CN114019975A

CN114019975A - Agricultural implement track control method and device and agricultural machine

Info

Publication number: CN114019975A
Application number: CN202111308466.4A
Authority: CN
Inventors: 刘登卫; 吴斌
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-02-08

Abstract

The embodiment of the invention provides an agricultural implement trajectory control method and device and agricultural machinery, and relates to the technical field of agricultural machinery. The farm tool trajectory control method comprises the following steps: acquiring the fusion motion state of the farm tool at the previous moment; calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment; obtaining the measurement motion state of the farm tool at the current moment; calculating a fusion motion state of the agricultural implement at the current moment according to the measurement motion state of the agricultural implement at the current moment and the theoretical motion state of the agricultural implement at the current moment; calculating the control quantity of a steering wheel according to the fusion motion state of the farm tool at the current moment and a preset track; and controlling the rotation control quantity of the steering wheel to enable the farm tool to move to a preset track at the next moment. By adopting the error compensation mode, the motion error of the farm tool is compensated in real time, the track error of the farm tool in the working process can be reduced, the farm tool can keep the preset track motion, and the control precision of the track of the farm tool is improved.

Description

Agricultural implement track control method and device and agricultural machine

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a method and a device for controlling a track of an agricultural implement and the agricultural machinery.

Background

Agricultural machinery generally comprises a vehicle body and an agricultural implement, mechanized operation is carried out through a tool mounted at the tail part of the traction of the vehicle body, and generally, the vehicle body and the agricultural implement are in flexible connection, so that a great deal of uncertainty exists in the relative position of the agricultural implement and the agricultural machine in the operation process, and the deviation of an operation track can cause that the arrangement does not meet the agricultural requirement.

Disclosure of Invention

The invention aims to provide an agricultural implement track control method, an agricultural implement track control device and agricultural machinery.

Embodiments of the invention may be implemented as follows:

in a first aspect, an embodiment of the present invention provides an agricultural implement trajectory control method, which is applied to an agricultural machine, where the agricultural machine includes an agricultural implement and a vehicle body, the vehicle body drags the agricultural implement, and the vehicle body is equipped with an electrically controllable steering wheel, and the agricultural implement trajectory control method includes: acquiring the fusion motion state of the farm tool at the previous moment;

calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment;

acquiring a measurement motion state of the farm tool at the current moment;

calculating a fusion motion state of the farm tool at the current moment according to the measured motion state of the farm tool at the current moment and the theoretical motion state of the farm tool at the current moment;

calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the current moment and a preset track;

and controlling the steering wheel to rotate according to the control quantity, so that the farm tool moves to the preset track at the next moment.

In an optional embodiment of the present invention, the step of calculating the control amount of the steering wheel according to the fusion motion state of the farm tool at the current time and the preset trajectory includes:

calculating the fusion motion state of the farm tool at the next moment according to the fusion motion state of the farm tool at the current moment;

and calculating the control quantity according to the fusion motion state of the farm tool at the next moment and the preset track.

In an optional embodiment of the present invention, the fusion motion state includes a fusion angle value and a fusion coordinate value, and the step of calculating the fusion motion state of the agricultural implement at the next time according to the fusion motion state of the agricultural implement at the current time includes:

acquiring the running speed of the farm tool;

and calculating the fusion coordinate value of the farm tool at the next moment according to the running speed of the farm tool, the fusion coordinate value of the farm tool at the current moment and the fusion angle value of the farm tool at the current moment.

In an optional embodiment of the present invention, the fused motion state includes a fused angle value and a fused coordinate value, and the step of calculating the control amount of the steering wheel according to the fused motion state of the farm implement at the next time and the preset trajectory includes:

calculating a course difference value according to the fusion coordinate value of the farm tool at the next moment and the preset track;

and calculating the control quantity according to the course difference value and the fusion angle value at the next moment.

In an optional embodiment of the present invention, the step of calculating the heading difference according to the fused coordinate value of the farm tool at the next time and the preset trajectory includes:

setting a first position point and a second position point on the preset track;

calculating a position vector of the first position point and the second position point;

calculating a difference vector of the fusion coordinate values of the first position point and the farm tool at the next moment;

and calculating the course difference according to the difference vector and the position vector.

In an optional embodiment of the present invention, the theoretical movement state includes a theoretical angle value and a theoretical coordinate value, the fusion movement state includes a fusion angle value and a fusion coordinate value, and the step of calculating the theoretical movement state of the farm implement at the current time according to the fusion movement state at the previous time includes:

obtaining a rotation angle difference value of the farm tool and the vehicle body at the previous moment;

obtaining the spacing distance between the farm tool and the vehicle body;

acquiring the running speed of the farm tool;

and calculating the theoretical angle value of the current moment according to the fusion angle value of the previous moment, the rotation angle difference value of the previous moment, the running speed and the spacing distance.

In an optional embodiment of the present invention, the measuring motion state includes a measuring angle value and a measuring coordinate value, and the step of calculating the theoretical motion state of the agricultural implement at the current time according to the fusion motion state at the previous time includes:

fusing the fused angle value of the farm tool at the current moment according to the theoretical angle value at the current moment and the measured angle value at the current moment;

acquiring a vehicle body coordinate value of the vehicle body at the current moment;

and calculating a theoretical coordinate value of the farm tool at the current moment according to the coordinate value of the vehicle body at the current moment and the fusion angle value of the farm tool at the current moment.

In an optional embodiment of the present invention, the step of obtaining a difference between rotation angles of the farm tool and the vehicle body at a previous time includes:

obtaining a theoretical angle value of the farm tool at the previous moment;

acquiring an actual turning angle value of the vehicle body at the previous moment;

and calculating the difference between the theoretical angle value of the farm tool at the previous moment and the actual angle value of the vehicle body at the previous moment to obtain the rotation angle difference.

