CN114604108A - Master-slave vehicle cooperative operation control device and method - Google Patents
Master-slave vehicle cooperative operation control device and method Download PDFInfo
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- CN114604108A CN114604108A CN202210043209.0A CN202210043209A CN114604108A CN 114604108 A CN114604108 A CN 114604108A CN 202210043209 A CN202210043209 A CN 202210043209A CN 114604108 A CN114604108 A CN 114604108A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention provides a master-slave vehicle cooperative operation control device and a method, comprising the following steps: the system comprises a main vehicle controller and a first GNSS which are arranged on the main vehicle, a second GNSS which is arranged on the secondary vehicle, and a connecting rope which is connected between the main vehicle and the secondary vehicle, wherein the main vehicle provides electric energy for the secondary vehicle through the connecting rope; the main vehicle controller controls the retraction speed of the connecting rope according to the relative position information and the relative speed information between the main vehicle and the secondary vehicle, so that the connecting rope is in a tensioning state. According to the master-slave vehicle cooperative operation control device and method provided by the invention, the connection rope is additionally arranged between the master vehicle and the slave vehicle and is used for the master vehicle to transmit electric energy to the slave vehicle, so that a battery is not required to be arranged on the slave vehicle, the quality of the slave vehicle is reduced, and the safety of the slave vehicle is improved; to a certain extent, the method can also simplify the structure of the slave vehicle, improve the operation endurance time of the slave vehicle, can operate in various environments, has great development potential and has good practical effect.
Description
Technical Field
The invention relates to the technical field of agricultural intelligent equipment, in particular to a master-slave vehicle cooperative operation control device and a master-slave vehicle cooperative operation control method.
Background
The continuous innovation of the agricultural operation mode puts higher requirements on the intellectualization, the high efficiency and the safety of agricultural vehicles. The existing agricultural machinery operation system mostly takes single machine operation as a main part, and in the operation process, the single machines are mutually independent, cannot realize linkage, and has defects in the aspects of endurance, stability, operation accuracy and the like. With the increasingly complex agricultural operation environment, the increasingly diversified operation tasks and the increasingly complicated agricultural operation tasks, the single-machine operation system cannot meet the requirement of agricultural development due to the self limitation.
Therefore, multi-machine cooperative work can be carried out. The multi-vehicle cooperative operation mode comprises two types of tasks, namely, completing the same task by multiple vehicles in the same area and respectively completing different tasks by the multiple vehicles. In the operation process, data can be exchanged among vehicles, the acquired information can be shared, and the environment is more clear and less sensitive, so that the operation task can be efficiently completed. Compared with a single-vehicle operation system, the multi-machine cooperative operation has higher flexibility and stronger fault-tolerant capability.
However, the related research content of the multi-machine cooperative operation at the present stage is less, and the following defects exist: the device is limited by self load, cannot carry enough energy and operation resources, and causes unsatisfactory continuous operation time; the single machine is relatively loose in relation, so that the adaptability to the agricultural environment is not strong, and when the vehicle works in the agricultural environments such as inclined ground, low fruit tree gardens and the like, the vehicle is limited by factors such as terrain, vehicle size and the like, and the vehicle cannot work effectively.
Disclosure of Invention
The invention provides a master-slave vehicle cooperative operation control device and a master-slave vehicle cooperative operation control method, which are used for overcoming the defect of multi-machine cooperative operation in the prior art and can realize intelligent control of master-slave vehicle cooperative operation.
In a first aspect, the present invention provides a master-slave vehicle cooperative work control method, including: the first GNSS is used for acquiring a first position and a first speed of the host vehicle;
the second GNSS is arranged on the slave vehicle and is used for acquiring a second position and a second speed of the slave vehicle;
the connecting rope is connected between the master vehicle and the slave vehicle, and the master vehicle provides electric energy for the slave vehicle through the connecting rope;
the master vehicle controller controls the retraction speed of the connecting rope according to the relative position information and the relative speed information between the master vehicle and the slave vehicle, so that the connecting rope is in a tensioning state;
the relative position information is determined from the first position and the second position, and the relative speed information is determined from the first speed and the second speed.
The invention provides a master-slave vehicle cooperative operation control device, wherein a slave vehicle controller is also arranged on a slave vehicle;
the slave vehicle controller determines a running path of the slave vehicle according to the second position of the slave vehicle;
and the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle, the second speed of the slave vehicle and the running path of the slave vehicle.
