CN110809995A - Full swath control method and system for crawler-type combine harvester - Google Patents

Full swath control method and system for crawler-type combine harvester Download PDF

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CN110809995A
CN110809995A CN201910954250.1A CN201910954250A CN110809995A CN 110809995 A CN110809995 A CN 110809995A CN 201910954250 A CN201910954250 A CN 201910954250A CN 110809995 A CN110809995 A CN 110809995A
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upper computer
crawler
coordinate system
width
combine harvester
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CN110809995B (en
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徐立章
胡景熙
严玉奇
李耀明
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Jiangsu University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
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    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract

The invention provides a full swath control method and a full swath control system for a crawler-type combine harvester, wherein the method comprises the steps of calculating course deviation and transverse deviation, calculating the width △ d of a re-cutting area, calculating the actual rotation angle delta of a vehicle body and calculating an expected rotation angle, and an upper computer adjusts the rotation angle of a steering wheel according to the expected rotation angle to control swath.

Description

Full swath control method and system for crawler-type combine harvester
Technical Field
The invention belongs to the field of automation of combine harvesters, and particularly relates to a full swath control method and system for a crawler-type combine harvester.
Background
Along with the development of accurate agricultural technology, the research of unmanned agricultural machinery is deeper and deeper, the efficiency of farming is greatly improved by planning and tracking increasingly accurate navigation routes, the mechanical utilization rate is improved while the burden of operators is reduced, and the operation quality is optimized, but most of the existing research and equipment are concentrated on agricultural machines such as a wheeled tractor, a wheeled transplanter and the like and cannot be completely applied to the automatic driving working process of a crawler-type combine harvester, so that the problem of're-cutting' of the combine harvester in the process of harvesting crops is caused, the harvesting efficiency is reduced, and the operation quality is poor;
chinese patent CNI06508256A discloses a rice and wheat combined crawler-type combine harvester and a swath detection device and a detection method thereof, the invention adopts a laser radar to measure the swath width, Chinese patent CN101907436A discloses a swath measurement device of a grain combined crawler-type combine harvester, one end of a probe rod is controlled by a spring to be in close contact with a crop, a deflection angle of the probe rod is measured by a goniometer, and then the distance between the crop and a support rod is calculated according to a trigonometric function.
The above patent only realizes the detection of the swath in the working process of the harvester, does not combine the swath detection into the automatic driving of the crawler-type combine harvester, and does not consider the problem of path tracking of the harvester in the automatic driving process, particularly the re-cutting phenomenon existing when the harvesting boundary is not regular.
Disclosure of Invention
Aiming at the technical problems, the invention provides a full swath control method and a full swath control system for a crawler-type combine harvester, wherein radar speed measuring sensors are additionally arranged on two sides of the tail part of a crawler-type combine harvester body to obtain the speeds of the two sides of the crawler-type combine harvester body, a laser scanning sensor is arranged on a header to detect crop boundaries, the radar speed measuring sensors and the laser scanning sensor are used as a feedback adjusting mechanism of an automatic steering control system of the crawler-type combine harvester together, the rotation angle of the harvester is corrected and adjusted through information fusion, the optimization of a navigation path is finally realized, the accurate automatic driving is achieved, the cutting pair control in the automatic driving process of the crawler-type combine harvester is realized, and the heavy cutting phenomenon is solved.
The invention also provides a crawler-type combine harvester comprising the system for controlling the full swath of the crawler-type combine harvester.
