CN110641462B - Automatic steering method for agricultural machinery - Google Patents
Automatic steering method for agricultural machinery Download PDFInfo
- Publication number
- CN110641462B CN110641462B CN201911042858.3A CN201911042858A CN110641462B CN 110641462 B CN110641462 B CN 110641462B CN 201911042858 A CN201911042858 A CN 201911042858A CN 110641462 B CN110641462 B CN 110641462B
- Authority
- CN
- China
- Prior art keywords
- angle
- change value
- value
- agricultural machine
- direction change
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention discloses an automatic steering method of agricultural machinery, which comprises the following steps: step S1, determining an initial angle; step S2, controlling the agricultural machine to run for a set distance according to the initial angle to obtain a direction change value; step S3, determining whether the direction change value is less than or equal to a direction deviation set value; if the direction change value is smaller than or equal to a direction deviation set value, controlling the agricultural machine to run according to the initial angle; if the direction change value is larger than a direction deviation set value, analyzing according to the direction change value to obtain a deviation direction; steps S4 and S5, deflecting correspondingly according to the deviation direction and a set angle; and takes the deflected angle value as the initial angle and returns to step S2. The method can simply and quickly realize automatic steering and calibration of the agricultural machine, and the agricultural machine can run according to a set angle and has higher precision.
Description
Technical Field
The invention relates to the technical field of automatic steering of agricultural machinery, in particular to an automatic steering method of agricultural machinery.
Background
The automatic navigation technology of agricultural machinery can ensure that a farmland vehicle automatically runs along a set route, and is one of key technologies for ensuring the farmland operation quality; in order to make the agricultural machine advance along the set route with the minimum error, the navigation system needs to send a corner instruction to the steering device in real time, and the accurate execution of the corner instruction is a precondition for realizing high-precision automatic navigation.
Because the steering mechanisms of different agricultural machines have differences and the ranges of the turning angles of the agricultural machines are also different, the size and the range of the turning angles must be calibrated when an automatic navigation system is installed; the calibration process generally adopts a manual driving mode, a professional operator drives a machine to drive according to a specified route, the calibration steps are complicated, the process is complex, and non-professionals are difficult to calibrate successfully at one time.
Disclosure of Invention
The invention aims to provide an automatic steering method of agricultural machinery, which is simple, quick and high in accuracy.
In order to achieve the aim, the invention provides an automatic steering method of agricultural machinery, which comprises the following steps:
step S1, determining an initial angle;
step S2, controlling the agricultural machine to run for a set distance according to the initial angle to obtain a direction change value;
step S3, determining whether the direction change value is less than or equal to a direction deviation set value; if the direction change value is smaller than or equal to a direction deviation set value, controlling the agricultural machine to run according to the initial angle; if the direction change value is larger than a direction deviation set value, analyzing according to the direction change value to obtain a deviation direction;
step S4, if the deviation direction is leftward, controlling the agricultural machine to deflect to the right by a set angle; acquiring a deflected angle value by using an angle sensor, taking the deflected angle value as an initial angle, and returning to the step S2;
and step S5, if the deviation direction is rightward, controlling the agricultural machine to deflect the set angle leftward, acquiring a deflected angle value by using the angle sensor, taking the deflected angle value as an initial angle, and returning to the step S2.
Preferably, the step S1 is specifically:
step S11, determining a left limit angle and a right limit angle of the agricultural machine;
step S12, determining a median angle according to the left limit angle and the right limit angle;
in step S13, the median angle is used as the initial angle.
Preferably, the step S11 is specifically:
controlling a steering wheel of the agricultural machine to rotate leftwards, when the steering wheel reaches a left limit position, starting slipping of a torque limiting type coupling, and keeping an action state, wherein an angle value detected by an angle sensor is the left limit angle;
and controlling a steering wheel of the agricultural machine to rotate rightwards, starting to slip by the torque limiting type coupling when the steering wheel reaches a right limit position, and keeping an action state, wherein the angle value detected by the angle sensor is the right limit angle.
Preferably, the median angle is determined by the following calculation formula:
in the formula: phi is the median angle phiLIs a left limit angle phiRIs the right extreme angle.
