CN115657661A - Method for determining centering angle and debugging course deviation in automatic driving of agricultural machine - Google Patents
Method for determining centering angle and debugging course deviation in automatic driving of agricultural machine Download PDFInfo
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Abstract
The invention relates to a method for determining an automatic driving centering angle and debugging course deviation of an agricultural machine, which comprises the following steps: s11: first integrating an agricultural machinery centering angle; s12: starting an automatic driving mode; s13: correcting the centering angle for the first time; s14: continuously recording the transverse deviation l between the current vehicle driving AB line and the agricultural machinery position and the transverse deviation l in the driving process i Until the lateral deviation l of 20 positions is continuously acquired i The straightness is less than 2.5 cm; s15: thirdly integrating the median angle of the agricultural machinery according to the average value of the transverse deviation
The positive sign of the angle is corrected to the centering angle by corresponding to the plus-minus correction angle, and the correction angle is 0.5 degrees; s16: fourth integration of the agricultural machinery centering angles; s17: calculating the difference between the average course and the course of the AB line, wherein the difference is the course deviation when the antenna is installed; s18: centering the current central angle Mid 4 Deviation from course theta hx Adding: mid fn ＝Mid 4 +θ hx That is to sayAnd obtaining an accurate centering angle. The invention is not limited by the floor area of the debugging field, ensures that the system can quickly realize the successful initialization debugging and improves the installation and use efficiency of the system.
Description
Technical Field
The invention relates to the technical field of auxiliary automatic driving of agricultural machinery, in particular to a method for determining an intermediate angle and debugging course deviation in automatic driving of agricultural machinery.
Background
At present, in order to obtain the advancing direction of an agricultural machine and the angle of a steering wheel, a navigation satellite antenna and a wheel angle sensor are required to be installed on an agricultural machine automatic driving product based on navigation positioning. When the vehicle needs to obtain the accurate wheel angle when the vehicle travels forward after the wheel angle sensor is installed, the accurate wheel angle is called as a centering angle. When the positioning antenna adopts the double positioning antennas, the antenna connecting rod cannot ensure complete left-right symmetry, so course deviation can be caused. Therefore, when the agricultural machinery automatic driving product is installed for the first time, the centering angle of the vehicle needs to be debugged, and the inherent course deviation of the positioning antenna is found at the same time, so that the control precision of the agricultural machinery automatic driving product system is ensured. Therefore, after the navigation antenna and the angle sensor are installed, initial parameter adjustment is required to eliminate measurement errors caused during installation.
When course deviation and centering angle are debugged, products on the market need to be debugged repeatedly on a flat open road, certain requirements are required for the length and the width of a field, the situation that the width or the length of the field is insufficient frequently occurs in actual application, the debugging and installation process fails, or the repeated debugging is needed to be successful, and the installation progress and the application and use precision of the system are influenced.
Disclosure of Invention
In view of the above, it is necessary to provide a method for determining an intermediate angle and adjusting a deviation of a heading direction for automatic driving of an agricultural machine.
In order to solve the problems in the prior art, the technical scheme adopted by the invention is as follows:
an agricultural machinery automatic driving centering angle determination and course deviation debugging method comprises the following steps:
s11: first integrating an agricultural machinery centering angle;
s12: starting an automatic driving mode to enable the agricultural machinery to move forward along the planned AB line direction, and recording the transverse deviation l between the current driving AB line of the vehicle and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5 cm;
s13: correcting the centering angle for the first time;
s14: continuously recording the transverse deviation l between the current vehicle driving AB line and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5 cm;
s15: calculating the mean value of the lateral deviations of the 20 positions continuously acquired in step S14
When the absolute value of the mean of the lateral deviation
When the deviation is larger than 5cm, the third integration of the agricultural machinery centering angle is carried out, and the average value is obtained according to the transverse deviation
The positive sign and the negative sign of (1) are corrected for the centering angle by corresponding to the plus-minus correction angle, the correction angle is 0.5 degrees, the step S14 is repeated until the absolute value of the transverse deviation mean value is less than 5cm, and the step S16 is carried out;
s16: when the absolute value of the mean of the lateral deviation
When the transverse deviation mean value is larger than 0.5cm, the median angle of the agricultural machinery is integrated for the fourth time, and the mean value of the transverse deviation is obtained
The plus and minus signs of the correction angle are corresponding to the correction angle, the correction angle is 0.1 degrees, and the steps S14 to 16 are continuously repeated until the absolute value of the transverse deviation mean value
When the distance is less than 0.5cm, the debugging is stopped;
s17: calculating the difference between the average course and the course of the AB line by taking the average value of the course values of the 20 position points continuously recorded before the debugging is stopped, wherein the difference is the course deviation when the antenna is installed;
s18: centering the current central angle Mid 4 Deviation from course theta hx Adding: mid fn ＝Mid 4 +θ hx Accurate centering angle can be obtained; wherein Mid fn To the final centering angle.
