distance, the fuel delivery value, the residual fuel amount and the fuel price; obtaining an oil lift value LK of the gas station by using a formula; wherein h1, h2, h3 and h4 are all preset proportionality coefficients with values of 0.7, 1.4, 1.6 and 0.87 respectively; lambda is a correction factor, and the value of lambda is 0.89;
s44: marking the gas station with the maximum oil extraction value as a selected gas station;
step five: acquiring oil drum data of a selected oil station; setting the rated capacity of an oil tank of the unmanned tractor body as YL4; obtaining a supplementary oil quantity BY of the unmanned tractor body BY using a formula BY = YL4- (YL 1-YL 2); marking the intelligent oil drums with the capacity larger than the oil supplement amount as primary selection oil drums; selecting one intelligent oil barrel from the primary oil barrels and marking the intelligent oil barrel as a selected oil barrel;
step six: the data analysis module sends the real-time position and the oil supplement amount of the unmanned tractor body to the selected oil drum, and marks the moment of sending the real-time position and the oil supplement amount as the sending moment; displaying and voice reminding by selecting a display on the oil drum; the staff who selects the oil station to correspond adds the oil that the oil supply volume corresponds the oil number to selecting in the oil drum, then the staff will be selected the oil drum according to the real-time position of unmanned tractor body and send to unmanned tractor body department, will this moment mark and send the moment, will select the oil in the oil drum again and add in the oil tank of unmanned tractor body, select the total number of times of transporting of oil station and increase once simultaneously.
As a preferred embodiment of the invention, the server comprises a registration login module, the registration login module is used for enabling a staff of the gas station to submit the oil station information through the computer terminal for registration and sending the successfully registered oil station information to the server for storage, wherein the oil station information comprises the position of the gas station, the residual oil amount and the oil price of the corresponding tractor oil number in the gas station and the oil drum data of the corresponding intelligent oil drum in the gas station; oil drum data includes serial number, capacity and the real-time position of oil drum.
As a preferred embodiment of the invention, the intelligent oil drum comprises a picture acquisition unit; the picture acquisition unit is used for regularly acquiring pictures of oil in the intelligent oil drum within the time range of sending time and delivery time, forming all the shot pictures into a picture group and sending the picture group into the server.
As a preferred embodiment of the invention, the intelligent oil drum comprises a picture acquisition unit; the picture acquisition unit is used for regularly acquiring pictures of oil in the intelligent oil drum within the time range of sending time and delivery time, forming all the shot pictures into a picture group and sending the picture group into the server.
As a preferred embodiment of the present invention, the server further comprises an oil transportation analysis module; the oil delivery analysis module is used for analyzing the oil delivery value of the picture group, the sending time and the delivery time, and the specific analysis steps are as follows:
s1: analyzing the pictures in the picture group, and determining the marking line of the oil in the intelligent oil drum according to the oil supplement amount;
identifying a real-time line of oil in the picture, and calculating an area MJ enclosed by the real-time line above the marked line;
s2: setting the area conversion coefficient as KB; obtaining a polarization value PZ by using a formula PZ = MJ multiplied by KB; summing all polarization values in the image group to obtain a total polarization value;
s3: summing all polarization total values of the selected oil stations, taking the average value to obtain a polarization mean value, and marking the polarization mean value as FP1; setting the total number of times of transportation of the selected oil station as FP2;
s4: calculating the time difference between the sending time and the delivery time to obtain conveying time, acquiring a time threshold corresponding to the conveying distance, comparing the time threshold with the conveying time, and calculating the time difference between the sending time and the delivery time to obtain advanced time when the time threshold is greater than the conveying time; summing all the advanced time lengths of the selected oil stations to obtain the total advanced time length which is marked as FP3;
s5: normalizing the polarization mean value, the total conveying times and the total advance time of the selected oil station and taking the numerical values of the polarization mean value, the total conveying times and the total advance time; obtaining an oil delivery value LG2 of the selected oil station by using a formula LG2= FP2 x b1+ FP3 x b2-FP1 x b 3; wherein b1, b2 and b3 are preset proportional weight coefficients; the values are 0.4, 0.3 and 0.3 respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, an operator inputs geographic data of a farmland to be operated to a GIS module, the geographic data is analyzed through the GIS module to generate a geographic model of the farmland to be operated, and a path planning module acquires the geographic model of the farmland to be operated through a processor and generates an unmanned route according to the geographic model; the driving control module controls the unmanned tractor body to execute the unmanned driving route to operate the farmland to be operated; the operation route of the unmanned tractor is automatically generated through the GIS module, so that the unmanned tractor can operate better conveniently;