According to the present invention, there is provided a master-slave vehicle cooperative operation control device, wherein a target region is a closed region composed of a top end, a bottom end, a left side end and a right side end; a plurality of rows of operation paths from the bottom end to the top end are planned at intervals between the left side end and the right side end according to the operation width of the slave vehicle;
the method for determining the running path of the slave vehicle by the slave vehicle controller according to the second position of the slave vehicle specifically comprises the following steps:
and when the slave vehicle controller determines that the slave vehicle works to the top end or the bottom end of the target area according to the second position, determining a working path of the slave vehicle which turns to the next row and does not execute the work until the traversal of all the working paths in the target area is completed.
According to the master-slave vehicle cooperative operation control device provided by the invention, the master vehicle runs along the top end or the bottom end of the target area;
the method includes that the master vehicle controller determines a running path of the master vehicle according to a first position of the master vehicle, a second speed of the slave vehicle and the running path of the slave vehicle, and specifically includes:
and controlling the main vehicle to run along the top end or the bottom end of the main vehicle at the projection speed of the secondary vehicle at the top end or the bottom end of the target area at the second speed under the condition of determining the operation path of the secondary vehicle which does not execute the operation from each steering to the next line according to the running path of the secondary vehicle.
According to the present invention, there is provided a master-slave vehicle cooperative work control apparatus, wherein if the slave vehicle is a front-wheel steering vehicle, after the slave vehicle controller controls a work path on which no work is performed from the slave vehicle to a next line in each steering, the apparatus further comprises:
and controlling the secondary vehicle to retreat until the top end or the bottom end of the next line of work path where no work is executed is reached so as to start work from the top end or the bottom end of the target area.
The invention provides a master-slave vehicle cooperative operation control device, wherein a high-speed camera is also arranged on a slave vehicle;
the high-speed camera is used for acquiring a real-time image in the motion direction of the slave vehicle in the running process of the slave vehicle and sending the real-time image to the slave vehicle controller;
and the slave vehicle controller adjusts the running path of the slave vehicle to avoid the obstacle under the condition that the obstacle exists in the moving direction according to the identification result of the real-time image.
According to the invention, the master vehicle and the slave vehicle cooperatively operate to control the operation of the master vehicle and the slave vehicle.
According to the invention, the master-slave vehicle cooperative operation control device is provided, wherein the connecting rope comprises an electric wire, a traction rope and a hollow pipeline;
the main vehicle provides electric energy for the auxiliary vehicle through the electric wire, and provides liquid medicine for the auxiliary vehicle through the hollow pipeline;
the traction rope is used for ensuring the safety of the retraction of the electric wire and the hollow pipeline;
and the main vehicle is also provided with a connecting rope winding and unwinding device for keeping the connecting rope in a tensioning state.
In a second aspect, the present invention further provides a master-slave vehicle cooperative work control method, including: and controlling the operation of any one of the master-slave vehicle cooperative operation control devices to execute the operation on the target area.
In a third aspect, the present invention provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the master-slave vehicle cooperative work control method as described in any one of the above.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the master-slave vehicle cooperative work control method as described in any one of the above.
According to the master-slave vehicle cooperative operation control device and method provided by the invention, the connection rope is additionally arranged between the master vehicle and the slave vehicle and is used for the master vehicle to transmit electric energy to the slave vehicle, so that a battery is not required to be arranged on the slave vehicle, the quality of the slave vehicle is reduced, and the safety of the slave vehicle is improved; to a certain extent, the method can also simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, operate in various environments, have great development potential and have good practical effect.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic connection diagram of a cooperative operation control apparatus for a master-slave vehicle according to the present invention;
FIG. 2 is a schematic diagram illustrating the control principle of the cooperative operation control apparatus for a master-slave vehicle according to the present invention;
FIG. 3 is a schematic view of the work path of a differential steering type slave vehicle provided by the present invention;
FIG. 4 is a schematic view of the work path of a front wheel steer type slave vehicle provided by the present invention;
FIG. 5 is a schematic view of the operation flow of the cooperative operation control device for the master-slave vehicles according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present 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 in the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes a master-slave vehicle cooperative operation control device and method provided by an embodiment of the present invention with reference to fig. 1 to 5.