The technical scheme adopted by the invention for solving the technical problems is as follows: a full swath control method of a crawler-type combine harvester comprises the following steps:
calculating course deviation and transverse deviation: positioning information of the crawler-type combine harvester is obtained through a navigation system and is transmitted to an upper computer, and the upper computer calculates course deviation and transverse deviation;
calculating the width △ d of the recutting area, namely detecting the crop boundary through a laser scanning sensor and uploading the crop boundary to an upper computer, wherein the upper computer calculates to obtain the width △ d of the recutting area of the cutting table of the crawler-type combine harvester;
calculating the actual turning angle delta of the vehicle body: the speed of two sides of the body of the crawler-type combined harvester is obtained through a radar speed measuring sensor and is transmitted to an upper computer, and the upper computer calculates to obtain the actual turning angle delta of the body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, then the transverse deviation and the average value of the width △ d of the recut area are transmitted to the upper computer, the upper computer compares the course deviation with the actual turning angle delta of the car body, when the course deviation is consistent with the actual turning angle delta of the car body, the course deviation or the actual turning angle delta of the car body is transmitted to the upper computer, when the course deviation is inconsistent with the actual turning angle delta of the car body, the average value of the course deviation and the actual turning angle delta of the car body is calculated, and then the average value of the course deviation and the actual turning angle delta of the car body is transmitted to the upper computer;
controlling a steering wheel: and the upper computer adjusts the rotation angle of the steering wheel 3 according to the expected rotation angle to perform swath control.
In the above solution, the calculation formula of the recut zone width △ d is as follows:
△d＝d-(|△x-x3i) formula eight
Wherein d is the actual width of the header, △ x is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, and x3The abscissa of the laser foot point in the inertial platform reference coordinate system.
Further, △ x and x in the calculation formula of the width △ d of the resegmenting area3Obtained by the following process:
defining the instantaneous laser beam coordinate system:
the origin O is a laser emission reference point,
the x-axis points to the moving direction of the crawler-type combine harvester,
y-axis, Oxyz constitutes the right-hand system,
the z-axis points in the instantaneous laser beam direction;
defining a laser scanning reference coordinate system:
the origin O is a laser emission reference point,
the x-axis points in the direction of travel of the combine,
y-axis, Oxyz constitutes the right-hand system,
the z-axis points to the zero point of the laser scanning system;
defining an inertial platform reference coordinate system in a navigation system:
the origin O is positioned at the reference center of the inertial platform, the coordinate system frame is defined according to the internal reference frame of the inertial platform,
the x axis points to the forward direction of the longitudinal axis of the crawler type combine body,
the y axis is vertical to the x axis and points to the right direction vertical to the advancing direction of the crawler-type combine harvester,
the z axis is vertically downward, and Oxyz forms a right-handed system;
the origin of coordinates of the laser scanning reference coordinate system is at the laser emission reference position, the origin of the inertial platform reference coordinate system is at the inertial platform reference center, the two are not coincident, and the eccentricity t is (△ x, △ y, △ z)T△ x in the eccentricity is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, △ y is the distance between the laser emission reference position and the reference center of the inertial platform along the y-axis direction in the reference coordinate system of the inertial platform, △ z is the distance between the laser emission reference position and the reference center of the inertial platform along the z-axis direction in the reference coordinate system of the inertial platform, and △ x, △ y and △ z can be obtained through measurement;
the distance from the laser emitting foot point to the target point is set as rho, and then the laser emitting foot point (x) is arranged at the moment1，y1，z1)TThe coordinates in the instantaneous laser beam coordinate system are
Figure BDA0002226749370000031
Laser foot point (x)1，y1，z1)TThe coordinate in the scanning reference system is (x)2，y2，z2)TAnd is
Figure BDA0002226749370000032
In the formula (I), the compound is shown in the specification,
Figure BDA0002226749370000033
θ is a scanning angle, i (i is 0,1,2 …, N-1), and N is the number of laser legs of a scanning line;
let the coordinate of the laser foot point in the inertial platform reference coordinate system be (x)3，y3，z3)T
Then
Figure BDA0002226749370000034
In the formula Rm＝R(α)·R(β)·R(γ)
Figure BDA0002226749370000035
Figure BDA0002226749370000036
Figure BDA0002226749370000037
α is the angle between the x axis of the laser scanning reference coordinate system and the x axis of the inertial platform reference coordinate system, β is the angle between the y axis of the laser scanning reference coordinate system and the y axis of the inertial platform reference coordinate system, and γ is the angle between the z axis of the laser scanning reference coordinate system and the z axis of the inertial platform reference coordinate system.
In the above scheme, the calculation formula of the actual turning angle δ of the vehicle body is as follows:
Figure BDA0002226749370000041
in the formula, v1，v2The speed of the vehicle body is respectively obtained by the radar speed measuring sensors on the two sides of the body of the crawler-type combined harvester, L is the length of a ground section of the crawler, and L is the center distance between the two radar speed measuring sensors.