2. the data analysis module analyzes the data of the tractor to obtain the selected oil station, and obtains the oil drum data of the selected oil station; the data analysis module sends the real-time position and the oil supplement amount of the unmanned tractor body to the selected oil drum, and simultaneously marks the moment of sending the real-time position and the oil supplement amount as a sending moment; displaying and voice reminding by selecting a display on the oil drum; select the staff that the oil station corresponds to add the oil that the supplementary oil mass corresponds the oil number to selecting in the oil drum, then the staff will select the oil drum to send to unmanned tractor body department according to the real-time position of unmanned tractor body, carry out the analysis through data analysis module tractor data, when unmanned tractor oil mass is not enough, reasonable the filling station of selecting the correspondence in time is unmanned tractor operation, avoid current unmanned tractor when the operation, the operation can't be accomplished to the oil mass not enough.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is an overall schematic block diagram of the present invention;
FIG. 2 is a schematic diagram of the picture analysis of the present invention;
FIG. 3 is a schematic diagram of the overall structure of the intelligent oil drum of the present invention;
FIG. 4 is a cross-sectional view of a first sealing mechanism of the present invention;
FIG. 5 is a schematic view of the overall structure of the movable plate according to the present invention;
fig. 6 is a schematic view of the alignment of circular vias according to the present invention.
Detailed Description
The technical solutions of the present invention will be described below clearly and completely in conjunction with the embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the unmanned tractor with the driving route automatically planned based on the GIS includes an unmanned tractor body and a tractor control system for controlling the unmanned tractor body to work, wherein the tractor control system includes a data communication module, a processor, a path planning module, a driving control module, a data acquisition module and a data analysis module;
the data communication module is used for the communication connection between the processor and the server and the data exchange between the processor and the server; the path planning module is used for acquiring a geographic model of a farmland to be operated through the processor and generating an unmanned route according to the geographic model; the driving control module is used for controlling the unmanned tractor body to execute the unmanned driving route to operate the farmland to be operated;
the data acquisition module is used for acquiring tractor data of the unmanned tractor body and sending the tractor data to the data analysis module; the data of the tractor comprises the real-time position, oil mass information, real-time video and a driving route of the unmanned tractor; the oil quantity information comprises the oil quantity of the unmanned tractor body at the initial operation, the real-time residual oil quantity in the operation and the running operation distance;
the data analysis module sends tractor data to the server through the processor and analyzes the tractor data at the same time; the specific analysis steps are as follows:
the method comprises the following steps: marking the oil mass of the unmanned tractor body at the initial operation as YL1; when the unmanned tractor body travels a first preset distance, calculating a difference value between the residual oil amount at the moment and the initial oil amount to obtain a first consumption, when the unmanned tractor body travels a second preset distance, calculating a difference value between the residual oil amount at the moment and the residual oil amount when the unmanned tractor body travels the first preset distance to obtain a second consumption, and repeating the steps, and after the unmanned tractor body travels a plurality of preset distances, calculating an average value of all the obtained consumptions to obtain a consumption average value;
step two: calculating to obtain a remaining operation distance through the unmanned driving route and the driving operation distance; dividing the residual working distance by a preset distance, and multiplying the calculated distance by the consumption average value to obtain the estimated oil consumption of the unmanned tractor body and marking the estimated oil consumption as YL2; setting a reminding oil mass threshold YL3;
step three: when YL1-YL2 is not more than YL3, generating an information acquisition instruction, sending the information acquisition instruction and the real-time position of the unmanned tractor body into a server through a processor, after receiving the information acquisition instruction, drawing a circle by taking the real-time position of the unmanned tractor body as the center of the circle and then taking a preset radius to obtain a screening range, and feeding oil station information corresponding to a gas station with the position within the screening range back to a data analysis module;
step four: the data analysis module receives the oil station information and analyzes the oil station information, and the specific steps are as follows:
s41: calculating the distance difference between the position of the gas station and the position of the unmanned tractor body to obtain a conveying distance, and marking the conveying distance as LG1;