Fig. 1 is a schematic connection diagram of a master-slave vehicle cooperative operation control device provided by the present invention, as shown in fig. 1, including but not limited to the following parts:
a host vehicle controller and a first Global Navigation Satellite System (GNSS) provided on the host vehicle, the first GNSS configured to acquire a first position and a first velocity of the host vehicle; the second GNSS is arranged on the slave vehicle and is used for acquiring a second position and a second speed of the slave vehicle; the connecting rope is connected between the master vehicle and the slave vehicle, and the master vehicle provides electric energy for the slave vehicle through the connecting rope; the master vehicle controller controls the retraction speed of the connecting rope according to the relative position information and the relative speed information between the master vehicle and the slave vehicle, so that the connecting rope is in a tensioning state; the relative position information is determined from the first position and the second position, and the relative speed information is determined from the first speed and the second speed.
The master-slave vehicle cooperative operation control device provided by the invention can be used for realizing cooperative operation between a master vehicle and a slave vehicle and also can be used for realizing cooperative operation between the master vehicle and two or more slave vehicles.
For the sake of clarity, the present invention provides a master-slave vehicle cooperative operation control device, in the following embodiments, a scenario in which a master vehicle and a slave vehicle cooperate to weed a target area is described as an application scenario.
As shown in fig. 1, it can be further assumed that the target area is an inclined area, the master vehicle runs along the top of the slope of the inclined area (the running direction of the master vehicle is the X-axis direction), at least one connecting rope is connected between the master vehicle and the slave vehicle, at least an electric wire is wrapped in the connecting rope, the master vehicle supplies power to the slave vehicle through the electric wire, so that it is unnecessary to install a battery on the slave vehicle, the mass of the slave vehicle is reduced, the safety of the slave vehicle is improved, and to a certain extent, the structure of the slave vehicle can be simplified, and the operation duration of the slave vehicle is improved.
It should be noted that a communication connection (e.g., a CAN bus connection) between a first GNSS configured on the host vehicle of the host vehicle controller may be established to receive the current position (denoted as a first position) and the real-time operating speed (denoted as a first speed) of the host vehicle acquired by the first GNSS in real time.
Meanwhile, a communication connection between the host vehicle controller and a second GNSS configured on the slave vehicle can be established, for example: by covering the communication line in the connecting rope, two ends of the communication line are respectively connected with the signal acquisition port of the master vehicle controller and the signal output port of the second GNSS, so that the master vehicle controller can acquire the current position (recorded as the second position) of the slave vehicle and the real-time running speed (recorded as the second speed) of the slave vehicle in real time.
Furthermore, if the connecting rope is too long, the connecting rope can be wound on a slave vehicle, hang down and wind crops and the like, and the operation safety is further influenced; if the connecting rope is too long, the pulling force exerted on the connecting rope is too large, the driving of the driven vehicle along a normal path is influenced, and even the connecting rope is broken.
In view of this, the main vehicle may be provided with a connecting rope retracting device for retracting and tensioning the connecting rope, and the main vehicle controller may control the operation of the connecting rope retracting device according to the relative position information (i.e., the relative distance) and the relative speed information between the main vehicle and the secondary vehicle to adjust the retracting speed of the connecting rope, so as to ensure that the connecting rope is in a tensioned state.
For example: when the slave vehicle is far away from the master vehicle (which can be determined according to the change of the relative position information), the release speed of the connecting rope is controlled according to the relative speed information between the two vehicles, so that the release speed of the connecting rope is matched with the relative speed information; when the slave vehicle approaches the master vehicle, controlling the tightening speed of the connecting rope according to the relative speed information between the two vehicles, and enabling the tightening speed of the connecting rope to be matched with the relative speed information; when the relative speed information between the master vehicle and the slave vehicle is 0, the operation of the connecting rope retracting device is stopped.
According to the master-slave vehicle cooperative operation control device provided by the invention, the connection rope is additionally arranged between the master vehicle and the slave vehicle and is used for the master vehicle to transmit electric energy to the slave vehicle, so that a battery is not required to be arranged on the slave vehicle, the quality of the slave vehicle is reduced, and the safety of the slave vehicle is improved; to a certain extent, the method can also simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, operate in various environments, have great development potential and have good practical effect.
Based on the content of the above embodiment, as an optional embodiment, a slave vehicle controller is further arranged on the slave vehicle; the slave vehicle controller determines a running path of the slave vehicle according to the second position of the slave vehicle; and the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle, the second speed of the slave vehicle and the running path of the slave vehicle.