Further, the calculation formula of the actual turning angle δ of the vehicle body is obtained by combining a two-wheel linear two-degree-of-freedom vehicle steering model and a tracked vehicle steering model:
wherein the tracked vehicle steering model is:
in the formula, R is the actual steering radius of the crawler-type combine harvester;
the two-wheel linear two-degree-of-freedom vehicle steering model comprises the following components:
in the state of the neutral steering,
RC＝R0≈Lc/tanδCformula ten
In the formula, RCIs the vehicle steering radius, R0To the steering radius of the driving wheel, LcIs the front of a vehicleCenter distance, delta, of rear wheelsCIs the front wheel steering angle;
when the tracked vehicle steering model is substituted into a two-wheel linear two-degree-of-freedom vehicle steering model, R is RCDelta is deltaC，
Figure BDA0002226749370000043
A system for realizing the swath control method of the crawler-type combine harvester comprises a navigation system, a laser scanning sensor, a radar speed measurement sensor and an upper computer;
the navigation system is used for acquiring positioning information of the crawler-type combine harvester and transmitting the positioning information to the upper computer, and the upper computer calculates course deviation and transverse deviation according to the acquired positioning information;
the laser scanning sensor is used for detecting crop boundaries and uploading the crop boundaries to the upper computer, and the upper computer calculates the width △ d of the header recutting area of the crawler-type combine harvester;
the radar speed measuring sensor is used for obtaining the speeds of two sides of the body of the crawler-type combined harvester and transmitting the speeds to the upper computer, and the upper computer calculates to obtain the actual turning angle delta of the body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, then the transverse deviation and the average value of the width △ d of the recut area are transmitted to the upper computer, the upper computer compares the course deviation with the actual corner delta of the vehicle body, when the course deviation is consistent with the actual corner of the vehicle body, the course deviation or the actual corner delta of the vehicle body is transmitted to the upper computer, when the course deviation is inconsistent with the actual corner delta of the vehicle body, the average value of the course deviation and the actual corner delta of the vehicle body is calculated, and then the average value of the course deviation and the actual corner delta of the vehicle body is transmitted to the upper computer;
and the upper computer adjusts the rotation angle of the steering wheel according to the expected rotation angle to perform swath control.
In the above solution, the navigation system includes a mobile station radio antenna, a mobile station receiver and an inertial navigation combination element;
the mobile station radio antenna, the mobile station receiver and the inertial navigation combination element are arranged on the top of the cab.
In the scheme, the laser scanning sensor is arranged on a cutting table of the crawler-type combine harvester through a bracket.
In the scheme, the radar speed measurement sensors are arranged on two sides of the tail of the crawler-type combined harvester.
A crawler-type combine harvester comprises the system of the full swath control method of the crawler-type combine harvester.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the rotating speeds of two sides of the vehicle body in the steering process are obtained through the radar speed measuring sensor, and the rotating speeds are converted into actual rotating angles in the vehicle running process by the upper computer to be used as feedback for navigation steering control of the upper computer, so that the moving path of the crawler-type combine harvester is adjusted, the problem of heavy cutting in the automatic driving process of the crawler-type combine harvester is solved, the harvesting efficiency of the crawler-type combine harvester is increased, and the loss is reduced. Therefore, the full-width harvesting problem and the feedback problem of the actual turning angle of the vehicle body in the working process of the crawler-type combine harvester are realized, so that the automatic driving route can be tracked more accurately, the operation error can be reduced, full-width harvesting or harvesting close to a full-width harvesting pair is realized, and the cost is saved.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a swath control method of a crawler-type combine harvester according to an embodiment of the invention;
FIG. 2 is a flow chart of desired turn angle acquisition according to an embodiment of the present invention;
FIG. 3 is a schematic view of the arrangement of the components of one embodiment of the present invention on a crawler type combine harvester;
FIG. 4 is a schematic view of a full swath operation of a crawler-type combine harvester according to an embodiment of the present invention;
FIG. 5 illustrates the position of the front left and right corners of the header in the vehicle coordinate system in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of the installation position and operation of a laser scanning sensor according to an embodiment of the present invention;
fig. 7 is a kinematic model coordinate system of a crawler combine harvester according to an embodiment of the invention.