s42: acquiring the fuel delivery value of the gas station through a server and marking the fuel delivery value as LG2; marking the residual oil quantity and the oil price of the gas station as LG3 and LG4 respectively;
s43: carrying out normalization processing on the conveying distance, the oil conveying value, the residual oil quantity and the oil price of the gas station and taking the numerical values of the conveying distance, the oil conveying value, the residual oil quantity and the oil price; obtaining an oil lift value LK of the gas station by using a formula; wherein h1, h2, h3 and h4 are all preset proportionality coefficients with values of 0.7, 1.4, 1.6 and 0.87 respectively; lambda is a correction factor, and the value of lambda is 0.89;
s44: marking the gas station with the maximum oil extraction value as a selected oil station;
step five: acquiring oil drum data of a selected oil station; setting the rated capacity of an oil tank of the unmanned tractor body as YL4; obtaining a supplementary oil quantity BY of the unmanned tractor body BY using a formula BY = YL4- (YL 1-YL 2); marking the intelligent oil barrels with the capacity larger than the oil supplement amount as primary oil barrels; selecting one intelligent oil barrel from the primary oil barrel to be marked as a selected oil barrel;
step six: the data analysis module sends the real-time position and the oil supplement amount of the unmanned tractor body to the selected oil drum, and marks the moment of sending the real-time position and the oil supplement amount as the sending moment; displaying and voice reminding by selecting a display on the oil drum; the staff who selects the oil station to correspond adds the oil that the oil supply volume corresponds the oil number to selecting in the oil drum, then the staff will be selected the oil drum according to the real-time position of unmanned tractor body and send to unmanned tractor body department, will this moment mark and send the moment, will select the oil in the oil drum again and add in the oil tank of unmanned tractor body, select the total number of times of transporting of oil station and increase once simultaneously.
The server comprises a GIS module, a registration and login module and an oil delivery analysis module;
the GIS module is used for an operator to input geographic data of a farmland to be operated and analyze the geographic data to generate a geographic model of the farmland to be operated; the specific process refers to design and research of a GIS/GPS tractor seeding operation path planning system, college of river university,volume 29, 6 th year, and 12 months in 2011;
the registration and login module is used for submitting oil station information to register by a worker of the oil station through a computer terminal and sending the successfully registered oil station information to the server for storage, wherein the oil station information comprises the position of the oil station, the residual oil quantity and the oil price of the corresponding tractor oil number in the oil station and the oil drum data of the corresponding intelligent oil drum in the oil station; the oil drum data comprises the serial number, the capacity and the real-time position of the oil drum;
referring to fig. 2, the oil delivery analysis module is used for analyzing the oil delivery values of the group of pictures, the sending time and the delivery time, and the specific analysis steps are as follows:
s1: analyzing pictures in the picture group, and determining a marking line BX of oil in the intelligent oil drum according to the oil supplement amount; identifying a real-time line SX of oil in the picture, and calculating an area MJ enclosed by the real-time line SX above a marking line BX; when the intelligent oil tank shakes, the real-time line SX is a curve or other line in shape formed at the junction of the upper end of the oil and the air in the intelligent oil tank; the marked line BX is a line at the junction between the oil at the top end of the oil and the air in the intelligent oil drum when the intelligent oil drum is static after the supplementary oil is added;
s2: setting the area conversion coefficient as KB; obtaining a polarization value PZ by using a formula PZ = MJ multiplied by KB; summing all polarization values in the image group to obtain a total polarization value;
s3: summing all polarization total values of the selected oil stations, taking the average value to obtain a polarization average value, and marking the polarization average value as FP1; setting the total number of times of transportation of the selected oil station as FP2;
s4: calculating the time difference between the sending time and the sending time to obtain the conveying time, acquiring a time threshold corresponding to the conveying distance, comparing the time threshold with the conveying time, and calculating the time difference between the sending time and the reaching time to obtain the advance time when the time threshold is greater than the conveying time; summing all the advance time lengths of the selected oil stations to obtain the total advance time length which is marked as FP3;
s5: normalizing the polarization mean value, the total delivery times and the total advance time of the selected oil station and taking the numerical values of the polarization mean value, the total delivery times and the total advance time; obtaining an oil delivery value LG2 of the selected oil station by using a formula LG2= FP2 x b1+ FP3 x b2-FP1 x b 3; wherein b1, b2 and b3 are preset proportional weight coefficients; the values are respectively 0.4, 0.3 and 0.3;
