CN114604108B - 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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- CN114604108B CN114604108B CN202210043209.0A CN202210043209A CN114604108B CN 114604108 B CN114604108 B CN 114604108B CN 202210043209 A CN202210043209 A CN 202210043209A CN 114604108 B CN114604108 B CN 114604108B
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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 application 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 arranged on a main vehicle, a second GNSS arranged on a slave vehicle, and a connecting rope connected between the main vehicle and the slave vehicle, wherein the main vehicle supplies electric energy to the slave vehicle through the connecting rope; and the main vehicle controller controls the winding and unwinding speed of the connecting rope according to the relative position information and the relative speed information between the main vehicle and the auxiliary vehicle, so that the connecting rope is in a tensioning state. According to the master-slave vehicle collaborative operation control device and the master-slave vehicle collaborative operation control method, 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 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 simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, can be operated in various environments, has great development potential and has good practical effect.
Description
Technical Field
The application relates to the technical field of agricultural intelligent equipment, in particular to a master-slave vehicle cooperative operation control device and method.
Background
The continuous innovation of agricultural operation modes brings higher requirements to the intellectualization, high efficiency and safety of agricultural vehicles. The existing agricultural machine operation system mainly uses single machine operation, in the operation process, the single machines are mutually independent, linkage cannot be realized, and the agricultural machine operation system has defects in the aspects of endurance, stability, operation accuracy and the like. With the increasing complexity of agricultural working environments, the increasing diversification of working tasks and the increasing complexity of agricultural working tasks, a single-machine working system cannot meet the requirement of agricultural development due to the limitations of the single-machine working system.
Thus, multi-machine collaborative operation is generated. The multi-vehicle collaborative operation mode comprises two types that the multi-vehicle completes the same task and the multi-vehicle completes different tasks in the same area. In the operation process, the vehicles can exchange data and share acquired information, and the environment is clearer and lower, so that the operation task can be efficiently completed. Compared with a single-vehicle operation system, the multi-machine collaborative operation has higher flexibility and stronger fault tolerance.
However, the related research content of the multi-machine collaborative operation at the present stage is less, and the following defects exist: limited by self load, can not carry enough energy and operation resources, and causes non-ideal continuous operation time; the connection between the single machines is relatively loose, so that the adaptability to the agricultural environment is not strong, and when the vehicle works in the agricultural environments such as inclined places and low fruit trees and gardens, the vehicle is limited by factors such as topography and vehicle size, and cannot work effectively.
Disclosure of Invention
The application provides a master-slave vehicle cooperative operation control device and method, which are used for solving the defect of multi-machine cooperative operation in the prior art and realizing intelligent control of master-slave vehicle cooperative operation.
In a first aspect, the present application provides a master-slave vehicle cooperative operation control method, including: the system comprises a main vehicle controller and a first GNSS, wherein the main vehicle controller and the first GNSS are arranged on a main vehicle, and the first GNSS is used for acquiring a first position and a first speed of the main 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 main vehicle and the auxiliary vehicle, and the main vehicle supplies electric energy for the auxiliary vehicle through the connecting rope;
the main vehicle controller controls the winding and unwinding speed of the connecting rope according to the relative position information and the relative speed information between the main vehicle and the auxiliary 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 velocity information is determined from the first velocity and the second velocity.
According to the application, a slave vehicle cooperative operation control device is provided, and a slave vehicle controller is further arranged on the slave vehicle;
the slave vehicle controller determines the 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 and the second speed of the slave vehicle and combines the running path of the slave vehicle.
According to the application, a target area is a closed area formed 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 in advance according to the operation width of 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 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 for turning to the next row of non-operated working from the slave vehicle until the traversal of all working paths in the target area is completed.
According to the application, a master-slave vehicle cooperative operation control device is provided, wherein the master vehicle runs along the top end or the bottom end of the target area;
the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle and the second speed of the slave vehicle and by combining the running path of the slave vehicle, and specifically comprises the following steps:
and controlling the projection speed of the main vehicle at the top end or the bottom end of the target area at the second speed of the auxiliary vehicle to run along the top end or the bottom end where the main vehicle is positioned under the condition that the operation path of the auxiliary vehicle for not executing the operation every time the auxiliary vehicle turns to the next row is determined according to the running path of the auxiliary vehicle.