Further, the planned AB line is: the two ends of the flat field are marked as a starting point A and an end point B respectively, and a straight line AB is set as an AB line.
Further, the step S11 includes the steps of:
rotating the agricultural machinery steering wheel to the left limit of the rotation of the steering wheel, and recording the angle L of the sensor lim Wherein L is lim Is a wheel left limit value; rotating the agricultural machinery steering wheel to the right rotation limit of the steering wheel, and recording the angle R of the sensor lim Wherein R is lim Is a wheel right limit value; calculating the first integrated agricultural machinery centering angle
Further, the step S12 includes the steps of:
marking two ends of a debugging site as a starting point A and a terminal point B, setting a straight line AB, namely an AB line, recording coordinates of the two points AB, and calculating a course value theta from the point A to the point B according to the coordinates of the two points AB AB (ii) a Starting an automatic driving mode; recording the transverse deviation l between the current vehicle driving AB line and the position of the agricultural machinery and the transverse deviation l in the driving process i Until 20 position crossovers were collected in successionDeviation in direction l i The straightness is less than 2.5cm.
Further, the automatic driving mode vehicle speed is more than 1km/h.
Further, the step S13 includes the steps of:
reversely calculating the steering angle of the wheels causing the current deviation amount based on the lateral deviation value and the forward looking distance,
correcting the centering angle for the first time by using the angle; wherein Mid 2 For the second integration of the centering angle of the agricultural machine, qs is the forward-looking distance of the agricultural machine,
is the arctangent of the deviation of the mean of the lateral deviation from the forward-looking distance.
Further, the step S14 includes the steps of:
continuously keeping the vehicle to run forwards by using the centering angle after the first correction, and continuously acquiring 20 position transverse deviations l at intervals of 0.5 second i (ii) a Calculating the transverse deviation l of 20 positions acquired in the step i Straightness of
Until the straightness is less than 2.5cm.
The invention has the advantages and beneficial effects that:
the invention adopts vehicle kinematics and high-precision GNSS antenna to rapidly debug the vehicle; when the centering angle is debugged, the course deviation is found through multiple data adjustments, and then the purpose of improving the application accuracy of the system is achieved. The invention can realize automatic calibration without inputting external auxiliary equipment and related empirical parameters. The invention is not limited by the floor area of the debugging site, has lower requirements on the width and the length of the site, can better adapt to different operation site environments, ensures that the system can quickly and smoothly realize the successful initialization debugging, and improves the installation and use efficiency of the system.
Drawings
The invention is explained in more detail below with reference to the figures and examples:
FIG. 1 is a schematic view of an agricultural machinery driving analysis;
FIG. 2 is a flowchart of a method for determining an agricultural machinery automatic driving centering angle and debugging a course deviation according to an embodiment of the present application;
fig. 3 is a diagram illustrating the step S406 of acquiring lateral deviations of 20 positions for the first time;
FIG. 4 shows the lateral deviations of 20 positions acquired in step S408 when the straightness is less than 2.5 cm;
FIG. 5 shows the lateral deviations of 20 positions acquired in step S412 when the straightness is less than 2.5 cm;
fig. 6 shows the heading of 20 points acquired in step S416.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.
At present, when agricultural machinery automatic driving products based on navigation positioning are installed for the first time, the centering angle of a vehicle needs to be debugged, and the inherent course deviation of a positioning antenna is found at the same time, so that the control precision of an agricultural machinery automatic driving product system is ensured.
In the traditional method, when course deviation and centering angles are debugged, repeated debugging is required on a flat open road, and the length and the width of a field have certain requirements.
In view of this, the embodiment of the present application provides a method for determining an agricultural machinery automatic driving centering angle and debugging a course deviation, and the method finds the course deviation through multiple data adjustments while debugging the centering angle, so as to achieve the purpose of improving the application precision of the system, and is particularly suitable for an accurate agricultural automatic driving control system.