referring to fig. 3-6, an intelligent oil drum includes an oil drum body 1, a first handle 8 is installed in the middle of the upper end surface of the oil drum body 1, a second handle 5 is installed near the bottom of one side of the oil drum body 1, an oil outlet pipe 6 communicated with the inside of the oil drum body 1 is installed near the bottom of the other side of the oil drum body 1, an oil inlet pipe 2 is installed on the upper end surface of the oil drum body 1, a first sealing mechanism 3 is installed on the oil inlet pipe 2, a second sealing mechanism 7 is installed on the oil outlet pipe 6, the first sealing mechanism 3 and the second sealing mechanism 7 both include a shell 301, a sliding plate chamber 302 and a motor chamber 303 located above the sliding plate chamber 302 and communicated with the sliding plate chamber 302 are installed inside the shell 301, a motor 304 is installed inside the motor chamber 303, a gear 305 is installed on an output shaft of the motor 304, and a plurality of teeth 306 are integrally formed on the gear 305; a moving plate 307 is slidably mounted inside the sliding plate chamber 302, a first circular through hole 308 is formed in the moving plate 307, and a plurality of tooth grooves 311 matched with the teeth 306 are formed in the upper end face of the moving plate 307 at equal intervals; the upper end face and the bottom end face of the shell 301 are provided with a second circular through hole 309 and a second circular through hole 310, the second circular through hole 309 is located right above the first circular through hole 310, and the diameters of the second circular through hole 309 and the first circular through hole 310 are the same as the diameter of the first circular through hole 308; the gear 305 is driven to rotate by the motor 304, and the teeth 306 on the gear 305 are meshed with the tooth grooves 311 on the moving plate 307, so that the moving plate 307 is driven by the motor 304 to slide in the sliding plate chamber 302, and the oil inlet pipe 2 and the oil outlet pipe 6 are opened or sealed by the moving plate 307 and the circular through holes one 308;
acontrol box 4 is installed on the side wall of theoil drum body 1, and adisplay screen 41, afirst button area 43, asecond button area 44 and aloudspeaker 42 are installed on thecontrol box 4; thefirst button area 43 is used for controlling the energization, the positive rotation and the negative rotation of themotor 304 in thefirst sealing mechanism 3; thesecond button area 44 is used for controlling the energization, the positive rotation and the negative rotation of themotor 304 in thesecond sealing mechanism 7; thefirst button area 43 and thesecond button area 44 are also provided with fingerprint identification units, the fingerprint identification units are used for collecting and verifying fingerprints of workers in the gas station, and theoil inlet pipe 2 and theoil outlet pipe 6 can be opened or closed after the fingerprints are successfully verified;
a receiving unit, a positioning unit, a picture acquisition unit and a sending unit are arranged in thecontrol box 4;
the receiving unit is used for receiving the real-time position and the oil supplementing quantity of the unmanned tractor body sent by the data analysis module and sending the real-time position and the oil supplementing quantity to thedisplay screen 41 for displaying;
the positioning unit is used for acquiring the real-time position of theoil drum body 1 in real time and sending the real-time position to the server through the sending unit;
the picture acquisition unit is used for regularly acquiring pictures of oil in the intelligent oil drum within the time ranges of the sending time and the reaching time; all the shot pictures are combined into a picture group and the picture group is sent to a server through a sending unit;
the formulas are obtained by acquiring a large amount of data and performing software simulation, and the coefficients in the formulas are set by the technicians in the field according to actual conditions;
when the unmanned aerial vehicle is used, an operator inputs geographic data of a farmland to be operated to the GIS module, the geographic data is analyzed through the GIS module to generate a geographic model of the farmland to be operated, and the path planning module acquires the geographic model of the farmland to be operated through the processor and generates an unmanned route according to the geographic model; the driving control module controls the unmanned tractor body to execute the unmanned driving route to operate the farmland to be operated; the operation route of the unmanned tractor is automatically generated through the GIS module, so that the unmanned tractor can operate better conveniently;
the data analysis module analyzes the tractor data, and marks the oil mass of the unmanned tractor body at the initial operation time as YL1; when the unmanned tractor body travels a first preset distance, calculating a difference value between the residual oil amount at the moment and the initial oil amount to obtain a first consumption, when the unmanned tractor body travels a second preset distance, calculating a difference value between the residual oil amount at the moment and the residual oil amount when the unmanned tractor body travels the first preset distance to obtain a second consumption, and repeating the steps, and after the unmanned tractor body travels a plurality of preset distances, calculating an average value of all the obtained consumptions to obtain a consumption average value; calculating to obtain a remaining operation distance through the unmanned driving route and the driving operation distance; dividing the remaining working distance by a preset distance, and multiplying the calculated distance by the consumption average value to obtain the estimated oil consumption of the unmanned tractor body and marking