In the figure, 1. mobile station radio antenna; 2. a mobile station receiver and inertial navigation combination element; 3. a steering wheel; 4. a display screen of the upper computer; 5. a laser scanning sensor; 6. a support; 7. a header; 8. a crawler belt; 9. a radar speed measurement sensor; 10. crops to be harvested; 11. the crop boundaries are to be harvested.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Example 1
Fig. 1 and 2 show a preferred embodiment of the full swath control method of the crawler-type combine harvester, which comprises the following steps:
calculating course deviation and transverse deviation: the positioning information of the crawler-type combine harvester, including course, transverse direction, position and the like, is obtained through a navigation system and is transmitted to an upper computer, the upper computer compares a manually set navigation AB line with the received position information, course deviation and transverse deviation are obtained through calculation, and meanwhile, the position information is displayed on a display screen 4 of the upper computer;
calculating the width △ d of the recutting area, namely detecting the crop boundary through a laser scanning sensor 5 arranged on a header 7, and uploading the crop boundary to an upper computer, wherein the upper computer calculates to obtain the width △ d of the recutting area of the header of the crawler-type combine harvester;
calculating the actual turning angle delta of the vehicle body: the speed of two sides of the vehicle body of the crawler-type combine harvester is obtained through radar speed measuring sensors 9 arranged on two sides of the vehicle body and is transmitted to an upper computer, and the upper computer calculates to obtain the actual turning angle delta of the vehicle body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to a control decision module of the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, then the average value of the transverse deviation and the width △ d of the recut area is transmitted to the control decision module of the upper computer, the upper computer compares the course deviation with the actual corner delta of the vehicle body, when the course deviation is consistent with the actual corner of the vehicle body, the course deviation or the actual corner delta of the vehicle body is transmitted to the control decision module of the upper computer, when the course deviation is inconsistent with the actual corner delta of the vehicle body, the average value of the course deviation and the actual corner delta of the vehicle body is calculated, and then the average value of the course deviation and the actual corner of the vehicle body is transmitted to the control decision module of the upper computer;
controlling a steering wheel: and the upper computer adjusts the rotation angle of the steering wheel according to the expected rotation angle to control the swath so that the harvester runs according to the expected route.
Fig. 4 shows the path of the crawler type combine harvester along the crop boundary line 11, the laser scanning sensor 5 on the side surface of the header 7 obtains crop boundary position information through scanning, and the position information of the left and right front corners A, B of the header 7 of the crawler type combine harvester on the vehicle is shown in fig. 4.
Fig. 5 shows that all parts of the crawler-type combine harvester are recorded in a geodetic coordinate system UTM in the form of absolute coordinate values, according to the definition of a vehicle coordinate system, the direction of a header of the crawler-type combine harvester is parallel to the y-axis direction of the vehicle coordinate system, the position relation of the left and right front corners A, B of the header of the crawler-type combine harvester in the vehicle coordinate system can be obtained, and further, the position compensation is carried out on the crawler-type combine harvester when the crawler-type combine harvester harvests to the left and to the right through the coordinate values of A, B points.
Fig. 6 shows that the laser scanning sensor 5 is fixedly installed on one side of the cutting table 7 through a bracket 6, and when the laser scanning sensor is installed, the coordinate axes of the laser scanning reference coordinate system and the coordinate axes of the carrier coordinate system are parallel to each other.