In an optional embodiment of the present invention, the theoretical movement state includes a theoretical angle value and a theoretical coordinate value, the measurement movement state includes a measurement angle value and a measurement coordinate value, the fusion movement state includes a fusion angle value and a fusion coordinate value, and the step of calculating the fusion movement state according to the measurement movement state of the farm implement at the current time and the theoretical movement state of the farm implement at the current time includes:

and fusing the fused coordinate value of the farm tool at the current moment according to the measured coordinate value at the current moment and the theoretical coordinate value at the current moment.

In a second aspect, an embodiment of the present invention provides an agricultural implement trajectory control method, which is applied to an agricultural machine, where the agricultural machine includes an agricultural implement and a vehicle body, the vehicle body drags the agricultural implement, and the vehicle body is mounted with an electrically controllable steering wheel, and the agricultural implement trajectory control method includes:

acquiring the position information of the farm tool at the current moment;

calculating the position information of the farm tool at the next moment according to the position information of the farm tool at the current moment;

calculating the control quantity of the steering wheel according to the position information of the farm tool at the next moment and a preset track;

In an optional embodiment of the present invention, the position information includes a fusion motion state, and the farm implement trajectory control method further includes:

acquiring a fusion motion state of the farm tool at the current moment;

calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the next moment and a preset track;

In an optional embodiment of the present invention, the step of obtaining the fusion motion state of the farm tool at the current time includes:

acquiring the fusion motion state of the farm tool at the previous moment;

acquiring a measurement motion state of the farm tool at the current moment;

and calculating the fusion motion state of the farm tool at the current moment according to the measured motion state of the farm tool at the current moment and the theoretical motion state of the farm tool at the current moment.

setting a first position point and a second position point on the preset track;

In a third aspect, an embodiment of the present invention provides an agricultural implement trajectory control device, which is applied to an agricultural machine, where the agricultural machine includes an agricultural implement and a vehicle body, the vehicle body is used for towing the agricultural implement, the vehicle body is mounted with an electrically controllable steering wheel, and the agricultural implement trajectory control device includes:

the first acquisition module is used for acquiring the fusion motion state of the farm tool at the previous moment;

the theoretical module is used for calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment;

the second acquisition module is used for acquiring the measured motion state of the farm tool at the current moment;

the first fusion module is used for calculating the fusion motion state of the farm tool at the current moment according to the measurement motion state of the farm tool at the current moment and the theoretical motion state of the farm tool at the current moment;

the first calculation module is used for calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the current moment and a preset track;

and the first control module is used for controlling the steering wheel to rotate according to the control quantity so as to enable the farm tool to move to the preset track at the next moment.

In a fourth aspect, an embodiment of the present invention provides an agricultural implement trajectory control device, which is applied to an agricultural machine, where the agricultural machine includes an agricultural implement and a vehicle body, the vehicle body is used for towing the agricultural implement, the vehicle body is mounted with an electrically controllable steering wheel, and the agricultural implement trajectory control device includes:

the third acquisition module is used for acquiring the fusion motion state of the farm tool at the current moment;

the second calculation module is used for calculating the fusion motion state of the farm tool at the next moment according to the fusion motion state of the farm tool at the current moment;

the third calculation module is used for calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the next moment and a preset track;

and the second control module is used for controlling the steering wheel to rotate according to the control quantity so as to enable the farm tool to move to the preset track at the next moment.

In a fifth aspect, embodiments of the present invention provide an agricultural machine, including a memory and a processor, where the memory is used for storing computer instructions, and the processor is used for executing the computer instructions to implement the farm implement trajectory control method provided in the first aspect and the second aspect.

The embodiment of the invention has the following beneficial effects: the farm tool trajectory control method comprises the following steps: acquiring the fusion motion state of the farm tool at the previous moment; calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment; obtaining the measurement motion state of the farm tool at the current moment; calculating a fusion motion state of the agricultural implement at the current moment according to the measurement motion state of the agricultural implement at the current moment and the theoretical motion state of the agricultural implement at the current moment; calculating the control quantity of a steering wheel according to the fusion motion state of the farm tool at the current moment and a preset track; and controlling the steering wheel to rotate according to the control quantity, so that the farm tool moves to a preset track at the next moment. The agricultural implement track control method, the agricultural implement track control device and the agricultural machine provided by the embodiment of the invention calculate the theoretical motion state of the current moment according to the previous moment, fuse the theoretical motion state and the measured motion state of the current moment to obtain the fused motion state of the current moment, and calculate the control quantity of the steering wheel by adopting a mode of fusing the theoretical motion state and the measured motion state, so that the control quantity of the steering wheel can be compensated by using the calculated theoretical motion state on the basis of the current measured motion state, the motion error of the agricultural implement can be compensated in real time, the track error of the agricultural implement in the working process can be reduced, the agricultural implement can keep the preset track motion, and the control precision of the agricultural implement track is improved.

In addition, the farm tool trajectory control method comprises the following steps: acquiring position information of the farm tool at the current moment; calculating the position information of the farm tool at the next moment according to the position information of the farm tool at the current moment; calculating the control quantity of the steering wheel according to the position information of the farm tool at the next moment and a preset track; and controlling the steering wheel to rotate according to the control quantity, so that the farm tool moves to a preset track at the next moment. The control quantity of the steering wheel is calculated according to the position information of the farm tool at the next moment by predicting the position information of the farm tool at the next moment, which is equivalent to the future control at present, so that the delay of the response of the agricultural machine is offset, and the control precision of the movement of the farm tool is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of an agricultural implement trajectory control method according to a first embodiment of the present invention.

Fig. 2 is a flowchart of steps S210 to S240 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 3 is a flowchart of the substep of step S210 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 4 is a flowchart of steps S250-S270 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 5 is a flowchart of the substep of step S400 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 6 is a flowchart of the substep of step S500 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 7 is a flowchart of the substep of step S510 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 8 is a flowchart of the substep of step S520 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 9 is a flowchart of the substep of step S522 of the farm implement trajectory control method according to the first embodiment of the present invention.