the estimated oil consumption as YL2; setting a reminding oil mass threshold YL3; when YL1-YL2 is not more than YL3, generating an information acquisition instruction, sending the information acquisition instruction and the real-time position of the unmanned tractor body into a server through a processor, after receiving the information acquisition instruction, taking the real-time position of the unmanned tractor body as the center of a circle, drawing a circle with a preset radius to obtain a screening range, and feeding oil station information corresponding to a gas station with the position in the screening range back to a data analysis module; the data analysis module receives the oil station information, analyzes the oil station information and marks the oil station with the maximum oil extraction value as a selected oil station; acquiring oil drum data of a selected oil station; the data analysis module sends the real-time position and the oil supplement amount of the unmanned tractor body to the selected oil drum, and simultaneously marks the moment of sending the real-time position and the oil supplement amount as a sending moment; displaying and voice reminding through a display on the selected oil drum; adding oil with the oil supplementing quantity corresponding to the oil number into the selected oil barrel by a worker corresponding to the selected oil station, then sending the selected oil barrel to the unmanned tractor body by the worker according to the real-time position of the unmanned tractor body, marking the moment as the delivery moment, and adding the oil in the selected oil barrel into an oil tank of the unmanned tractor body; carry out the analysis through data analysis module tractor data, when unmanned tractor oil volume is not enough, the reasonable filling station that selects to correspond in time is unmanned tractor operation, avoids current unmanned tractor when the operation, and the operation can't be accomplished to the oil mass not enough.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. The unmanned tractor capable of automatically planning the driving route based on the GIS comprises an unmanned tractor body and a tractor control system for controlling the unmanned tractor body to work, wherein the tractor control system comprises a data communication module and a processor, and the data communication module is used for the processor to be in communication connection with a server and enabling the processor to exchange data; the server comprises a GIS module which is used for an operator to input geographic data of a farmland to be operated and analyze the geographic data to generate a geographic model of the farmland to be operated; characterized in that the tractor control system further comprises:
the path planning module is used for acquiring a geographic model of a farmland to be operated through the processor and generating an unmanned route according to the geographic model;
the driving control module is used for controlling the unmanned tractor body to execute the unmanned driving route to operate the farmland to be operated;
the data acquisition module is used for acquiring tractor data of the unmanned tractor body and sending the tractor data to the data analysis module;
the data analysis module sends tractor data to the server through the processor, analyzes tractor data simultaneously, and the concrete analysis step is:
the method comprises the following steps: marking the oil mass of the unmanned tractor body at the initial operation as YL1; when the unmanned tractor body travels a first preset distance, calculating a difference value between the residual oil amount at the moment and the initial oil amount to obtain a first consumption, when the unmanned tractor body travels a second preset distance, calculating a difference value between the residual oil amount at the moment and the residual oil amount when the unmanned tractor body travels the first preset distance to obtain a second consumption, and repeating the steps, and after the unmanned tractor body travels a plurality of preset distances, calculating an average value of all the obtained consumptions to obtain a consumption average value;
step two: calculating to obtain a remaining operation distance through the unmanned driving route and the driving operation distance; dividing the remaining working distance by a preset distance, and multiplying the calculated distance by the consumption average value to obtain the estimated oil consumption of the unmanned tractor body and marking the estimated oil consumption as YL2; setting a reminding oil mass threshold YL3;
step three: when YL1-YL2 is not more than YL3, generating an information acquisition instruction, sending the information acquisition instruction and the real-time position of the unmanned tractor body into a server through a processor, after receiving the information acquisition instruction, taking the real-time position of the unmanned tractor body as the center of a circle, drawing a circle with a preset radius to obtain a screening range, and feeding oil station information corresponding to a gas station with the position in the screening range back to a data analysis module;
step four: the data analysis module receives the oil station information and analyzes the oil station information to obtain a selected oil station;
step five: acquiring oil drum data of a selected oil station; setting the rated capacity of an oil tank of the unmanned tractor body as YL4; obtaining a supplementary oil quantity BY of the unmanned tractor body BY using a formula BY = YL4- (YL 1-YL 2); marking the intelligent oil barrels with the capacity larger than the oil supplement amount as primary oil barrels; selecting one intelligent oil barrel from the primary oil barrels and marking the intelligent oil barrel as a selected oil barrel;