The recut zone width △ d is calculated as follows:
defining the instantaneous laser beam coordinate system:
the origin O is a laser emission reference point,
the x-axis points to the moving direction of the crawler-type combine harvester,
y-axis, Oxyz constitutes the right-hand system,
the z-axis points in the instantaneous laser beam direction;
defining a laser scanning reference coordinate system:
the origin O is a laser emission reference point,
the x-axis points in the direction of travel of the combine,
y-axis, Oxyz constitutes the right-hand system,
the z axis points to the zero point of the laser scanning system, and the scanning angle is zero;
defining an inertial platform reference coordinate system in a navigation system:
the origin O is positioned at the reference center of the inertial platform, the coordinate system frame is defined according to the internal reference frame of the inertial platform,
the x axis points to the forward direction of the longitudinal axis of the crawler type combine body,
the y axis is vertical to the x axis and points to the right direction vertical to the advancing direction of the crawler-type combine harvester,
the z axis is vertically downward, and Oxyz forms a right-handed system;
as can be seen from the above definition of the coordinate system, the origin of the laser scanning reference coordinate system is at the laser emission reference position, the origin of the inertial platform reference coordinate system is at the inertial platform reference center, and they do not coincide with each other, and the eccentricity t is (△ x),△y,△z)T△ x in the eccentricity is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, △ y is the distance between the laser emission reference position and the reference center of the inertial platform along the y-axis direction in the reference coordinate system of the inertial platform, △ z is the distance between the laser emission reference position and the reference center of the inertial platform along the z-axis direction in the reference coordinate system of the inertial platform, and △ x, △ y and △ z can be obtained through measurement;
the distance from the laser emitting foot point to the target point is set as rho, and then the laser emitting foot point (x) is arranged at the moment1，y1，z1)TThe coordinates in the instantaneous laser beam coordinate system are
Figure BDA0002226749370000071
Laser foot point (x)1，y1，z1)TThe coordinate in the scanning reference system is (x)2，y2，z2)TAnd is
In the formula (I), the compound is shown in the specification,
Figure BDA0002226749370000081
θ is a scanning angle, i (i is 0,1,2 …, N-1), and N is the number of laser legs of a scanning line;
let the coordinate of the laser foot point in the inertial platform reference coordinate system be (x)3，y3，z3)T
Then
Figure BDA0002226749370000082
In the formula Rm＝R(α)·R(β)·R(γ)
Figure BDA0002226749370000084
Figure BDA0002226749370000085
The design should make the coordinate axis of the laser scanning reference coordinate system parallel to the coordinate axis of the inertia platform reference coordinate system, but because of the installation error, an installation error angle α, gamma is generated, α is the included angle between the x axis of the laser scanning reference coordinate system and the x axis of the inertia platform reference coordinate system, β is the included angle between the y axis of the laser scanning reference coordinate system and the y axis of the inertia platform reference coordinate system, and gamma is the included angle between the z axis of the laser scanning reference coordinate system and the z axis of the inertia platform reference coordinate system.
The recut zone width △ d is calculated as:
△d＝d-(|△x-x3i) formula eight
Wherein d is the actual width of the header 7, △ x is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, and x3The horizontal coordinate of the laser foot point in the inertial platform reference coordinate system;
as shown in fig. 7, the radar speed measurement sensors 9 are installed on two sides of the tail of the vehicle body of the crawler-type combine harvester, and the upper computer converts signals transmitted by the radar speed measurement sensors 9 into speed and calculates the actual rotation angle of the vehicle body of the harvester.
The rotation center of the crawler-type combine harvester is defined as O, the geometric center is defined as O', when the crawler-type combine harvester rotates, the speeds of different positions on the vehicle body are different, and the speeds measured by the radar speed measurement sensors 9 arranged on two sides of the tail of the vehicle are v respectively1，v2The distance between the centers of the two radar speed measuring sensors 9 is l.
The calculation formula of the actual turning angle delta of the vehicle body is obtained by combining a two-wheel linear two-degree-of-freedom vehicle steering model and a tracked vehicle steering model:
wherein the tracked vehicle steering model is:
Figure BDA0002226749370000086
in the formula, R is the actual steering radius of the crawler-type combine harvester;
the two-wheel linear two-degree-of-freedom vehicle steering model comprises the following components:
in the state of the neutral steering,
RC＝R0≈Lc/tanδCformula ten
In the formula, RCIs the vehicle steering radius, R0To the steering radius of the driving wheel, LcIs the center distance, delta, of the front and rear wheels of the vehicleCIs the front wheel steering angle;
when the tracked vehicle steering model is substituted into a two-wheel linear two-degree-of-freedom vehicle steering model, R is RC，δ＝δC，
Figure BDA0002226749370000091
In the formula, v1，v2The speed of the vehicle body is respectively obtained by the radar speed measuring sensors 9 on the two sides of the vehicle body of the crawler-type combine harvester, L is the length of the grounding section of the crawler 8, and L is the center distance between the two radar speed measuring sensors 9.