According to the present application, there is provided a master-slave cooperative work control apparatus, wherein if the slave vehicle is of a front-wheel steering type, the slave vehicle control apparatus further includes, after controlling a work path in which the slave vehicle is not operated every time it is steered to the next row:
and controlling the slave vehicle to retreat until reaching the top end or the bottom end of the working path of the next row of non-working to start working from the top end or the bottom end of the target area.
According to the application, a master-slave vehicle cooperative operation control device is provided, and a high-speed camera is further arranged on the slave vehicle;
the high-speed camera is used for acquiring a real-time image of the slave vehicle in the moving 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 slave vehicle controller determines that the obstacle exists in the moving direction according to the identification result of the real-time image.
According to the application, the master-slave vehicle cooperative operation control device is provided, the slave vehicle is a pesticide-applying vehicle, and the master vehicle is a pesticide-applying tank car.
According to the application, the connecting rope comprises an electric wire, a traction rope and a hollow pipeline;
the main vehicle supplies electric energy to the auxiliary vehicle through the electric wire, and supplies liquid medicine for filling to the auxiliary vehicle through the hollow pipeline;
the hauling rope is used for ensuring the winding and unwinding safety of the electric wire and the hollow pipeline;
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 application further provides a master-slave vehicle cooperative operation control method, including: any one of the master-slave vehicles described above is controlled to operate in conjunction with the job control device to execute a job to the target area.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any one of the above-described master-slave vehicle collaborative job control methods when executing the program.
In a fourth aspect, the present application 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 a master-slave vehicle cooperative job control method as described in any one of the above.
According to the master-slave vehicle collaborative operation control device and the master-slave vehicle collaborative operation control method, 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 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 simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, can be operated in various environments, has great development potential and has good practical effect.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic connection diagram of a master-slave cooperative operation control device provided by the application;
FIG. 2 is a schematic diagram of the control principle of the master-slave vehicle cooperative operation control device provided by the application;
FIG. 3 is a schematic view of the working path of a differential steering type slave vehicle provided by the present application;
FIG. 4 is a schematic view of a work path of a front-wheel steering type slave vehicle provided by the present application;
FIG. 5 is a schematic diagram of the operation flow of the master-slave cooperative operation control device provided by the application;
fig. 6 is a schematic structural diagram of an electronic device provided by the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that in the description of embodiments of the present application, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description and to simplify the description, and are not indicative or implying that the apparatus or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The following describes a master-slave vehicle cooperative operation control device and method according to an embodiment of the present application with reference to fig. 1 to 5.
Fig. 1 is a schematic connection diagram of a master-slave vehicle cooperative operation control apparatus provided by the present application, as shown in fig. 1, including but not limited to the following parts:
a host vehicle controller and a first global navigation satellite system (Global Navigation Satellite System, GNSS) disposed on the host vehicle, the first GNSS 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 main vehicle and the auxiliary vehicle, and the main vehicle supplies electric energy for the auxiliary vehicle through the connecting rope; the main vehicle controller controls the winding and unwinding speed of the connecting rope according to the relative position information and the relative speed information between the main vehicle and the auxiliary 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 velocity information is determined from the first velocity and the second velocity.
The master-slave vehicle cooperative operation control device provided by the application can be used for realizing cooperative operation between one master vehicle and one slave vehicle, and also can be used for realizing cooperative operation between one master vehicle and two or more slave vehicles.
In order to clearly describe the master-slave vehicle cooperative operation control device provided by the application, in the following embodiment, a target area is subjected to weeding by cooperation of a master vehicle and a slave vehicle as an application scene.
As shown in fig. 1, it may be further assumed that the target area is an inclined area, the host vehicle runs along a slope top of the inclined area (a running direction thereof is an X-axis direction), at least one connecting rope is connected between the host vehicle and the slave vehicle, at least an electric wire is wrapped in the connecting rope, and the host vehicle supplies power to the slave vehicle through the electric wire, so that it is unnecessary to install a battery on the slave vehicle, thereby reducing the quality of the slave vehicle, improving the safety of the slave vehicle, simplifying the structure of the slave vehicle to a certain extent, and improving the operation duration of the slave vehicle.