Preferably, the step S2 includes:
step S21, acquiring a first driving direction at the starting position of the agricultural machine;
step S22, acquiring a second driving direction at the agricultural machine stopping position; the stopping position is a position where the agricultural machine runs the set distance according to the initial angle;
and step S23, calculating according to the first driving direction and the second driving direction to obtain a direction change value.
Preferably, the set angle is calculated by the formula:
in the formula: i is the number of deflections and i is a positive integer greater than 0.
Preferably, the specific formula of the direction change value is as follows:
F＝F1-F2；
in the formula: f is a direction change value, F1In a first direction of travel, F2Is the second direction of travel.
Preferably, the analyzing according to the direction change value to obtain the deviation direction specifically includes:
judging whether the direction change value is larger than 0; if the direction change value is greater than 0, the deviation direction is leftward; if the direction change value is less than 0, the deviation direction is rightward.
Preferably, the set distance is 1 m.
Preferably, the set angle is 2 °.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, the driving direction can be preset by acquiring the left limit angle and the right limit angle, and the steering angle of the agricultural machine can be controlled within a set range, so that accidents caused by overlarge steering angle can be effectively avoided; meanwhile, judging the direction change value, if the direction change value is larger than a set value, carrying out a subsequent deflection process which is a cyclic deflection process, and not carrying out final determination on the driving direction of the agricultural machine until the set requirement is met; the method is simple and easy to operate, the accuracy of the driving direction is guaranteed, manual operation is not needed in the whole process, and the defect that manual operation is needed by professional operators in the traditional method is overcome.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of an automatic steering method for an agricultural machine according to the present invention;
FIG. 2 is a flow chart of the deflection process of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
The invention aims to provide an automatic steering method of agricultural machinery, which is simple and easy to operate and has high precision.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIG. 1, the automatic steering method of agricultural machinery of the present invention comprises:
in step S1, an initial angle is determined.
And step S2, controlling the agricultural machine to run for a set distance according to the initial angle to obtain a direction change value.
Step S3, determining whether the direction change value is less than or equal to a direction deviation set value; if the direction change value is smaller than or equal to a direction deviation set value, controlling the agricultural machine to run according to the initial angle; and if the direction change value is larger than the direction deviation set value, analyzing according to the direction change value to obtain the deviation direction.
Step S4, if the deviation direction is leftward, controlling the agricultural machine to deflect to the right by a set angle; the post-deflection angle value is acquired by the angle sensor and taken as the initial angle, and the process returns to step S2.
And step S5, if the deviation direction is rightward, controlling the agricultural machine to deflect the set angle leftward, acquiring a deflected angle value by using the angle sensor, taking the deflected angle value as an initial angle, and returning to the step S2.
In this embodiment, a specific flow of performing a test by specifically applying the deflected angle until the direction change value is less than or equal to the direction deviation set value is shown in fig. 2.
As an alternative embodiment, step S1 of the present invention includes:
and step S11, determining the left limit angle and the right limit angle of the agricultural machine.
Specifically, the steering wheel of the agricultural machine is controlled to rotate leftwards, when the steering wheel reaches a left limit position, the torque limiting type coupling starts to slip, the action state is maintained, and the angle value detected by the angle sensor is the left limit angle.
And controlling a steering wheel of the agricultural machine to rotate rightwards, starting to slip by the torque limiting type coupling when the steering wheel reaches a right limit position, and keeping an action state, wherein the angle value detected by the angle sensor is the right limit angle.
And step S12, determining a median angle according to the left limit angle and the right limit angle. The calculation formula is as follows:
in the formula: phi is the median angle phiLIs a left limit angle phiRIs the right extreme angle.
In step S13, the median angle is used as the initial angle.
As an alternative embodiment, step S2 of the present invention includes:
and step S21, acquiring a first driving direction at the starting position of the agricultural machine through the positioning antenna and the directional antenna.
Step S22, acquiring a second driving direction at the stopping position of the agricultural machine through the positioning antenna and the directional antenna; the stop position is a position where the agricultural machine travels the set distance according to the initial angle.
The set angle is calculated by the following formula:
in the formula: i is the number of deflections and i is a positive integer greater than 0.
And step S23, calculating according to the first driving direction and the second driving direction to obtain a direction change value.
The calculation formula of the direction change value is as follows:
F＝F1-F2；
in the formula: f is a direction change value, F1In a first direction of travel, F2Is the second direction of travel.