And the upper computer calculates the expected rotation angle through a pure tracking algorithm.
Fig. 3 shows a preferred embodiment of the system for implementing the full swath control method of the crawler-type combine harvester according to the present invention, which includes a navigation system, a laser scanning sensor 5, a radar speed measurement sensor 9 and an upper computer; the navigation system comprises a mobile station radio antenna 1, a mobile station receiver and an inertial navigation combined element 2; the mobile station radio antenna 1 and the mobile station receiver and inertial navigation combination element 2 are arranged on the top of the cab. The laser scanning sensor 5 is arranged on a cutting table 7 of the crawler-type combine harvester through a bracket 6. The radar speed measurement sensors 9 are installed on two sides of the tail of the crawler-type combine. In the front left of the cab seat is an upper monitor 4, a steering wheel 3 is attached to the original steering wheel position, and a crawler belt 8 is positioned at the bottom of the vehicle body.
The navigation system is used for acquiring positioning information of the crawler-type combine harvester and transmitting the positioning information to the upper computer, and the upper computer calculates course deviation and transverse deviation according to the acquired positioning information; an AB line CAN be arranged on the upper computer display 4, the transverse and course deviation between the current harvester and the AB line is calculated by combining information sent by the Beidou, the inertial navigation sensor and the laser scanning sensor 5 and the radar speed measuring sensor 9, an expected vehicle body corner is obtained through a pure tracking algorithm, and the expected vehicle body corner is sent to a steering control system through a CAN bus; meanwhile, the width of a header of the harvester, the distance from the front side of the header 7 to a navigation positioning element and the offset distance between the header and the central line of the harvester can be set on the display 4 of the upper computer, so that the position compensation of the harvester is carried out. The harvester position compensation specifically comprises that the cutting table 7 of the harvester is an executing operation mechanism, and the cutting table 7 is positioned at the front part of the machine body. The sensor system for information acquisition is arranged at the top of the harvester body and deviates from the central line of the harvester, namely the position of the origin O of the vehicle coordinate system, and the two positions are different. During field operation, the offset must be considered, so as to avoid the occurrence of conditions such as crop damage, missed cutting and the like. Defining the right front angle of a header of the harvester as a point A; the left front angle of the header is B point. When the harvester works in the field, the header 7 of the harvester enters the working area before the origin of the vehicle coordinate system, and the left and right front corners of the header and the origin of the vehicle coordinate system have deviation on the transverse position of the harvester, so the coordinates of the origin of the vehicle coordinate system cannot replace the actual position of the header 7 of the harvester. In order to solve the problem that the operation part of the harvester is inconsistent with the origin of a vehicle coordinate system, the distance between the left front corner and the right front corner of the cutting table of the crawler-type combine harvester and a navigation system is measured by a physical measurement method to perform position compensation.
The laser scanning sensor 5 acquires the boundaries of an area where crops are not harvested and an area where crops are harvested and the height of the crops to be harvested in the harvesting operation process of the harvester in a line scanning mode, and sends the acquired information to an upper computer, and the information is used as feedback to adjust the movement path of the harvester;
the radar speed measuring sensor 9 is used for acquiring the speeds of two sides of the body of the crawler-type combined harvester and transmitting the speeds to the upper computer, and the upper computer calculates to obtain the actual turning angle delta of the body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to a control decision module of the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, and then the average value of the transverse deviation and the width △ d of the recut area is transmitted to the control decision module of the upper computer;
and the upper computer adjusts the rotation angle of the steering wheel 3 according to the expected rotation angle to perform swath control, so that a full cutting pair or an approximate full cutting pair is realized.