As shown in fig. 1, the traveling speed V of the host vehicle is assumed to be a first speed in the X-axis direction on which the top of the slope is located. The vehicle is operated on the slope to spray the vegetation on the slope.
And the slave vehicle controller is in communication connection with a second GNSS arranged on the slave vehicle so as to receive a second position and a second speed which are uploaded by the second GNSS and are related to the slave vehicle in real time.
As shown in fig. 1, in order to complete the pesticide application operation on the slope vegetation completely and efficiently by the slave vehicle, the whole operation slope (i.e., the target area) may be regarded as a closed area composed of a top end (i.e., a top of the slope where the master vehicle is located), a bottom end (a bottom of the slope relative to the top of the slope), a left side end (a left boundary line of the slope), and a right side end (a left boundary line of the slope). In order to simply and clearly show the working principle of the master-slave vehicle cooperative operation control device provided by the invention, the target area is approximately a rectangular area, and the directions of an X axis and a Y axis are shown in fig. 1.
Assuming that a plurality of rows of working paths along the Y-axis direction (i.e. from the bottom end to the top end or from the top end to the bottom end) are planned in advance according to the working width of the slave vehicle at intervals in the X-axis direction, each of the working paths may be considered to be parallel to each other, and the interval between two adjacent working paths is the working width of the slave vehicle.
According to the preset scene, the slave vehicle controller determines the running path of the slave vehicle according to the second position of the slave vehicle, and the method specifically comprises the following steps:
and when the slave vehicle controller determines that the slave vehicle works to the top end or the bottom end of the target area according to the second position, determining a working path of the slave vehicle which turns to the next row and does not execute the work until the traversal of all the working paths in the target area is completed.
Specifically, the slave vehicle may perform work from the top of the slope toward the bottom of the slope in the Y-axis direction on one work path located at the leftmost end shown in fig. 1 (hereinafter, referred to as a K path), and the position of the master vehicle is the X-axis position corresponding to the K path.
FIG. 2 is a schematic diagram illustrating a control principle of the cooperative operation control apparatus for a master-slave vehicle according to the present invention, as shown in FIG. 2, during the operation of the slave vehicle, the controller of the master vehicle obtains first GNSS data in real time, including a first position and a first speed of the master vehicle; the slave vehicle controller obtains second GNSS data including a second position and a second speed of the slave vehicle in real time.
Fig. 3 is a schematic view of a working path of a differential steering type slave vehicle provided by the present invention, as shown in fig. 3, when the slave vehicle judges that the slave vehicle is already at the bottom of a slope (i.e., the bottom end of a target zone) according to a second position, it sends a command to a vehicle steering system to control the slave vehicle to steer to a next working path (hereinafter, referred to as an M path) where no work is performed adjacent to the K path, and the running direction of the slave vehicle is adjusted to work from the bottom of the slope to the top of the slope.
And the secondary vehicle continues to carry out pesticide spraying operation along the opposite direction of the Y axis on the M path until the secondary vehicle controller judges that the secondary vehicle reaches the top of the slope again according to the second position of the secondary vehicle, and then the secondary vehicle controller sends a command to the vehicle steering system again so as to control the secondary vehicle to steer to the next operation path which is adjacent to the M path and does not carry out the operation.
And (4) iteratively executing the steps until the secondary vehicle traverses all the operation paths and finishes the spraying operation on the whole target area.
In the master-slave vehicle cooperative operation control device provided by the invention, in the process that the slave vehicle controller controls the slave vehicle to turn from one line of operation path to the next line of operation path without executing operation, the master vehicle controller correspondingly determines the operation path of the master vehicle according to the first position of the master vehicle, the second speed of the slave vehicle and the operation path of the slave vehicle, and the master-slave vehicle cooperative operation control device specifically comprises the following steps:
and controlling the main vehicle to run along the top end or the bottom end of the main vehicle at the projection speed of the secondary vehicle at the top end or the bottom end of the target area at the second speed under the condition of determining the operation path of the secondary vehicle which does not execute the operation from each steering to the next line according to the running path of the secondary vehicle.