Fig. 10 is a block diagram of an agricultural implement trajectory control device according to a first embodiment of the present invention.

Fig. 11 is a block diagram of an agricultural implement trajectory control device according to a second embodiment of the present invention.

Fig. 12 is a flowchart of a farm implement trajectory control method according to a third embodiment of the present invention.

Fig. 13 is a flowchart of the substep of step S10 of the farm implement trajectory control method according to the third embodiment of the present invention.

Fig. 14 is a flowchart of the substep of step S30 of the farm implement trajectory control method according to the third embodiment of the present invention.

Fig. 15 is a flowchart of the substep of step S31 of the farm implement trajectory control method according to the third embodiment of the present invention.

Fig. 16 is a block diagram of an agricultural implement trajectory control device according to a third embodiment of the present invention.

Fig. 17 is a block diagram of an agricultural machine according to an embodiment of the present invention.

Icon: 10-agricultural machinery; 11-a processor; 12-a memory; 20-an agricultural implement trajectory control device; 21-a first acquisition module; 22-theoretical module; 23-a second acquisition module; 24-a first fusion module; 25-a first calculation module; 26-a first control module; 30-an agricultural implement trajectory control device; 31-a third acquisition module; 32-a second calculation module; 33-a third calculation module; 34-a second control module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

Agricultural machinery generally comprises a vehicle body and an agricultural implement, mechanized operation is carried out through a tool mounted at the tail part of the traction of the vehicle body, and generally, the vehicle body and the agricultural implement are in flexible connection, so that a great deal of uncertainty exists in the relative position of the agricultural implement and the agricultural machine in the operation process, and the deviation of an operation track can cause that the arrangement does not meet the agricultural requirement. Most of the existing control modes adopt the steps of detecting the real-time position of the farm tool, then recalculating a new target track, and changing the tracking track to enable the farm tool to walk to a target line. However, this method has high precision requirement, complex processing and large calculation amount. In addition, the use of a re-planning trajectory increases the amount of calculation, and has certain requirements on the performance of the algorithm operating platform. The agricultural implement trajectory control method, the agricultural implement trajectory control device and the agricultural machine provided by the embodiment of the invention can solve the problems, compensate the motion error of the agricultural implement in real time by adopting an error compensation mode, reduce the trajectory error of the agricultural implement in the working process, and enable the agricultural implement to keep the preset trajectory motion, thereby improving the control precision of the agricultural implement trajectory.

First embodiment

The embodiment of the invention provides an agricultural implement track control method, which adopts an error compensation mode to compensate the motion error of an agricultural implement in real time, can reduce the track error of the agricultural implement in the working process, and enables the agricultural implement to keep a preset track to move, thereby improving the control precision of the agricultural implement track. Referring to fig. 1, the method for controlling a track of an agricultural implement according to an embodiment of the present invention includes the following steps:

and S100, acquiring the fusion motion state of the farm tool at the previous moment. And the fusion motion state comprises a fusion angle value and a fusion coordinate value.

In this embodiment, the fusion movement state of the farm implement at the previous time is obtained through calculation, and the fusion angle value of the farm implement at the previous time can be obtained through calculation of data at an earlier time.

The fusion motion state at the previous moment is obtained by fusing the theoretical motion state at the previous moment and the measurement motion state at the previous moment, and the error of the agricultural implement in the motion process can be compensated.

And if the previous moment is the initial moment, the fused motion state at the previous moment is the measurement motion state.

And step S200, calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment. The theoretical motion state comprises a theoretical angle value and a theoretical coordinate value.

In this embodiment, the theoretical motion state at the current time is calculated according to the fusion motion state at the previous time, where the theoretical motion state is a relatively ideal motion state calculated according to the fusion motion state at the previous time, and the theoretical motion state obtained through calculation can compensate the measured motion state to some extent, so as to compensate the error of the measured motion state.

The step S200 may include a step S210, a step S220, a step S230, a step S240, a step S250, a step S260, and a step S270.

Referring to fig. 2, in step S210, a rotation angle difference between the farm implement and the vehicle body at the previous time is obtained.

Under ideal conditions, the rotation angles between the vehicle body and the farm tool should be the same in the process of driving the farm tool to move, the vehicle body and the farm tool are flexibly connected, so that the angle deviation can occur in the moving process, and the difference value of the rotation angles is the angle deviation value of the farm tool and the vehicle body at the previous moment.

Referring to fig. 3, step S210 includes step S212, step S214 and step S216.

Step S212, a theoretical angle value of the farm tool at the previous moment is obtained.

In this embodiment, it is easily understood that the theoretical angle value at the previous time is calculated by using the fusion motion state at the time before the previous time. The error value of the angle can be reduced by adopting the theoretical angle value to calculate the difference value of the rotation angle.

In step S214, the actual turning angle value of the vehicle body at the previous time is acquired.

In the present embodiment, the actual turning angle value of the vehicle body is directly detected by the sensor.

Step S216, calculating a difference between a theoretical angle value of the farm tool at the previous moment and an actual angle value of the vehicle body at the previous moment to obtain a rotation angle difference.

And subtracting the actual rotation angle value of the vehicle body at the previous moment from the theoretical angle value of the farm tool at the previous moment to obtain a rotation angle difference value.

Step S220, the spacing distance between the farm tool and the vehicle body is obtained.

In this embodiment, the distance between the farm implement and the vehicle body is a fixed value, and is the distance between the center position of the farm implement and the center position of the vehicle body.

And step S230, acquiring the running speed of the farm tool.

In this embodiment, the moving speed is a forward or backward speed value of the farm implement, and since the farm implement is driven by the vehicle body to move forward or backward, the operating speed of the farm implement is generally equal to the operating speed of the vehicle body.