It should be noted that, a communication connection (e.g. a CAN bus connection) between the first GNSS configured on the host vehicle controller and the host vehicle may be established, so as to receive the current position (denoted as the first position) and the real-time running speed (denoted as the first speed) of the host vehicle acquired by the first GNSS in real time.
At the same time, a communication connection between the master vehicle controller and a second GNSS configured on the slave vehicle may also be established, for example: through cladding communication line in connecting the rope, the signal acquisition port of main car controller and the signal output port of second GNSS are connected respectively to the both ends of this communication line, and the main car controller just so can acquire the current position of slave car (note as the second position) and the real-time operation speed of slave car (note as the second speed) in real time.
Further, if the connecting rope is too long, the connecting rope can be wound on a slave car, hangs down and winds around crops and the like, so that the operation safety is affected; if the connecting rope is too long, the tension applied to the connecting rope is too large, so that the running of the slave car along a normal path is affected, and even the connecting rope is broken.
In view of this, the application can be configured with the connecting rope winding and unwinding device for realizing the winding and unwinding of the connecting rope and tensioning on the main vehicle, and the main vehicle controller can control the action of the connecting rope winding and unwinding device according to the relative position information (namely the relative distance) and the relative speed information between the main vehicle and the auxiliary vehicle so as to adjust the winding and unwinding speed of the connecting rope to ensure that the connecting rope is in a tensioning state.
For example: when the slave vehicle is far away from the master vehicle (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 host 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 and slave vehicles is 0, the operation of the connection rope winding and unwinding device is stopped.
According to the master-slave vehicle collaborative operation control device, 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 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 simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, can be operated in various environments, has great development potential and has good practical effect.
Based on the content of the above embodiments, as an alternative embodiment, a slave vehicle controller is further provided on the slave vehicle; the slave vehicle controller determines the 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 and the second speed of the slave vehicle and combines the running path of the slave vehicle.
As shown in fig. 1, it is assumed that the speed V at which the host vehicle runs is the first speed in the X-axis direction in which the top of the running slope of the host vehicle is located. The vehicle runs on the slope to spray the vegetation on the slope.
The slave vehicle is provided with a slave vehicle controller which is in communication connection with a second GNSS arranged on the slave vehicle so as to receive a second position and a second speed related to the slave vehicle uploaded by the second GNSS in real time.
As shown in fig. 1, in order to enable the slave vehicle to complete and efficiently perform the application work on the vegetation on the slope, the whole work slope (i.e., the target area) can be regarded as a closed area consisting of a top end (i.e., the top of the slope where the master vehicle is located), a bottom end (i.e., the bottom of the slope opposite to the top of the slope), a left side end (the left boundary line of the slope) and a right side end (the 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 application, 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 in the Y-axis direction (i.e., from bottom to top or from top to bottom) are planned at intervals in the X-axis direction in accordance with the working width of the slave vehicle, it can be regarded that each working path is 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 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 for turning to the next row of non-operated work by the slave vehicle until the traversal of all working paths in the target area is completed.
Specifically, the slave vehicle may operate from the top of the slope to the bottom of the slope in the Y-axis direction on one of the operation paths (hereinafter referred to as "K path") located at the leftmost end of fig. 1, and the position of the master vehicle is the X-axis position corresponding to the K path.
FIG. 2 is a schematic diagram of a control principle of a master-slave vehicle collaborative operation control device provided by the application, wherein as shown in FIG. 2, a master vehicle controller acquires first GNSS data in real time in a slave vehicle operation process, wherein the first GNSS data comprises a first position and a first speed of a master vehicle; the secondary vehicle controller acquires, in real-time, second GNSS data including a secondary vehicle second position and a secondary vehicle second speed.
Fig. 3 is a schematic view of a working path of a differential steering type slave vehicle according to the present application, as shown in fig. 3, when the slave vehicle determines that the slave vehicle is already at a slope bottom (i.e., a bottom end of a target area) according to a second position, an instruction is sent to a vehicle steering system by the slave vehicle to control the slave vehicle to steer to a working path (hereinafter referred to as an M path) adjacent to a K path where a next non-performed job is performed, and a running direction of the slave vehicle is adjusted to work from the slope bottom to the slope top.