Further, the analyzing according to the direction change value to obtain a deviation direction specifically includes:
judging whether the direction change value is larger than 0; if the direction change value is greater than 0, the deviation direction is leftward; if the direction change value is less than 0, the deviation direction is rightward.
In this embodiment, the set distance is 1 m. The set angle is 2 °.
The invention firstly obtains the left limit angle and the right limit angle, not only can control the steering angle of the agricultural machine in a safe range, but also can simply and effectively use the median value between the left limit angle and the right limit angle as an initial angle determined by the final driving angle. The invention is as simple and fast as possible, and simultaneously ensures the accuracy of the final driving angle positioning, and meanwhile, the invention can be applied to various agricultural machines, and has wide application range and no limit.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. An automatic steering method for an agricultural machine, comprising:
step S1, determining an initial angle;
step S2, controlling the agricultural machine to run for a set distance according to the initial angle to obtain a direction change value;
step S3, determining whether the direction change value is less than or equal to a direction deviation set value; if the direction change value is smaller than or equal to a direction deviation set value, controlling the agricultural machine to run according to the initial angle; if the direction change value is larger than a direction deviation set value, analyzing according to the direction change value to obtain a deviation direction;
step S4, if the deviation direction is leftward, controlling the agricultural machine to deflect to the right by a set angle; acquiring a deflected angle value by using an angle sensor, taking the deflected angle value as an initial angle, and returning to the step S2;
step S5, if the deviation direction is rightward, controlling the agricultural machine to deflect the set angle leftward, acquiring a deflected angle value by using the angle sensor, taking the deflected angle value as an initial angle, and returning to the step S2;
the step S2 includes:
step S21, acquiring a first driving direction at the starting position of the agricultural machine;
step S22, acquiring a second driving direction at the agricultural machine stopping position; the stopping position is a position where the agricultural machine runs the set distance according to the initial angle;
step S23, calculating according to the first driving direction and the second driving direction to obtain a direction change value;
the set angle is calculated by the following formula:
in the formula: i is the number of deflections and i is a positive integer greater than 0.
2. The automatic steering method of agricultural machinery according to claim 1, wherein the step S1 is specifically as follows:
step S11, determining a left limit angle and a right limit angle of the agricultural machine;
step S12, determining a median angle according to the left limit angle and the right limit angle;
in step S13, the median angle is used as the initial angle.
3. The automatic steering method of agricultural machinery according to claim 2, wherein the step S11 is specifically as follows:
controlling a steering wheel of the agricultural machine to rotate leftwards, when the steering wheel reaches a left limit position, starting slipping of a torque limiting type coupling, and keeping an action state, wherein an angle value detected by an angle sensor is the left limit angle;
and controlling a steering wheel of the agricultural machine to rotate rightwards, starting to slip by the torque limiting type coupling when the steering wheel reaches a right limit position, and keeping an action state, wherein the angle value detected by the angle sensor is the right limit angle.
4. The automatic steering method for agricultural machinery according to claim 2, wherein the median angle is determined by the following calculation formula:
in the formula: phi is the median angle phiLIs a left limit angle phiRIs the right extreme angle.
5. The automatic steering method of agricultural machinery according to claim 1, wherein the direction change value is specifically formulated as:
F＝F1-F2；
in the formula: f is a direction change value, F1In a first direction of travel, F2Is the second direction of travel.
6. The automatic steering method of agricultural machinery according to claim 1, wherein the direction of deviation is obtained by analyzing according to the direction change value, specifically:
judging whether the direction change value is larger than 0; if the direction change value is greater than 0, the deviation direction is leftward; if the direction change value is less than 0, the deviation direction is rightward.