step six: the data analysis module sends the real-time position and the oil supplement amount of the unmanned tractor body to the selected oil drum, and simultaneously marks the moment of sending the real-time position and the oil supplement amount as a sending moment; displaying and voice reminding through a display on the selected oil drum; adding oil with the oil supplementing quantity corresponding to the oil number into the selected oil drum by a worker corresponding to the selected oil station, then sending the selected oil drum to the unmanned tractor body by the worker according to the real-time position of the unmanned tractor body, marking the moment as the sending moment, adding the oil in the selected oil drum into an oil tank of the unmanned tractor body, and simultaneously increasing the total number of times of the transportation of the selected oil station once;
the server also comprises an oil delivery analysis module; the oil delivery analysis module is used for analyzing the oil delivery value of the picture group, the sending time and the delivery time, and the specific analysis steps are as follows:
s1: analyzing the pictures in the picture group, and determining the marking line of the oil in the intelligent oil drum according to the oil supplement amount;
identifying a real-time line of oil in the picture, and calculating an area MJ enclosed by the real-time line above the marked line;
s2: setting the area conversion coefficient as KB; obtaining a polarization value PZ by using a formula PZ = MJ multiplied by KB; summing all polarization values in the image group to obtain a total polarization value;
s3: summing all polarization total values corresponding to the gasoline stations in any screening range, taking the average value to obtain a polarization average value, and marking the polarization average value as FP1; setting the total delivery times of the gas stations in any screening range as FP2;
s4: calculating the time difference between the sending time and the delivery time to obtain conveying time, acquiring a time threshold corresponding to the conveying distance, comparing the time threshold with the conveying time, and calculating the time difference between the sending time and the delivery time to obtain advanced time when the time threshold is greater than the conveying time; summing all the advance durations of the gas stations in any screening range to obtain the total advance duration and marking the total advance duration as FP3;
s5: normalizing the polarization mean value, the total delivery times and the total advance time of the gas stations in any screening range and taking the numerical values of the polarization mean value, the total delivery times and the total advance time; obtaining the fuel delivery value LG2 of the gas station in any screening range by using a formula LG2= FP2 x b1+ FP3 x b2-FP1 x b 3; wherein b1, b2 and b3 are preset proportional weight coefficients; the values are 0.4, 0.3 and 0.3 respectively;
the data analysis module specifically comprises the following steps of analyzing the oil station information:
s41: calculating the distance difference between the position of the gas station and the position of the unmanned tractor body to obtain a conveying distance and marking the conveying distance as LG1;
s42: acquiring the fuel delivery value of the gas station through a server and marking the fuel delivery value as LG2; marking the residual oil quantity and the oil price of the gas station as LG3 and LG4 respectively;
s43: carrying out normalization processing on the conveying distance, the oil conveying value, the residual oil quantity and the oil price of the gas station and taking the numerical values of the conveying distance, the oil conveying value, the residual oil quantity and the oil price; obtaining an oil lift value LK of the gas station by using a formula; wherein h1, h2, h3 and h4 are all preset proportionality coefficients, and lambda is a correction factor and is 0.89;
s44: and marking the gas station with the maximum oil lifting value as the selected gas station.
2. The unmanned tractor with the automatically planned driving route based on the GIS according to claim 1, characterized in that the server further comprises a registration login module, the registration login module is used for a worker of a gas station to submit oil station information through a computer terminal for registration and send the successfully registered oil station information to the server for storage, wherein the oil station information comprises the position of the gas station, the residual oil amount and the oil price of the corresponding tractor oil number in the gas station and the oil drum data of the corresponding intelligent oil drum in the gas station; oil drum data includes serial number, capacity and the real-time position of oil drum.
3. The unmanned tractor with automatic GIS based driving route planning of claim 2, wherein the smart oil drum comprises a picture collecting unit therein; the picture acquisition unit is used for regularly acquiring pictures of oil in the intelligent oil drum within the time range of sending time and delivery time, forming all the shot pictures into a picture group and sending the picture group into the server.
4. The GIS-based driveway auto-programming unmanned tractor of claim 1, wherein the tractor data includes real-time location of the unmanned tractor, fuel quantity information, real-time video and a driving route; the oil amount information comprises the oil amount of the unmanned tractor body at the initial operation time, the real-time residual oil amount in the operation and the running operation distance.
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