The following describes a method for determining an intermediate angle and debugging a course deviation in automatic driving of an agricultural machine, which is provided by the embodiment of the application, with reference to the accompanying drawings. The following preparation work needs to be done before debugging: firstly, fixing an RTK double-antenna to enable an RTK double-antenna connecting rod to be perpendicular to an agricultural machine body as much as possible; then, installing an agricultural machine steering wheel; an analytical diagram for establishing the running of the agricultural machinery by taking an agricultural machinery rear axle as a center is shown in figure 1, wherein: l lateral deviation, o (x ', y') is the center of the rear axle of the wheel, L is the wheel base of the vehicle body, theta is the course difference between the vehicle body and the line AB,
Is the front wheel steering angle of the vehicle.
As shown in fig. 2, the embodiment of the present application provides a method for determining an agricultural machinery automatic driving centering angle and debugging a course deviation, which finds the course deviation through multiple data adjustments while debugging the centering angle, and includes the following steps:
the centering angle of the agricultural machinery is integrated for the first time, and the specific process is as follows:
s401: rotating the agricultural machine steering wheel to the left limit of the steering wheel rotation, and recording the angle L of the sensor lim Wherein L is lim For a left limit value of the wheel, the steering wheel is rotated to the right to a right limit of the steering wheel rotation, and the sensor angle R is recorded lim Wherein R is lim Is the wheel right limit.
In the present embodiment, the east red 904 tractor is used to drive the vehicle steering wheel to the left to the limit value to record the angle sensor angle L lim =169.199 °, drive vehicle steering wheel to right to limit value recording angle sensor angle R lim =239.691 °, wherein L lim And R lim Only with respect to the vehicle type.
S402: estimating a first integrated agricultural machine alignment angle of a vehicle from left and right limit values recorded by an angle sensor in step S401
Wherein Mid is the first integrated agricultural machinery centering angle.
Starting an automatic driving mode to enable the agricultural machinery to advance along the planned AB line direction, wherein the deviation of a system to a central angle and a course is inaccurate, so that the vehicle deviates from the planned AB line when running; recording the transverse deviation l between the current vehicle driving AB line and the agricultural machinery position and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5cm, and the specific process is as follows:
s403: selecting a relatively flat ground as a debugging field, marking the two ends of the field as a starting point A and a terminal point B, setting a straight line AB, namely an AB line, and recording coordinates of two points AB.
S404: calculating course value theta from the point A to the point B according to the coordinates of the point AB AB =191.162 °. At this time, the central angle of the front wheel set is increased towards the left and decreased towards the right, and the signs of the lateral deviations are negative on the left and positive on the right with reference to the line AB.
S405: starting a debugging mode, starting an automatic driving mode, and enabling the agricultural machinery to advance along the direction of the planned AB line, wherein the speed of the agricultural machinery is more than 1km/h, and at the moment, the deviation of the system to the centering angle and the course is inaccurate, so that the agricultural machinery deviates from the planned AB line when the agricultural machinery runs.
S406: as shown in FIG. 3, after the vehicle continuously drives forwards, the deviation between the vehicle and the AB line tends to be stable gradually, and the transverse deviation l between the current driving AB line of the vehicle and the position of the agricultural machinery and the transverse deviation l during the driving process are recorded i Transverse deviation l i The acquisition interval was 0.5 seconds and the lateral deviation l of 20 positions was recorded continuously i 。
S407: calculating the running straightness of the agricultural machine at the moment
Wherein
Is the mean of the lateral deviations; line is the straightness of running of the agricultural machinery; and N is the data amount of the acquired lateral deviation.
S408: as shown in figure 4, when the running straightness of the agricultural machinery is less than 2When the distance is 5cm, the vehicle enters a line stabilizing state, if the running straightness of the agricultural machine is more than 2.5cm, the agricultural machine continues to advance to collect the transverse deviation, and the steps S406 to S407 are repeatedly executed until the transverse deviation l of 20 positions is continuously collected i The straightness is less than 2.5cm.
Correcting the centering angle for the first time, and the specific process is as follows:
s409: absolute value of the above-mentioned lateral deviation mean
When the deviation is larger than 2.5cm, the lateral deviation can be considered to be caused by incorrect centering angle, the wheel steering angle causing the current deviation amount can be reversely calculated according to the lateral deviation and the forward looking distance, the wheel steering angle can be calculated, and the wheel steering angle can be considered to be roughly calculated centering angle deviation, namely:
correcting the centering angle for the first time by using the angle; wherein Mid 2 For the second integration of the centering angles of the agricultural machinery, qs is the forward-looking distance of the agricultural machinery, which is 240cm, and the forward-looking distance is related to the speed of the agricultural machinery vehicle,
is the inverse tangent of the mean of the lateral deviation to the forward-looking distance.