Example 2
A crawler-type combine harvester, comprising the system of the full swath control method of the crawler-type combine harvester described in embodiment 1, thereby having the advantages of embodiment 1, and further description is omitted here.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (10)

1. A full swath control method of a crawler-type combine harvester is characterized by comprising the following steps:
calculating course deviation and transverse deviation: positioning information of the crawler-type combine harvester is obtained through a navigation system and is transmitted to an upper computer, and the upper computer calculates course deviation and transverse deviation;
calculating the width △ d of the recutting area, namely detecting the crop boundary through a laser scanning sensor (5), and uploading the crop boundary to an upper computer, wherein the upper computer calculates to obtain the width △ d of the recutting area of the cutting table of the crawler-type combine harvester;
calculating the actual turning angle delta of the vehicle body: the speed of two sides of the body of the crawler-type combined harvester is obtained through a radar speed measuring sensor (9) and is transmitted to an upper computer, and the upper computer calculates to obtain the actual turning angle delta of the body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, then the transverse deviation and the average value of the width △ d of the recut area are transmitted to the upper computer, the upper computer compares the course deviation with the actual turning angle delta of the car body, when the course deviation is consistent with the actual turning angle delta of the car body, the course deviation or the actual turning angle delta of the car body is transmitted to the upper computer, when the course deviation is inconsistent with the actual turning angle delta of the car body, the average value of the course deviation and the actual turning angle delta of the car body is calculated, and then the average value of the course deviation and the actual turning angle delta of the car body is transmitted to the upper computer;
controlling a steering wheel: and the upper computer adjusts the rotation angle of the steering wheel (3) according to the expected rotation angle to perform swath control.
2. The full swath control method for a tracked combine as defined in claim 1, wherein the recut zone width △ d is calculated by the formula:
△d＝d-(|△x-x3i) formula eight
Wherein d is the actual width of the header (7), △ x is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, and x is3The abscissa of the laser foot point in the inertial platform reference coordinate system.
3. The full swath control method for a tracked combine as claimed in claim 2, wherein the calculation formula for the width of the recut zone △ d is △ x and x3Obtained by the following process:
defining the instantaneous laser beam coordinate system:
the origin O is a laser emission reference point,
the x-axis points to the moving direction of the crawler-type combine harvester,
y-axis, Oxyz constitutes the right-hand system,
the z-axis points in the instantaneous laser beam direction;
defining a laser scanning reference coordinate system:
the origin O is a laser emission reference point,
the x-axis points in the direction of travel of the combine,
y-axis, Oxyz constitutes the right-hand system,
the z-axis points to the zero point of the laser scanning system;
defining an inertial platform reference coordinate system in a navigation system:
the origin O is positioned at the reference center of the inertial platform, the coordinate system frame is defined according to the internal reference frame of the inertial platform,
the x axis points to the forward direction of the longitudinal axis of the crawler type combine body,
the y axis is vertical to the x axis and points to the right direction vertical to the advancing direction of the crawler-type combine harvester,
the z axis is vertically downward, and Oxyz forms a right-handed system;
the origin of coordinates of the laser scanning reference coordinate system is at the laser emission reference position, the origin of the inertial platform reference coordinate system is at the inertial platform reference center, the two are not coincident, and the eccentricity t is (△ x, △ y, △ z)T△ x in the eccentricity is the distance between the laser emission reference position and the reference center of the inertial platform along the x-axis direction in the reference coordinate system of the inertial platform, △ y is the distance between the laser emission reference position and the reference center of the inertial platform along the y-axis direction in the reference coordinate system of the inertial platform, △ z is the distance between the laser emission reference position and the reference center of the inertial platform along the z-axis direction in the reference coordinate system of the inertial platform, and △ x, △ y and △ z can be obtained through measurement;
the distance from the laser emitting foot point to the target point is set as rho, and then the laser emitting foot point (x) is arranged at the moment1，y1，z1)TThe coordinates in the instantaneous laser beam coordinate system are
Figure FDA0002226749360000021
Laser foot point (x)1，y1，z1)TThe coordinate in the scanning reference system is (x)2，y2，z2)TAnd is
In the formula (I), the compound is shown in the specification,
Figure FDA0002226749360000023
θ is a scanning angle, i (i is 0,1,2 …, N-1), and N is the number of laser legs of a scanning line;
let the coordinate of the laser foot point in the inertial platform reference coordinate system be (x)3，y3，z3)T
Then
Figure FDA0002226749360000024
In the formula Rm＝R(α)·R(β)·R(γ)
Figure FDA0002226749360000025
Figure FDA0002226749360000026
Figure FDA0002226749360000031
α is the angle between the x axis of the laser scanning reference coordinate system and the x axis of the inertial platform reference coordinate system, β is the angle between the y axis of the laser scanning reference coordinate system and the y axis of the inertial platform reference coordinate system, and γ is the angle between the z axis of the laser scanning reference coordinate system and the z axis of the inertial platform reference coordinate system.