Specifically, when the slave vehicle arrives at the top of a slope or the bottom of the slope, the slave vehicle controller controls the slave vehicle to turn to the next line of operation path without operation, in the process, in order to ensure that the connecting rope between the master vehicle and the slave vehicle is in the optimal tensioning state and synthesize the general rule of crop planting in a target area, the master vehicle controller controls the master vehicle to move correspondingly along the direction of an X axis (such as the direction of the top of the slope shown in fig. 1), and the running speed of the master vehicle is equal to the sub-speed of the second speed of the slave vehicle in the direction of the X axis (namely the projection speed on the X axis), so that the synchronous advance between the master vehicle and the slave vehicle can be ensured, and the master vehicle controller can conveniently regulate and control the connecting rope winding and unwinding device.
Fig. 4 is a schematic diagram of a working path of a front-wheel steering type slave vehicle provided by the present invention, and as an alternative embodiment, if the slave vehicle is a front-wheel steering type vehicle, as can be seen from the operation characteristics of the front-wheel steering type vehicle, when the slave vehicle steers from the K path to the M path, the slave vehicle directly travels to the M path along the steering path shown in fig. 4, so that a situation that a working task in a partial area (e.g., an area between the steering path and the turnaround path in fig. 4) is not completed may occur.
In view of the above, after the slave vehicle controller controls the slave vehicle to turn to the next row of work path on which no work is performed each time, the slave vehicle is controlled to retreat first until the top end or the bottom end of the next row of work path on which no work is performed is reached, and then the spraying operation on the next row of work path on which no work is performed is completed from the position.
Taking fig. 4 as an example, after the slave vehicle turns from the K path to the M path, the slave vehicle controller controls the slave vehicle to return to the bottom of the slope along the return route, and then starts to perform the spraying operation on the M path from the bottom of the slope.
It should be noted that, in the case where the slave vehicle belongs to a differential steering type vehicle, it is known from the steering characteristics of the differential steering type vehicle that the actual steering is in the direction shown in fig. 3, and the situation where the partial area is not operated does not occur, so that the working path of the slave vehicle can be directly planned in the manner shown in fig. 3.
Based on the content of the above embodiment, as an optional embodiment, a high-speed camera is further arranged on the slave vehicle;
the high-speed camera is used for acquiring a real-time image in the motion direction of the slave vehicle in the running process of the slave vehicle and sending the real-time image to the slave vehicle controller;
and the slave vehicle controller adjusts the running path of the slave vehicle to avoid the obstacle under the condition that the obstacle exists in the moving direction according to the identification result of the real-time image.
According to the invention, the high-speed camera is additionally arranged on the slave vehicle, so that the real-time images of the periphery are continuously acquired and transmitted to the slave vehicle controller in the running process of the slave vehicle. The slave vehicle controller processes the real-time image, once the fact that the obstacles exist around the slave vehicle is judged, the command is sent to the slave vehicle, the second speed of the slave vehicle is controlled, the running path of the slave vehicle is adjusted, the slave vehicle can timely avoid the obstacles, and the running safety of the slave vehicle is improved.
It should be noted that a lightweight neural network model may be loaded in the slave vehicle controller in advance, and the model may be trained in advance by using an open-source sample set, so as to improve the recognition accuracy of the model. After receiving the real-time image uploaded by the high-speed camera from the vehicle controller, the real-time image is used as the input of the neural network model, and whether obstacles exist around is judged according to the output result of the neural network model.
The master-slave vehicle cooperative operation control device provided by the invention adopts a master-slave vehicle cooperative design, so that the safety and the stability of the operation vehicle are greatly improved; the use of the GNSS and the camera improves the intellectualization of the operation vehicle and reduces the labor intensity of operators and the input of manpower. In addition, the application of the camera enables the vehicle to autonomously detect the surrounding environment, avoiding collision of the vehicle with an obstacle. The intelligent control device for the cooperative operation of the master vehicle and the slave vehicle is simple and convenient, is easy to operate, can operate in various environments, has great development potential, and has good practical effect.
Based on the content of the above embodiment, as an alternative embodiment, the slave vehicle is a drug delivery vehicle, and the master vehicle is a drug delivery tank truck.
Further, the connecting rope comprises a wire, a pulling rope and a hollow pipeline;
the main vehicle provides electric energy for the auxiliary vehicle through the electric wire, and provides liquid medicine for the auxiliary vehicle through the hollow pipeline;
the traction rope is used for ensuring the safety of the retraction of the electric wire and the hollow pipeline;
and the main vehicle is also provided with a connecting rope winding and unwinding device for keeping the connecting rope in a tensioning state.