And step S240, calculating a theoretical angle value of the current moment according to the fusion angle value of the previous moment, the rotation angle difference value of the previous moment, the running speed and the spacing distance.

In the embodiment, the difference of the rotation angles is related to the distance between the farm implement and the vehicle body, and generally, the larger the distance is, the larger the difference of the rotation angles is, the smaller the distance is, and the smaller the difference of the rotation angles is.

Similarly, the rotation angle difference is also in direct proportion to the operation speed, and as the vehicle body drives the farm tool to work, a response process exists in the motion process, and if the motion speed is faster and the response is slower, the rotation angle difference is larger. If the motion speed is smaller, the difference value of the rotation angles is smaller.

Specifically, the theoretical angle value is calculated according to the following formula:

psi_2_hat(k)＝psi_2_est(k-1)+(v*dt/L2)sin(d_psi(k-1))；

psi _2_ hat (k) is a theoretical angle value at the current moment, psi _2_ est (k-1) is a fusion angle value at the previous moment, v is the running speed, L2 is the spacing distance between the farm tool and the vehicle body, and d _ psi (k-1) is the rotation angle difference value between the farm tool and the vehicle body at the previous moment.

The steps S210 to S240 are processes of calculating to obtain a theoretical angle value, and the steps S250 to S270 are processes of calculating to obtain a theoretical coordinate value.

Referring to fig. 4, in step S250, the fusion angle value of the agricultural implement at the current moment is fused according to the theoretical angle value at the current moment and the measurement angle value at the current moment.

In this embodiment, in the process of calculating the fusion angle value, the theoretical angle value and the measured angle value at the same time are substituted into the preset angle theory, so that the fusion angle value at the time can be output.

Namely, the theoretical angle value at the current moment and the measured angle value at the current moment are brought into the preset angle theory, and the fusion angle value at the current moment can be output.

For example: the preset angle theory can be that theoretical angle values and measurement angle values are constrained according to different weights, and the fusion angle value is calculated in such a way, so that the error of the measurement angle value in the motion process is continuously compensated.

And step S260, acquiring the coordinate value of the vehicle body at the current moment.

In this embodiment, the coordinate value of the vehicle body refers to a coordinate point of a real-time position of the vehicle body, and can be obtained by direct detection.

And step S270, calculating a theoretical coordinate value of the agricultural implement at the current moment according to the coordinate value of the vehicle body at the current moment and the fusion angle value of the agricultural implement at the current moment.

In this embodiment, the fusion angle value is a relatively ideal rotation angle of the agricultural implement at the current time, and is the rotation angle closest to the preset track. The theoretical coordinate value of the current moment is calculated according to the fusion angle, so that the error of the theoretical coordinate value can be reduced, and the calculation precision is improved.

Calculating the theoretical coordinate value of the current time according to the following formula:

tool_x_hat(k)＝car_x(k)+L2*cos(psi_2_est(k))；

tool_y_hat(k)＝car_y(k)+L2*sin(psi_2_est(k))；

wherein, tool _ x _ hat (k) is an x-axis coordinate value of a theoretical coordinate value of the farm tool, tool _ y _ hat (k) is a y-axis coordinate value of the theoretical coordinate value of the farm tool, car _ x (k) is an x-axis coordinate value of a coordinate value of the vehicle body, car _ y (k) is a y-axis coordinate value of the vehicle body, L2 is a spacing distance between the farm tool and the vehicle body, and psi _2_ est (k) is a theoretical angle value of the farm tool at the current moment.

And step S300, acquiring the measured motion state of the farm tool at the current moment. Wherein, the measuring motion state comprises measuring an angle value and a measuring coordinate value.

In this embodiment, in the process of acquiring the real-time motion state, the measurement angle value and the measurement coordinate value of the farm implement at the current time need to be acquired at the same time.

Similarly, the measured angle value and the measured coordinate value are directly measured by the positioning module.

And S400, calculating the fusion motion state of the agricultural implement at the current moment according to the measurement motion state of the agricultural implement at the current moment and the theoretical motion state of the agricultural implement at the current moment.

In this embodiment, the measured motion state is a motion state obtained by detection, the theoretical motion state is a motion state obtained by calculation, a fusion motion state obtained by fusing the measured motion state and the theoretical motion state, and a certain compensation is performed on an error of the measured motion state by the theoretical motion state, so that the fusion motion state can be closer to a preset trajectory.

Referring to fig. 5, step S400 includes step S410 and step S420.

And S410, fusing the fusion angle value of the agricultural implement at the current moment according to the theoretical angle value at the current moment and the measurement angle value at the current moment.

Step S420, fusing the fused coordinate value of the agricultural implement at the current moment according to the measured coordinate value at the current moment and the theoretical coordinate value at the current moment.

In this embodiment, in the process of calculating the fused coordinate value, the theoretical coordinate value and the measured coordinate value at the same time are substituted into the preset coordinate theory, and the fused coordinate value at the time can be output.

The current time theoretical coordinate value and the current time measurement coordinate value are substituted into the preset coordinate theory, and then the current time fusion coordinate value can be output.

For example: the preset coordinate theory can be that the theoretical coordinate value and the measurement coordinate value are constrained according to different weights, and the fusion coordinate value is calculated in such a way, so that the error of the measurement coordinate value in the motion process is continuously compensated.

Referring to fig. 1, in step S500, a control amount of a steering wheel is calculated according to a fusion motion state of an agricultural implement at a current time and a preset track.

In this embodiment, the fusion motion state is obtained by compensating the measurement motion state at the current time, and the control amount of the steering wheel is calculated by compensating the fusion motion state after the error and the preset trajectory, so that the error can be reduced, and the calculation amount in the process can be reduced, thereby reducing the cost of the whole agricultural machine 10.

Referring to fig. 6, step S500 may include step S510 and step S520.