4. The full swath control method of the crawler-type combine harvester according to claim 1, wherein the calculation formula of the actual turning angle δ of the vehicle body is as follows:
Figure FDA0002226749360000032
in the formula, v1，v2The speed of the vehicle body is respectively obtained by the radar speed measuring sensors (9) on the two sides of the body of the crawler-type combined harvester, L is the length of the ground section of the crawler, and L is the center distance between the two radar speed measuring sensors (9).
5. The full swath control method of the crawler-type combine harvester according to claim 4, wherein the calculation formula of the actual turning angle δ of the vehicle body is obtained by combining a two-wheel linear two-degree-of-freedom vehicle steering model and a crawler vehicle steering model:
wherein the tracked vehicle steering model is:
in the formula, R is the actual steering radius of the crawler-type combine harvester;
the two-wheel linear two-degree-of-freedom vehicle steering model comprises the following components:
in the state of the neutral steering,
RC＝R0≈Lc/tanδCformula ten
In the formula, RCIs the vehicle steering radius, R0To the steering radius of the driving wheel, LcIs the center distance, delta, of the front and rear wheels of the vehicleCIs the front wheel steering angle;
when the tracked vehicle steering model is substituted into a two-wheel linear two-degree-of-freedom vehicle steering model, R is RCDelta is deltaC，
Figure FDA0002226749360000034
6. A system for realizing the full swath control method of the crawler-type combine harvester according to any one of claims 1 to 5, which is characterized by comprising a navigation system, a laser scanning sensor (5), a radar speed measurement sensor (9) and an upper computer;
the navigation system is used for acquiring positioning information of the crawler-type combine harvester and transmitting the positioning information to the upper computer, and the upper computer calculates course deviation and transverse deviation according to the acquired positioning information;
the laser scanning sensor (5) is used for detecting crop boundaries and uploading the crop boundaries to the upper computer, and the upper computer calculates the width △ d of the header recutting area of the crawler-type combine harvester;
the radar speed measuring sensor (9) is used for obtaining the speeds of two sides of the body of the crawler-type combined harvester and transmitting the speeds to the upper computer, and the upper computer calculates to obtain the actual turning angle delta of the body;
the upper computer compares the transverse deviation with the width △ d of the recut area, when the transverse deviation is consistent with the width △ d of the recut area, the transverse deviation or the width △ d of the recut area is transmitted to the upper computer, when the transverse deviation is inconsistent with the width △ d of the recut area, the average value of the transverse deviation and the width △ d of the recut area is calculated, then the transverse deviation and the average value of the width △ d of the recut area are transmitted to the upper computer, the upper computer compares the course deviation with the actual corner delta of the vehicle body, when the course deviation is consistent with the actual corner of the vehicle body, the course deviation or the actual corner delta of the vehicle body is transmitted to the upper computer, when the course deviation is inconsistent with the actual corner delta of the vehicle body, the average value of the course deviation and the actual corner delta of the vehicle body is calculated, and then the average value of the course deviation and the actual corner delta of the vehicle body is transmitted to the upper computer;
and the upper computer adjusts the rotation angle of the steering wheel (3) according to the expected rotation angle to perform swath control.
7. The system for full swath control of a tracked combine harvester according to claim 6, wherein the navigation system comprises a mobile station radio antenna (1) and a mobile station receiver and inertial navigation combination element (2);
the mobile station radio antenna (1), the mobile station receiver and the inertial navigation combination element (2) are arranged on the top of the cab.
8. The system for full swath control of a tracked combine according to claim 6, wherein the laser scanning sensor (5) is mounted on a tracked combine header (7) by a bracket (6).
9. The system for controlling the full swath of the crawler-type combine harvester according to claim 6, wherein the radar speed sensor (9) is installed at the two sides of the tail of the crawler-type combine harvester.
10. A tracked combine harvester, comprising the system for full swath control of a tracked combine harvester according to any one of claims 6 to 9.
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