And continuing to execute the spraying operation of the slave vehicle on the M path along the reverse direction of the Y axis until the slave vehicle controller judges that the slave vehicle reaches the slope top again according to the second position of the slave vehicle, and then sending an instruction to the vehicle steering system again by the slave vehicle controller to control the slave vehicle to steer to the next operation path which is adjacent to the M path and does not execute the operation.
And iteratively executing the steps until the slave vehicle traverses all the working paths and completes the spraying operation of the whole target area.
The application provides a master-slave vehicle cooperative operation control device, wherein in the process that a slave vehicle controls a slave vehicle to turn from a one-line operation path to an operation path of a next line operation not to be executed, a master vehicle controller correspondingly determines an operation path of the master vehicle according to a first position of the master vehicle and a second speed of the slave vehicle and by combining the operation path of the slave vehicle, and the device specifically comprises the following steps:
and controlling the projection speed of the main vehicle at the top end or the bottom end of the target area at the second speed of the auxiliary vehicle to run along the top end or the bottom end where the main vehicle is positioned under the condition that the operation path of the auxiliary vehicle for not executing the operation every time the auxiliary vehicle turns to the next row is determined according to the running path of the auxiliary vehicle.
Specifically, when the slave vehicle reaches the top or the bottom of the slope, the slave vehicle controller controls the slave vehicle to turn to a working path of the next line where no working is performed, in this process, in order to ensure that the connecting rope between the master vehicle and the slave vehicle is in an optimal tensioning state and to integrate the general rule of crop planting in the target area, the master vehicle controller controls the master vehicle to perform corresponding movement along the direction of the X axis (the direction of the top of the slope shown in fig. 1), and the running speed of the master vehicle is equal to the component speed of the second speed of the slave vehicle in the X axis direction (i.e. the projection speed on the X axis), so that the synchronous advancing between the master vehicle and the slave vehicle can be ensured, and the regulation of the connecting rope retraction device by the master vehicle controller is also facilitated.
Fig. 4 is a schematic view of a working path of a front-wheel steering type slave vehicle according to the present application, and as an alternative embodiment, if the slave vehicle is a front-wheel steering type vehicle, when the slave vehicle steers from a K path to an M path, the slave vehicle directly travels to the M path along the steering path shown in fig. 4, so that a situation may occur in which a part of the working task (such as a region between the steering path and the retracing path in fig. 4) is not completed.
In view of this, the present application controls the slave vehicle to go backward until reaching the top or bottom of the next line of non-job-executing job path after the slave vehicle controller controls the slave vehicle to turn to the next line of non-job-executing job path each time, and then completes the spraying job of the next line of non-job-executing job path from that 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 retract to the bottom of the slope along the retrace route, and then starts to execute the spraying operation on the M path from the bottom of the slope.
In the case where the slave vehicle is a differential steering type vehicle, the actual steering is performed in the direction shown in fig. 3, as is known from the steering characteristics of the differential steering type vehicle, and the slave vehicle operation path can be planned in the manner shown in fig. 3 without the occurrence of a partial region failure.
Based on the content of the above embodiments, as an alternative embodiment, a high-speed camera is further provided on the slave vehicle;
the high-speed camera is used for acquiring a real-time image of the slave vehicle in the moving 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 slave vehicle controller determines that the obstacle exists in the moving direction according to the identification result of the real-time image.
According to the application, the high-speed camera is additionally arranged on the slave vehicle, so that real-time images of the surroundings are continuously collected in the running process of the slave vehicle and are sent to the slave vehicle controller. The slave vehicle controller processes the real-time image, and once the obstacle around the vehicle is judged, an instruction is sent to the slave vehicle to control the second speed of the slave vehicle, and the running path of the slave vehicle is adjusted, so that the slave vehicle can avoid the obstacle in time, and the running safety of the slave vehicle is improved.
It should be noted that, the lightweight neural network model may be preloaded in the slave vehicle controller, and trained in advance by using the 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 an input of the neural network model, and whether an obstacle exists around is judged according to an output result of the neural network model.