7. An automatic steering method for agricultural machinery according to claim 1, wherein the set distance is 1 m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042858.3A CN110641462B (en) | 2019-10-30 | 2019-10-30 | Automatic steering method for agricultural machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911042858.3A CN110641462B (en) | 2019-10-30 | 2019-10-30 | Automatic steering method for agricultural machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110641462A CN110641462A (en) | 2020-01-03 |
| CN110641462B true CN110641462B (en) | 2020-11-17 |
Family
ID=69013838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911042858.3A Active CN110641462B (en) | 2019-10-30 | 2019-10-30 | Automatic steering method for agricultural machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110641462B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046601B (en) * | 2020-07-29 | 2022-03-11 | 东风汽车集团有限公司 | Method for calibrating limit position of steering angle, steering controller and automobile |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10378896B2 (en) * | 2006-02-27 | 2019-08-13 | Trimble Inc. | Method and system for planning the path of an agricultural vehicle |
| CN101221447A (en) * | 2008-01-18 | 2008-07-16 | 中国农业大学 | Mechanical automatic steering control method |
| CN105629973B (en) * | 2015-12-18 | 2019-05-17 | 广州中海达卫星导航技术股份有限公司 | A kind of method and device of the agricultural machinery straight-line travelling based on RTK technology |
| CN105523083B (en) * | 2015-12-23 | 2017-10-27 | 广州中海达卫星导航技术股份有限公司 | The automatic calibrating method and system of a kind of agricultural machinery automated driving system |
| CN105867377B (en) * | 2016-04-13 | 2019-01-08 | 浙江理工大学 | A kind of automatic steering control of farm mechanism control method |
| CN109470264B (en) * | 2018-08-30 | 2020-06-09 | 北京农业智能装备技术研究中心 | Automatic calibration method and system for guide wheel deflection angle measurement sensor |
| CN110058595B (en) * | 2019-05-08 | 2022-01-18 | 福建盛海智能科技有限公司 | Control method and terminal for wire-controlled steering of unmanned vehicle |
| CN110275529B (en) * | 2019-06-11 | 2021-06-11 | 东南大学 | Intelligent auxiliary driving method of harvester based on self-adaptive adjustment of neutral angle |
-
2019
- 2019-10-30 CN CN201911042858.3A patent/CN110641462B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110641462A (en) | 2020-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107458466B (en) | Method and device for determining a driver hand moment at a steering wheel of a vehicle | |
| US10162912B2 (en) | Friction identification method and friction identification device | |
| US20120197494A1 (en) | Method and device for aligning a determed steer angle with a measured steer angle | |
| CN106005006B (en) | The calibration method and device of a kind of steering angle sensor | |
| US10899013B2 (en) | Eccentricity error correction method for angle detector and robot system | |
| US9546858B2 (en) | Trajectory display device for displaying trajectories of motor end and machine end | |
| KR102585751B1 (en) | Method for estimating rack force of steer by wire system | |
| US10814481B2 (en) | Robot system for performing learning control by using motor encoder and sensor | |
| CN110641462B (en) | Automatic steering method for agricultural machinery | |
| CN108313125A (en) | A kind of calibration method and device of steering angle sensor | |
| CN107322599A (en) | A kind of method, storage device and the control device of robot Zero calibration | |
| EP2990903B1 (en) | Apparatus for controlling autonomously navigating utility vehicle | |
| JP5181563B2 (en) | Vehicle steering system | |
| CN112388602B (en) | Calibration method, device and equipment of mobile robot | |
| KR20150127484A (en) | Measuring Method of Rear Wheel Steering Angle | |
| KR101895867B1 (en) | Offset compensation apparatus and method of torque sensor in motor driven power steering apparatus | |
| JP6322023B2 (en) | Measuring device and failure diagnosis device using the same | |
| US20100030349A1 (en) | System and method for controlling movement of a measurement machine | |
| CN110058595B (en) | Control method and terminal for wire-controlled steering of unmanned vehicle | |
| KR102182252B1 (en) | Apparatus for compensating steering force in mdps system | |
| KR102439102B1 (en) | Method for compensating zero point of torque sensor | |
| Wasilewski et al. | Autocalibration of gyroscope based two-step regulator for autonomous vehicles. | |
| EP2930463A1 (en) | System for measuring orthogonality of y-cross beam and x-guides of a stage and method for positioning stage home using same | |
| US9846057B2 (en) | Method and apparatus for computing an angle of rotation | |
| CN114089694B (en) | Position correction method and device, storage medium, servo driver and servo system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200103 Assignee: Shandong MEG Tianhong Technology Development Co.,Ltd. Assignor: Shandong University of Technology Contract record no.: X2023980036158 Denomination of invention: A Method of Automatic Steering for Agricultural Machinery Granted publication date: 20201117 License type: Common License Record date: 20230601 |
|
| EE01 | Entry into force of recordation of patent licensing contract |