Recording the transverse deviation l between the current vehicle driving AB line and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5cm, and the specific process is as follows:
s410: as shown in FIG. 5, the vehicle is continuously kept running forwards by using the centering angle after the first correction, and 20 position lateral deviations l are continuously acquired at intervals of 0.5 second i 。
Calculating the mean value of the lateral deviations of 20 positions acquired continuously after the first correction of the central angle in the last step
When laterally deviatedAbsolute value of mean of difference
When the transverse deviation mean value is larger than 5cm, the third integration of the agricultural machinery centering angles is carried out, and the transverse deviation mean value is used
The positive sign and the negative sign of the positive and negative correction angle are corrected for the central angle, the correction angle is 0.5 degrees, the previous step is repeated until the absolute value of the mean value of the transverse deviation is less than 5cm, and the next step is carried out, wherein the specific process is as follows:
s411: calculating the 20 consecutive position lateral deviations l acquired according to step S410 i Straightness of
S412: judging the running straightness of the vehicle, and repeating the steps S410-S411 when the straightness is more than 2.5 cm;
s413: when the straightness is less than 2.5cm, calculating the average value of the transverse deviation of the continuous 20 positions of the group data
S414: when the absolute value of the mean of the lateral deviation
When the average value is more than 5cm, the average value is calculated according to the transverse deviation
The plus or minus correction angle of (1) corresponds to the correction angle of (0.5 DEG), namely Mid when the deviation is less than 0 3 ＝Mid 2 -0.5 °, mid when the deviation is greater than 0 3 ＝Mid 2 +0.5 °, repeat steps S410-S413 until the absolute value of the mean of the lateral deviations is less than 5cm, proceed to step S415, where Mid 3 And 4, centering the agricultural machinery for the third time.
When the absolute value of the mean of the lateral deviation
When the transverse deviation mean value is larger than 0.5cm, the median angle of the agricultural machinery is integrated for the fourth time
The positive sign of (A) corresponds to the plus-minus correction angle pair centering angle, the correction angle is 0.1 degrees until the absolute value of the deviation mean value
And when the distance is less than 0.5cm, stopping debugging. The specific process is as follows:
s415: when the absolute value of the mean of the lateral deviation
When the absolute value of the deviation is less than 5cm, continuously judging whether the absolute value of the deviation is less than 0.5cm, and when the absolute value of the transverse deviation is more than 0.5cm, according to the mean value of the transverse deviation
The plus and minus signs of (1) correspond to the addition and subtraction correction angles and are integrated with the centering angle, the correction angle is 0.1 degrees, namely Mid is when the transverse deviation is less than 0 4 ＝Mid 3 -0.1 °, mid when the lateral deviation is greater than 0 4 ＝Mid 3 +0.1 ° until the absolute value of the mean of the transverse deviations is less than 0.5cm, proceeding to the next step, mid 4 The fourth integration of the agricultural machinery centering angle.
S416: as shown in FIG. 6, the mean of the 20 location point headings recorded continuously before stopping debugging is recorded
Wherein
The average value of the heading of 20 continuous positions of the agricultural machinery; when the lateral deviation is less than + -0.5 cm, the debugging is stopped.
S417: heading averaging using 20 positions recorded consecutively before stopping debuggingThe course is different from the course of the line AB
The difference is the course deviation of the antenna during installation, wherein theta hx Is the course deviation, theta AB The course of the AB line.