Step S510, calculating a fusion motion state of the agricultural implement at the next time according to the fusion motion state of the agricultural implement at the current time.

In this embodiment, since the agriculture is already in the measured motion state at the current time, it is not time to control the control amount of the steering wheel according to the fusion motion state obtained by compensating the measured motion state according to the theoretical motion state at the current time. The fusion motion state of the farm tool at the next moment can be calculated according to the fusion motion state at the current moment, and the control quantity of the steering wheel is calculated through the fusion motion state at the next moment and the preset estimation, so that the motion state of the farm tool at the next moment can be controlled to coincide with the preset track, and the control precision of the farm tool is improved.

The deviation of the agricultural implement track is calculated according to the fusion motion state of the agricultural implement at the next moment, so that the control quantity is calculated, the delay of the response of the agricultural machine can be offset, the track error of the agricultural implement in the working process can be reduced, the agricultural implement can keep the preset track motion, and the control precision of the agricultural implement track is improved.

Referring to fig. 7, step S510 may include step S512 and step S514.

Step S512, the running speed of the farm tool is obtained.

Step S514, calculating the fusion coordinate value of the agricultural implement at the next moment according to the operation speed of the agricultural implement, the fusion coordinate value of the agricultural implement at the current moment and the fusion angle value of the agricultural implement at the current moment.

Specifically, the fusion coordinate value at the next time is calculated according to the following formula.

tool_x_forecast(k+1)＝tool_xy_est.x(k)+v*dt*cos(d_psi(k))*cos(psi_2_est(k))；tool_y_forecast(k+1)＝tool_xy_est.y(k)+v*dt*cos(d_psi(k))*sin(psi_2_est(k))；

Wherein, the tool _ x _ forecast (k +1) is an x-axis coordinate value of a fused coordinate value of the agricultural implement at the next moment, the tool _ y _ forecast (k +1) is a y-axis coordinate value of the fused coordinate value of the agricultural implement at the next moment, d _ psi (k) is a rotation angle difference value of the agricultural implement and the vehicle body at the current moment, psi _2_ est (k) is a fused angle value of the agricultural implement at the current moment, v is an operation speed of the agricultural implement, the tool _ xy _ est.x (k) is an x-axis coordinate value of the fused coordinate value of the agricultural implement at the previous moment, and the tool _ xy _ est.y (k) is a y-axis coordinate value of the fused coordinate value of the agricultural implement at the previous moment.

Referring to fig. 6, in step S520, the control amount of the steering wheel is calculated according to the fusion motion state of the farm tool at the next time and the preset track.

In this embodiment, after the fusion motion state at the next time is calculated, the control amount required for the farm implement to move from the position at the current time to the position overlapping with the preset trajectory at the next time can be calculated according to the preset trajectory, and the farm implement can be overlapped with the preset trajectory at the next time by controlling the steering wheel to rotate by the control amount.

Referring to fig. 8, step S520 includes step S522, step S524, step S526 and step S528.

In step S522, a heading difference is calculated according to the fused coordinate value of the farm tool at the next moment and the preset trajectory.

In this embodiment, an angle difference between the agricultural implement and the preset track when the agricultural implement is located at the fused coordinate value at the next moment can be calculated according to the fused coordinate value at the next moment, and the angle difference is a heading difference between the next moment and the preset track.

Referring to fig. 9, step S522 includes step S5221, step S5223, step S5225 and step S5227.

Step S5221, a first position point and a second position point are set on the preset trajectory.

In this embodiment, two position points are arbitrarily set on the preset track, which are the first position point and the second position point respectively. Generally, a position point close to the fused coordinate value at the next time can be selected from the first position point and the second position point.

It is easy to understand that if the first position point and the second position point are both set to be far from the fused coordinate value at the next time, the adjustment angle of the agricultural implement may be large in the process of moving from the current time to the next time, and the error may be large if the angle is large.

Therefore, in setting the first position point and the second position point, the position closer to the first position point is selected as much as possible.

In step S5223, a position vector of the first position point and the second position point is calculated.

In this embodiment, a position vector formed between the first position point and the second position point is calculated according to the first position point and the second position point, and the position vector reflects the current standard value. Connecting the first location point and the second location point forms the location vector.

Step S5225, a difference vector of the fused coordinate values of the first position point and the next time is calculated.

Similarly, the difference vector can be obtained by connecting the first position point with the fused coordinate value of the next time.

It should be noted that the difference vector may also be obtained by connecting the second position point and the fused coordinate value at the next time. If the difference vector is obtained from the fused coordinate value of the first position point and the next moment, the agricultural implement will move to the first position point at the next moment, and if the difference vector is obtained from the fused coordinate value of the second position point and the next moment, the agricultural implement will move to the second position point at the next moment.

In step S5227, a heading difference is calculated according to the difference vector and the position vector.

In this embodiment, the heading difference is an angle formed between the difference vector and the position vector, and the heading difference can be calculated according to the two vectors.

Referring to fig. 8, in step S524, the control amount is calculated according to the heading difference and the fusion angle value at the next time.

It is easily understood that the fusion angle value at the next time is calculated in the same manner as the fusion angle value at the current time.

And solving the sum of the heading difference and the fusion angle value at the next moment to obtain the control quantity.

Referring to fig. 1, in step S600, the steering wheel is controlled to rotate according to the control amount, so that the farm implement moves to the preset track at the next moment.

And controlling the steering wheel to rotate by the control amount at the current moment, namely moving to the first position point at the next moment so as to coincide with the preset track.

The working principle of the agricultural implement track control method provided by the embodiment of the invention is as follows: in this embodiment, after obtaining the fusion motion state according to the theoretical motion state and the measured motion state at the current time, the fusion motion state at the next time is predicted, the course difference between the next fusion motion state and the preset trajectory is calculated, and the agricultural implement can be gradually overlapped with the preset trajectory by compensating the measured motion state.