According to the master-slave vehicle cooperative operation control device, the safety and stability of the operation vehicle are greatly improved by adopting the master-slave vehicle cooperative design; the GNSS and the camera are used, so that the intellectualization of the working vehicle is improved, and the labor intensity of operators and the investment of manpower are reduced. Furthermore, the use of cameras enables the vehicle to autonomously detect the surrounding environment, avoiding collisions of the vehicle with obstacles. The intelligent control device for the cooperative operation of the master car and the slave car 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 foregoing 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 an electric wire, a hauling rope and a hollow pipeline;
the main vehicle supplies electric energy to the auxiliary vehicle through the electric wire, and supplies liquid medicine for filling to the auxiliary vehicle through the hollow pipeline;
the hauling rope is used for ensuring the winding and unwinding safety of the electric wire and the hollow pipeline;
the main vehicle is also provided with a connecting rope winding and unwinding device for keeping the connecting rope in a tensioning state.
In this embodiment, the connecting rope for connecting the two vehicles is mainly composed of a traction rope and an electric wire, and different hollow pipelines can be provided according to the integration of the slave vehicles with different operation functions.
For example, when the slave vehicle is in use for drug delivery, 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 solution to the slave vehicle.
The connecting rope is used for connecting the two vehicles, so that the situation that the wire or the hollow pipe is broken due to overlarge pulling force acting on the wire or the hollow pipe between the two vehicles can be prevented.
In addition, when the slave vehicle is a weeding vehicle and weeding is performed in an inclined manner by utilizing the slave vehicle, the connecting rope can also provide traction force for the weeding vehicle, so that the side-turning danger of the weeding vehicle is prevented, and the stability and safety of the weeding vehicle are improved.
The electric wire is used for the main vehicle to transmit electric energy to the auxiliary vehicle, so that a battery does not need to be arranged on the auxiliary vehicle, the quality of the auxiliary vehicle is reduced, the safety of the auxiliary vehicle is improved, the structure of the auxiliary vehicle can be simplified to a certain extent, and the operation duration of the auxiliary vehicle is prolonged.
The application also provides a master-slave vehicle cooperative operation control method, which mainly comprises the following steps: any one of the master-slave vehicles described above is controlled to operate in conjunction with the job control device to execute a job to 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 application, and as shown in fig. 5, an important application scenario of the master-slave vehicle cooperative operation control method provided by the application is the dike protection and weeding of the Yangtze river and the yellow river.
The main vehicle is provided with a first GNSS, a main vehicle controller and a connecting rope winding and unwinding device. A secondary vehicle (weeding vehicle) is provided with a second GNSS, a high-speed camera and a secondary vehicle controller.
As shown in fig. 1, the slave vehicle operates at a second speed along the positive and negative directions of the Y-axis, 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. The slave vehicle controller analyzes and processes the real-time image and judges whether the surrounding environment has obstacles or not. If the obstacle exists, the slave vehicle controller sends out an instruction to control the steering of the wheels of the slave vehicle, so that the obstacle is avoided in time.
The second GNSS on the slave vehicle also continuously acquires the position information of the slave vehicle, and determines whether the slave vehicle reaches the top or bottom of the slope via the slave vehicle controller. When the arrival is determined, control turns from the vehicle to enter the next row of work. After the vehicle is turned to the next row, the vehicle moves forward to remove weeds at two ends.
Meanwhile, the master vehicle 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 vehicle controller (or the second GNSS) at the same time, and calculates the relative position information and the relative speed information between the master vehicle finger and the slave vehicle finger so as to control the retraction of the traction rope.
And meanwhile, the master car controller also judges the position of the slave car relative to the top end or the bottom end of the slope, and if the slave car reaches the top end or the bottom end, the master car starts to move, has the same speed as the X-axis direction of the slave car and synchronously advances the slave car.
It should be noted that, when the method for controlling the cooperative operation of the master and slave vehicles according to the embodiment of the present application specifically runs, the method may be implemented based on the device for controlling the cooperative operation of the master and slave vehicles according to any one of the embodiments, which is not described in detail in this embodiment.