S418: centering the current central angle Mid 4 Deviation from course theta hx Adding Mid fn ＝Mid 4 +θ hx And (4) the centering angle is not less than 205.084-0.34515 ° =204.73885 °, and the accurate centering angle can be obtained. Wherein Mid fn To the final centering angle.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. An agricultural machinery automatic driving centering angle determination and course deviation debugging method is characterized by comprising the following steps:
s11: first integrating an agricultural machinery centering angle;
s12: starting an automatic driving mode to enable the agricultural machinery to advance along the planned AB line direction, and recording the transverse deviation l between the current driving AB line of the vehicle and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5 cm;
s13: correcting the centering angle for the first time;
s14: continuously recording the transverse deviation l between the current vehicle driving AB line and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5 cm;
s15: calculating the mean value of the lateral deviations of the 20 positions continuously acquired in step S14
When the absolute value of the mean of the lateral deviation
When the transverse deviation mean value is larger than 5cm, the third integration of the agricultural machinery centering angles is carried out, and the transverse deviation mean value is used
The positive sign and the negative sign of (1) are corrected for the centering angle by corresponding to the plus-minus correction angle, the correction angle is 0.5 degrees, the step S14 is repeated until the absolute value of the transverse deviation mean value is less than 5cm, and the step S16 is carried out;
s16: when the absolute value of the mean of the lateral deviation
When the transverse deviation is larger than 0.5cm, the median angle of the agricultural machinery is integrated for the fourth time, and the mean value of the transverse deviation is obtained
The plus and minus signs of the correction angle are corresponding to the correction angle, the correction angle is 0.1 degrees, and the steps S14 to 16 are continuously repeated until the absolute value of the transverse deviation mean value
When the distance is less than 0.5cm, the debugging is stopped;
s17: calculating the difference between the average course and the course of the AB line by using the average value of the course values of the 20 position points continuously recorded before the debugging is stopped, wherein the difference value is the course deviation when the antenna is installed;
s18: centering the current central angle Mid 4 Deviation from course theta hx Adding: mid fn ＝Mid 4 +θ hx So that an accurate centering angle can be obtained; wherein Mid fn To the final centering angle.
2. The agricultural machinery autopilot course deviation debugging method according to claim 1, characterized in that: the planned AB line is: the two ends of the flat field are marked as a starting point A and an end point B respectively, and a straight line AB is set as an AB line.
3. The agricultural machinery autopilot course deviation debugging method according to claim 1, characterized in that: the step S11 includes the steps of:
rotating the agricultural machinery steering wheel to the left limit of the rotation of the steering wheel, and recording the angle L of the sensor lim Wherein L is lim Is a wheel left limit value; rotating the agricultural machinery steering wheel to the right-hand limit of the steering wheel, and recording the angle R of the sensor lim Wherein R is lim Is a wheel right limit value; calculating the first integrated agricultural machinery centering angle
4. The agricultural machinery autopilot course deviation debugging method according to claim 1, characterized in that: the step S12 includes the steps of:
marking two ends of a debugging field as a starting point A and an end point B, setting a straight line AB, namely an AB line, recording coordinates of two points AB, and calculating a course value theta from the point A to the point B according to the coordinates of the two points AB AB (ii) a Starting an automatic driving mode; recording the transverse deviation l between the current vehicle driving AB line and the position of the agricultural machinery and the transverse deviation l in the driving process i Until the lateral deviations l of 20 positions are continuously acquired i The straightness is less than 2.5cm.
5. The agricultural machinery autopilot course deviation debugging method of claim 4, characterized in that: the speed of the automatic driving mode is more than 1km/h.
6. The agricultural machinery autopilot course deviation debugging method according to claim 1, characterized in that: the step S13 includes the steps of:
according to transverse deviationThe value and the forward looking distance, the steering angle of the wheel causing the current deviation amount is calculated in reverse,
correcting the centering angle for the first time by using the angle; wherein Mid 2 For the second integration of the centering angle of the agricultural machine, qs is the forward-looking distance of the agricultural machine,
is the arctangent of the deviation of the mean of the lateral deviation from the forward-looking distance.
7. The agricultural machinery autopilot course deviation debugging method according to claim 1, characterized in that: the step S14 includes the steps of:
continuously keeping the vehicle to run forwards by using the centering angle after the first correction, and continuously acquiring 20 position transverse deviations l at intervals of 0.5 second i (ii) a Calculating the transverse deviation l of 20 positions acquired in the step i Straightness of
Until the straightness is less than 2.5cm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116700293A (en) * | 2023-07-19 | 2023-09-05 | 上海联适导航技术股份有限公司 | Method and device for debugging automatic driving system of agricultural vehicle and agricultural vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116700293A (en) * | 2023-07-19 | 2023-09-05 | 上海联适导航技术股份有限公司 | Method and device for debugging automatic driving system of agricultural vehicle and agricultural vehicle |
| CN116700293B (en) * | 2023-07-19 | 2024-03-29 | 上海联适导航技术股份有限公司 | Method and device for debugging automatic driving system of agricultural vehicle and agricultural vehicle |
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