In summary, in the method for controlling a trajectory of an agricultural implement according to the present embodiment, after obtaining a fusion motion state according to a theoretical motion state and a measured motion state at a current time, a fusion motion state at a next time is predicted, a course difference between the next fusion motion state and a preset trajectory is calculated, the agricultural implement can be gradually overlapped with the preset trajectory by compensating the measured motion state, the calculation amount is small, and a control instruction is adjusted by calculating an appropriate compensation error, so that the motion trajectory of the agricultural implement is overlapped with the preset trajectory, thereby reducing the cost of the entire agricultural machine 10. The theoretical motion state of the current moment is calculated according to the previous moment, the fusion motion state of the current moment is obtained according to the fusion of the theoretical motion state and the measurement motion state of the current moment, the control quantity of the steering wheel is calculated by adopting a mode of fusing the theoretical motion state and the measurement motion state, the control quantity of the steering wheel can be compensated by utilizing the theoretical motion state obtained by calculation on the basis of the current measurement motion state, the motion error of the farm tool can be compensated in real time, the track error of the farm tool in the working process can be reduced, the farm tool can keep the preset track motion, and the control precision of the farm tool track is improved.

Referring to fig. 10, an embodiment of the present invention further provides an agricultural implement trajectory control device 20, which is applied to an agricultural machine 10, and the agricultural implement trajectory control device 20 includes:

the first obtaining module 21 is configured to obtain a fusion motion state of the farm implement at a previous time.

Step S100 of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the first obtaining module 21.

And the theoretical module 22 is used for calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment.

Step S200 and its sub-steps of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the theoretical module 22.

And the second obtaining module 23 is configured to obtain a measured motion state of the farm implement at the current moment.

Step S300 of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the second obtaining module 23.

The first fusion module 24 is configured to calculate a fusion motion state of the farm implement at the current time according to the measured motion state of the farm implement at the current time and the theoretical motion state of the farm implement at the current time.

Step S400 and its sub-steps of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the fusion module 24.

And the first calculating module 25 is configured to calculate a control amount of the steering wheel according to the fusion motion state of the farm tool at the current time and the preset track.

Step S500 and its sub-steps of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the first calculation module 25.

And the first control module 26 is used for controlling the steering wheel to rotate according to the control quantity so as to enable the farm tool to move to a preset track at the next moment.

Step S600 of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the first control module 26.

Second embodiment

Referring to fig. 11, in the farm implement trajectory control method provided in this embodiment, a deviation of a farm implement trajectory is calculated according to position information of a farm implement at a next time, so as to calculate a control amount, so that a delay of a response of a farm machine itself can be offset, a trajectory error of the farm implement in a working process can be reduced, the farm implement can keep a preset trajectory motion, and thus control accuracy of the farm implement trajectory is improved.

And step S1, acquiring the position information of the farm tool at the current moment.

In one embodiment, the location information may be fused location information, wherein the fused location information may be fused according to the actual location information and the theoretical location information. The position information may correspond to a coordinate value in the foregoing, which may be one of two values included in the motion state, and the relevant description in the foregoing may be referred to as to how the position information is specifically determined.

And step S2, calculating the position information of the farm tool at the next moment according to the position information of the farm tool at the current moment.

In this embodiment, the position information at the next time refers to a position that the agricultural implement may reach at the next time when the agricultural implement keeps the motion state at the current time. The position information of the agricultural implement at the next moment is calculated according to the position information of the agricultural implement at the current moment, the position information of the agricultural implement at the next moment can be predicted according to the position information of the agricultural implement at the current moment, the control quantity to be input to the steering wheel at present is calculated according to the position information of the agricultural implement at the future moment, and the control quantity can be equivalently controlled in the future at present, so that the delay of the response of the agricultural machine can be offset, the agricultural implement is dragged back to the preset track, and the control precision of the movement of the agricultural implement is improved.

And step S3, calculating the control quantity of the steering wheel according to the position information of the farm tool at the next moment and the preset track.

In the embodiment, the control quantity of the steering wheel is calculated according to the position information of the farm tool at the next moment and the preset track, namely the control quantity of the steering wheel is calculated according to the position information at the future moment, which is equivalent to the future control at present, so that the delay of the response of the agricultural machine can be offset, and the control precision of the movement of the farm tool is improved.

And step S4, controlling the rotation of the steering wheel according to the control quantity, and enabling the farm tool to move to a preset track at the next moment.

In the embodiment, the steering wheel is rotated according to the control quantity, so that the farm tool can move to be overlapped with the preset track at the next moment, and the control precision of the farm tool is improved.

In summary, in the present embodiment, since the agricultural machine employs the hydraulic system and the agricultural implement employs the flexible connection, the problem of delayed control response is likely to occur. In the embodiment, the control quantity of the steering wheel is calculated according to the position information of the farm tool at the next moment by predicting the position information of the farm tool at the next moment, which is equivalent to the future control at present, so that the delay of the response of the agricultural machine is offset, and the control precision of the movement of the farm tool is improved.

Third embodiment

The present embodiment provides an agricultural implement trajectory control method, which calculates a deviation of an agricultural implement trajectory according to position information of an agricultural implement at a next time, so as to calculate a control amount, can offset a delay of a response of an agricultural machine itself, can reduce a trajectory error of the agricultural implement during a working process, and can keep a preset trajectory movement of the agricultural implement, thereby improving a control accuracy of the agricultural implement trajectory.

The method for controlling the agricultural implement track provided by the embodiment comprises the following steps:

referring to fig. 12, in step S10, a fusion movement state of the farm implement at the current time is obtained.

Referring to fig. 13, the step S10 includes a step S11, a step S12, a step S13 and a step S14.

And step S11, acquiring the fusion motion state of the farm tool at the previous moment.

In this embodiment, step S11 is the same as step S100 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S100 in the first embodiment.

And step S12, calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment.