In the embodiment, the connecting rope for connecting the two vehicles mainly comprises a traction rope and an electric wire, and different hollow pipelines can be provided according to the integration of the slave vehicles with different work functions.
For example, when the drug delivery vehicle is a slave vehicle, the drug delivery tube (i.e. one of the hollow pipelines) can be integrated on the original connecting rope so as to continuously provide the drug to the slave vehicle.
The connecting rope is used for connecting the two vehicles, and the situation that the electric wire or the hollow pipeline is broken due to overlarge pulling force acting on the electric wire or the hollow pipeline between the two vehicles can be prevented.
In addition, when the master-slave vehicle cooperative operation control device provided by the invention is used for weeding in an inclined land by using the slave vehicle as a weeding vehicle, the connecting rope can also provide traction for the weeding vehicle, so that the weeding vehicle is prevented from generating side turning danger, and the stability and the safety of the weeding vehicle are improved.
The electric wire is used for the master vehicle to transmit electric energy to the slave vehicle, so that a battery does not need to be installed on the slave vehicle, the quality of the slave vehicle is reduced, the safety of the slave vehicle is improved, the structure of the slave vehicle can be simplified to a certain extent, and the operation duration of the slave vehicle is prolonged.
The invention also provides a master-slave vehicle cooperative operation control method, which mainly comprises the following steps: and controlling the operation of any one of the master-slave vehicle cooperative operation control devices to execute the operation on the target area.
Fig. 5 is a schematic diagram of an operation flow of the master-slave vehicle cooperative operation control device provided by the present invention, and as shown in fig. 5, an important application scenario of the master-slave vehicle cooperative operation control method provided by the present invention is bank protection and weeding of a Yangtze river and a yellow river.
The main vehicle is provided with a first GNSS, a main vehicle controller and a connecting rope winding and unwinding device. And a secondary GNSS, a high-speed camera and a secondary vehicle controller are installed on the secondary vehicle (weeding vehicle).
Referring to fig. 1, the slave vehicle operates along the positive and negative directions of the Y axis at a second speed, and the high-speed camera mounted thereon continuously detects the surrounding environment and transmits the acquired real-time image to the slave vehicle controller in real time. And analyzing and processing the real-time image by the slave vehicle controller, and judging whether the surrounding environment has obstacles or not. If the obstacle exists, the slave vehicle controller sends an instruction to control the wheels of the slave vehicle to steer, and the obstacle is avoided in time.
The second GNSS on the slave vehicle continuously acquires the position information of the slave vehicle, and the slave vehicle controller judges whether the slave vehicle reaches the top of the slope or the bottom of the slope. And when the arrival is determined, controlling the slave vehicle to turn to enter the next line of operation. After the vehicle is turned to the next row, the vehicle moves forwards to remove weeds at two ends.
Meanwhile, the host controller receives the position and the speed (namely the second position and the second speed) of the slave vehicle sent by the first GNSS and the slave controller (or the second GNSS) at the same time, and calculates the relative position information and the relative speed information between the host and the slave vehicle fingers so as to control the retraction of the traction rope.
Meanwhile, the master vehicle controller also judges the position of the slave vehicle relative to the top end or the bottom end of the slope, if the slave vehicle reaches the top end or the bottom end, the master vehicle starts to move, the speed of the slave vehicle in the X-axis direction is the same as that of the slave vehicle, and the slave vehicle synchronously moves forwards.
It should be noted that, when the master-slave vehicle cooperative operation control method provided in the embodiment of the present invention is specifically operated, the master-slave vehicle cooperative operation control method may be implemented based on the master-slave vehicle cooperative operation control device described in any of the above embodiments, and details of this embodiment are not described herein.
According to the cooperative operation control method of the slave vehicles, the connecting rope is additionally arranged between the master vehicle and the slave vehicle and is used for the master vehicle to transmit electric energy to the slave vehicle, so that a battery does not need to be arranged on the slave vehicle, the quality of the slave vehicle is reduced, and the safety of the slave vehicle is improved; to a certain extent, the method can also simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, operate in various environments, have great development potential and have good practical effect.