According to the slave vehicle collaborative operation control method provided by the application, 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 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 simplify the structure of the slave vehicle, improve the operation duration of the slave vehicle, can be operated in various environments, has great development potential and has good practical effect.
Fig. 6 is a schematic structural diagram of an electronic device according to the present application, and as shown in fig. 6, the electronic device may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, and memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to execute a master-slave vehicle collaborative job control method comprising: any of the master-slave vehicles of the above embodiments is controlled to operate in conjunction with the job control device to execute a job to a target area.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present application 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 perform a master-slave vehicle collaborative job control method provided by the above methods, the method comprising: any of the master-slave vehicles of the above embodiments is controlled to operate in conjunction with the job control device to execute a job to a target area.
In still another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the master-slave vehicle cooperative job control method provided by the above embodiments, the method comprising: any of the master-slave vehicles of the above embodiments is controlled to operate in conjunction with the job control device to execute a job to a target area.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (8)
1. A master-slave vehicle cooperative operation control apparatus, characterized by comprising:
the system comprises a main vehicle controller and a first GNSS, wherein the main vehicle controller and the first GNSS are arranged on a main vehicle, and the first GNSS is used for acquiring a first position and a first speed of the main 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 main vehicle and the auxiliary vehicle, and the main vehicle supplies electric energy for the auxiliary vehicle through the connecting rope;
the main vehicle controller controls the winding and unwinding speed of the connecting rope according to the relative position information and the relative speed information between the main vehicle and the auxiliary 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 velocity information is determined from the first velocity and the second velocity;
a slave vehicle controller is also arranged on the slave vehicle;
the slave vehicle controller determines the running path of the slave vehicle according to the second position of the slave vehicle;
the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle and the second speed of the slave vehicle and by combining the running path of the slave vehicle;
the target setting area is a closed area formed 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 in advance according to the operation width of 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 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 for turning to the next row of non-operated working from the slave vehicle until the traversal of all working paths in the target area is completed.
2. The master-slave vehicle cooperative work control apparatus according to claim 1, wherein the master vehicle operation is operated along a top end or a bottom end of the target area;
the master vehicle controller determines the running path of the master vehicle according to the first position of the master vehicle and the second speed of the slave vehicle and by combining the running path of the slave vehicle, and specifically comprises the following steps:
and controlling the projection speed of the main vehicle at the top end or the bottom end of the target area at the second speed of the auxiliary vehicle to run along the top end or the bottom end where the main vehicle is positioned under the condition that the operation path of the auxiliary vehicle for not executing the operation every time the auxiliary vehicle turns to the next row is determined according to the running path of the auxiliary vehicle.
3. The master-slave vehicle cooperative work control apparatus according to claim 1, wherein if the type of the slave vehicle is a front-wheel steering type vehicle, after the slave vehicle controller controls the slave vehicle to steer each time to a work path of a next row of non-execution work, further comprising:
and controlling the slave vehicle to retreat until reaching the top end or the bottom end of the working path of the next row of non-working to start working from the top end or the bottom end of the target area.
4. The master-slave vehicle cooperative work control apparatus 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 of the slave vehicle in the moving 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 slave vehicle controller determines that the obstacle exists in the moving direction according to the identification result of the real-time image.
5. The master-slave vehicle cooperative work control apparatus according to claim 1, wherein the slave vehicle is a drug delivery vehicle, and the master vehicle is a drug delivery tank car.
6. The master-slave vehicle cooperative work control apparatus according to claim 5, wherein the connection rope includes an electric wire, a haulage rope, and a hollow pipe line;
the main vehicle supplies electric energy to the auxiliary vehicle through the electric wire, and supplies liquid medicine for filling to the auxiliary vehicle through the hollow pipeline;
the hauling rope is used for ensuring the winding and unwinding safety of the electric wire and the hollow pipeline;
the main vehicle is also provided with a connecting rope winding and unwinding device for keeping the connecting rope in a tensioning state.
7. A master-slave vehicle cooperative operation control method is characterized by comprising the following steps: a master-slave vehicle cooperative job control apparatus according to any one of claims 1 to 6, to perform a job on a target area.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the master-slave vehicle collaborative job control method of claim 7.
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