In this embodiment, step S12 is the same as step S200 in the first embodiment, and details are not repeated here, and step S200 in the first embodiment may be specifically referred to, while the calculation method of the theoretical motion state at the current time is the same as step S200, and the specific calculation process may refer to the substep of S200.

And step S13, acquiring the measured motion state of the farm tool at the current moment.

In this embodiment, step S13 is the same as step S300 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S300 in the first embodiment.

And step S14, calculating the fusion motion state of the agricultural implement at the current moment according to the measured motion state of the agricultural implement at the current moment and the theoretical motion state of the agricultural implement at the current moment.

In this embodiment, step S14 is the same as step S400 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S400 in the first embodiment.

Referring to fig. 12, in step S20, the fusion motion state of the agricultural implement at the next time is calculated according to the fusion motion state of the agricultural implement at the current time.

In this embodiment, step S20 is the same as step S510 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S510 in the first embodiment. The calculation method of the fusion motion state at the next time is the same as that in step S510, and the specific calculation process may refer to the sub-step of S510.

And step S30, calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the next moment and the preset track.

Referring to fig. 14, the step S30 includes steps S31 and S36.

Step S31, calculating a heading difference value according to the fusion coordinate value of the farm tool at the next moment and the preset track.

In this embodiment, step S31 is the same as step S522 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S522 in the first embodiment.

Referring to fig. 15, the step S31 includes steps S32, S33, S34 and S35.

In step S32, a first position point and a second position point are set on the preset trajectory.

In this embodiment, step S32 is the same as step S5221 in the first embodiment, and details are not repeated here, and reference may be made to step S5221 in the first embodiment.

In step S33, a position vector of the first position point and the second position point is calculated.

In this embodiment, step S33 is the same as step S5223 in the first embodiment, and details are not repeated here, and reference may be made to step S5223 in the first embodiment.

Step S34, calculating a difference vector between the first location point and the fusion coordinate value of the agricultural implement at the next time.

In this embodiment, step S34 is the same as step S5225 in the first embodiment, and details are not repeated here, and reference may be made to step S5225 in the first embodiment.

In step S35, a heading difference is calculated according to the difference vector and the position vector.

In this embodiment, step S35 is the same as step S5227 in the first embodiment, and details are not repeated here, and reference may be made to step S5227 in the first embodiment.

Referring to fig. 14, in step S36, the control amount is calculated according to the difference between the heading values and the fusion angle value at the next time.

In this embodiment, step S36 is the same as step S524 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S524 in the first embodiment.

Referring to fig. 12, in step S40, the steering wheel is controlled to rotate according to the control amount, so that the farm implement moves to the predetermined track at the next time.

In this embodiment, step S40 is the same as step S600 in the first embodiment, and details are not repeated here, and reference may be specifically made to step S600 in the first embodiment.

Referring to fig. 16, an embodiment of the present invention further provides an agricultural implement trajectory control device 30, where the agricultural implement trajectory control device 30 includes:

and the third obtaining module 31 is configured to obtain a fusion motion state of the farm tool at the current moment.

The steps S1, S10 and their sub-steps of the farm implement trajectory control method provided by the embodiment of the present invention may be executed by the third obtaining module.

And the second calculating module 32 is configured to calculate a fusion motion state of the farm implement at the next moment according to the fusion motion state of the farm implement at the current moment.

The steps S2 and S20 of the farm implement trajectory control method provided by the embodiment of the invention can be executed by the second calculation module.

And a third calculating module 33, configured to calculate a control amount of the steering wheel according to the fusion motion state of the farm implement at the next time and the preset trajectory.

The steps S3, S30 and their sub-steps of the farm implement trajectory control method provided by the embodiment of the present invention can be executed by a third computing module.

And the second control module 34 is used for controlling the rotation of the steering wheel according to the control quantity so as to enable the farm tool to move to the preset track at the next moment.

The steps S4 and S40 of the farm implement trajectory control method provided by the embodiment of the invention can be executed by the second control module.

Referring to fig. 17, in the embodiment of the present invention, the agricultural machine 10 further includes a machine body, a processor 11, a memory 12, an external interface, and a farm implement trajectory control device 20, wherein the memory 12 and the processor 11 are both mounted on the machine body.

The processor 11 and the memory 12 are stored on the vehicle body, the positioning module sends the measured motion state of the farm tool to the processor 11, the processor 11 obtains the relative position information of the farm tool and the farm machine through the measured motion state sent back by the positioning module, and calculates a proper compensation error to adjust a control instruction of the farm machine, so that the walking track of the farm tool is consistent with the expected agricultural track.

The memory 12 and the processor 11 are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The farm implement trajectory control device 20 includes at least one software functional module that may be stored in the memory 12 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server. The processor 11 is used for executing executable modules stored in the memory 12, such as software functional modules and computer programs included in the farm implement trajectory control device 20.

The Memory 12 may be, but is not limited to, a Random Access Memory (RAM) 12, a Read Only Memory (ROM) 12, a Programmable Read Only Memory (PROM) 12, an Erasable Read Only Memory (EPROM) 12, an electrically Erasable Read Only Memory (EEPROM) 12, and the like. The memory 12 is used for storing a program and voice data, and the processor 11 executes the program after receiving an execution instruction.

The processor 11 may be an integrated circuit chip having signal processing capabilities. The Processor 11 may be a general-purpose Processor 11, and includes a Central Processing Unit (CPU) 11, a Network Processor (NP) 11, and the like; but may also be a digital signal processor 11(DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. The general purpose processor 11 may be a microprocessor 11 or the processor 11 may be any conventional processor 11 or the like.

The processor 11 couples various input/output devices to the processor 11 as well as to the memory 12. In some embodiments, processor 11 and memory 12 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.