Fig. 6 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 6, the electronic device may include: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a master-slave vehicle cooperative work control method comprising: any one of the master-slave vehicles in the above embodiments is controlled to operate in cooperation with the work control apparatus to perform work on the target area.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to execute the master-slave vehicle cooperative work control method provided by the above methods, the method comprising: any one of the master-slave vehicles in the above embodiments is controlled to operate in cooperation with the work control device to perform work on the target area.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the master-slave vehicle cooperative work control method provided by the above embodiments, the method including: any one of the master-slave vehicles in the above embodiments is controlled to operate in cooperation with the work control apparatus to perform work on the target area.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A master-slave vehicle cooperative operation control device characterized by comprising:
the first GNSS is used for acquiring a first position and a first speed of the host vehicle;
the second GNSS is arranged on the slave vehicle and is used for acquiring a second position and a second speed of the slave vehicle;
the connecting rope is connected between the master vehicle and the slave vehicle, and the master vehicle provides electric energy for the slave vehicle through the connecting rope;
the master vehicle controller controls the retraction speed of the connecting rope according to the relative position information and the relative speed information between the master vehicle and the slave vehicle, so that the connecting rope is in a tensioning state;
the relative position information is determined from the first position and the second position, and the relative speed information is determined from the first speed and the second speed.
2. A master-slave vehicle cooperative operation control device according to claim 1, wherein a slave vehicle controller is further provided on the slave vehicle;
the slave vehicle controller determines a running path of the slave vehicle according to the second position of the slave vehicle;
and the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle, the second speed of the slave vehicle and the running path of the slave vehicle.
3. The master-slave vehicle cooperative operation control device according to claim 2, wherein the target area is a closed area constituted by a top end, a bottom end, a left side end and a right side end; a plurality of rows of operation paths from the bottom end to the top end are planned at intervals between the left side end and the right side end according to the operation width of the slave vehicle;
the method for determining the running path of the slave vehicle by the slave vehicle controller according to the second position of the slave vehicle specifically comprises the following steps:
and when the slave vehicle controller determines that the slave vehicle works to the top end or the bottom end of the target area according to the second position, determining a working path of the slave vehicle which turns to the next row and does not execute the work until the traversal of all the working paths in the target area is completed.
4. A master-slave vehicle cooperative operation control apparatus according to claim 3, wherein the master vehicle travel travels along the top or bottom end of the target area;
the method includes that the master vehicle controller determines a running path of the master vehicle according to a first position of the master vehicle, a second speed of the slave vehicle and the running path of the slave vehicle, and specifically includes:
and controlling the main vehicle to run along the top end or the bottom end of the main vehicle at the projection speed of the secondary vehicle at the top end or the bottom end of the target area at the second speed under the condition of determining the operation path of the secondary vehicle which does not execute the operation from each steering to the next line according to the running path of the secondary vehicle.
5. A master-slave vehicle cooperative operation control apparatus according to claim 3, further comprising, after the slave vehicle controller controls the operation path on which no operation is performed from each steering to the next line of the slave vehicle, if the type of the slave vehicle is a front-wheel steering type vehicle:
and controlling the secondary vehicle to retreat until the top end or the bottom end of the next line of work path where no work is executed is reached so as to start work from the top end or the bottom end of the target area.
6. The master-slave vehicle cooperative operation control device according to claim 1, wherein a high-speed camera is further provided on the slave vehicle;
the high-speed camera is used for acquiring a real-time image in the motion direction of the slave vehicle in the running process of the slave vehicle and sending the real-time image to the slave vehicle controller;
and the slave vehicle controller adjusts the running path of the slave vehicle to avoid the obstacle under the condition that the obstacle exists in the moving direction according to the identification result of the real-time image.
7. The master-slave vehicle cooperative operation control device according to claim 1, wherein the slave vehicle is a drug delivery vehicle, and the master vehicle is a drug delivery tank car.
8. The master-slave vehicle cooperative operation control device according to claim 7, wherein the connecting rope comprises an electric wire, a pulling rope and a hollow-core pipe;
the main vehicle provides electric energy for the auxiliary vehicle through the electric wire, and provides liquid medicine for the auxiliary vehicle through the hollow pipeline;
the traction rope is used for ensuring the safety of the retraction of the electric wire and the hollow pipeline;
and the main vehicle is also provided with a connecting rope winding and unwinding device for keeping the connecting rope in a tensioning state.
9. A master-slave vehicle cooperative work control method is characterized by comprising the following steps: controlling the master-slave vehicle cooperative operation control device according to any one of claims 1 to 8 to operate to perform an operation on the target area.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the master-slave vehicle cooperative work control method according to claim 9 when executing the computer program.
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