The peripheral interface couples various input/output devices to the processor 11 as well as to the memory 12. In some embodiments, the peripheral interface, processor 11 and memory 12 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An agricultural implement trajectory control method, characterized by being applied to an agricultural machine (10), wherein the agricultural machine (10) comprises an agricultural implement and a vehicle body, the vehicle body drags the agricultural implement, the vehicle body is provided with an electrically controllable steering wheel, and the agricultural implement trajectory control method comprises:

acquiring the fusion motion state of the farm tool at the previous moment;

acquiring a measurement motion state of the farm tool at the current moment;

2. The agricultural implement trajectory control method according to claim 1, wherein the step of calculating the control quantity of the steering wheel according to the fusion motion state of the agricultural implement at the current moment and a preset trajectory comprises:

3. The implement trajectory control method of claim 2, wherein the fused motion state comprises a fused angle value and a fused coordinate value, and the step of calculating the fused motion state of the implement at the next time according to the fused motion state of the implement at the current time comprises:

acquiring the running speed of the farm tool;

4. The agricultural implement trajectory control method of claim 2, wherein the fused motion state comprises a fused angle value and a fused coordinate value, and the step of calculating the control quantity of the steering wheel according to the fused motion state of the agricultural implement at the next time and the preset trajectory comprises:

5. The method of claim 4, wherein the step of calculating the heading difference value according to the fused coordinate value of the implement at the next time and the predetermined trajectory comprises:

setting a first position point and a second position point on the preset track;

6. The agricultural implement trajectory control method of claim 1, wherein the theoretical movement state comprises a theoretical angle value and a theoretical coordinate value, the fused movement state comprises a fused angle value and a fused coordinate value, and the step of calculating the theoretical movement state of the agricultural implement at the current time according to the fused movement state at the previous time comprises:

obtaining the spacing distance between the farm tool and the vehicle body;

acquiring the running speed of the farm tool;

7. The implement trajectory control method of claim 6, wherein the measured motion state comprises a measured angle value and a measured coordinate value, and the step of calculating the theoretical motion state of the implement at the current time according to the fused motion state at the previous time comprises:

8. The implement trajectory control method of claim 6, wherein the step of obtaining the difference in the rotation angles of the implement and the vehicle body at a previous time comprises:

obtaining a theoretical angle value of the farm tool at the previous moment;

9. The implement of claim 1, wherein the theoretical motion state comprises a theoretical angle value and a theoretical coordinate value, the measured motion state comprises a measured angle value and a measured coordinate value, the fused motion state comprises a fused angle value and a fused coordinate value, and the step of calculating the fused motion state according to the measured motion state of the implement at the current time and the theoretical motion state of the implement at the current time comprises:

10. An agricultural implement trajectory control method, characterized by being applied to an agricultural machine (10), wherein the agricultural machine (10) comprises an agricultural implement and a vehicle body, the vehicle body drags the agricultural implement, the vehicle body is provided with an electrically controllable steering wheel, and the agricultural implement trajectory control method comprises:

acquiring the position information of the farm tool at the current moment;

11. The implement trajectory control method of claim 10, wherein the position information includes fused position information, the fused position information is calculated according to measured position information of the implement at the current time and theoretical position information of the implement at the current time, and the theoretical position information is calculated according to the fused position information of the implement at the previous time.

12. The implement trajectory control method of claim 10, wherein the step of calculating the position information of the implement at the next time based on the position information of the implement at the current time comprises:

acquiring the running speed of the farm tool;

and calculating the position information of the farm tool at the next moment according to the running speed of the farm tool, the position information of the farm tool at the current moment and the angle value of the farm tool at the current moment.

13. The method for controlling the trajectory of the farm implement of claim 10, wherein the step of calculating the control amount of the steering wheel according to the position information of the farm implement at the next time and the preset trajectory comprises:

calculating a course difference value according to the position information of the farm tool at the next moment and the preset track;

and calculating the control quantity according to the heading difference.

14. The method of claim 13, wherein the step of calculating the heading difference based on the position information of the implement at the next time and the predetermined trajectory comprises:

setting a first position point and a second position point on the preset track;

calculating a difference vector of the first position point and the position information of the farm tool at the next moment;

15. The utility model provides an agricultural implement trajectory control device, its characterized in that is applied to agricultural machine (10), agricultural machine (10) include agricultural implement and automobile body, the automobile body drags the agricultural implement, but electric control's steering wheel is installed to the automobile body, agricultural implement trajectory control device (20) includes:

the first acquisition module (21) is used for acquiring the fusion motion state of the farm tool at the previous moment;

the theoretical module (22) is used for calculating the theoretical motion state of the farm tool at the current moment according to the fusion motion state at the previous moment;

the second acquisition module (23) is used for acquiring the measured motion state of the farm tool at the current moment;

the first fusion module (24) is used for calculating the fusion motion state of the farm tool at the current moment according to the measurement motion state of the farm tool at the current moment and the theoretical motion state of the farm tool at the current moment;

the first calculation module (25) is used for calculating the control quantity of the steering wheel according to the fusion motion state of the farm tool at the current moment and a preset track;

and the first control module (26) is used for controlling the steering wheel to rotate according to the control quantity so as to enable the farm tool to move to the preset track at the next moment.

16. The utility model provides an agricultural implement trajectory control device, its characterized in that is applied to agricultural machine (10), agricultural machine (10) include agricultural implement and automobile body, the automobile body drags the agricultural implement, but electric control's steering wheel is installed to the automobile body, agricultural implement trajectory control device includes:

the third acquisition module is used for acquiring the position information of the farm tool at the current moment;

the second calculation module is used for calculating the position information of the farm tool at the next moment according to the position information of the farm tool at the current moment;

the third calculation module is used for calculating the control quantity of the steering wheel according to the position information of the farm tool at the next moment and a preset track;

17. An agricultural machine comprising a memory (12) and a processor (11), the memory (12) being configured to store computer instructions, the processor (11) being configured to execute the computer instructions to implement the implement trajectory control method according to any one of claims 1 to 14.