CN116176697A - Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment - Google Patents

Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment Download PDF

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Publication number
CN116176697A
CN116176697A CN202310476675.2A CN202310476675A CN116176697A CN 116176697 A CN116176697 A CN 116176697A CN 202310476675 A CN202310476675 A CN 202310476675A CN 116176697 A CN116176697 A CN 116176697A
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distance
agricultural
steering
steering angle
agricultural machine
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CN116176697B (en
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付卫强
王昊
孟志军
武广伟
张光强
肖跃进
秦五昌
杨长江
聂建慧
李立伟
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Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
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Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Guiding Agricultural Machines (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a method, a device and electronic equipment for tracking an operation path of a articulated steering agricultural machine, belonging to the technical field of computers, wherein the method comprises the following steps: determining an agricultural machine steering angle based on the length of the steering hydraulic cylinder, the first distance and the second distance from the steering hydraulic cylinder head fixed point and the tail fixed point to the hinging point, the third distance from the steering hydraulic cylinder head fixed point to the center line of the head frame and the fourth distance from the steering hydraulic cylinder tail fixed point to the center line of the tail frame; determining an agricultural machine wheelbase based on an agricultural machine steering angle, a fifth distance from an intersection point of a headstock shaft center and an agricultural machine center line to a hinging point and a fifth distance from an intersection point of a tailstock shaft center and an agricultural machine center line to the hinging point; determining a target steering angle based on the agricultural vehicle wheelbase, the agricultural vehicle steering angle, the pre-aiming distance, the heading deviation and the transverse deviation; and controlling the agricultural machinery to act through a path tracking mode based on the target steering angle. The target steering angle is dynamically adjusted along with the change of the wheel base of the agricultural machine, so that the path tracking precision is improved.

Description

Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method and an apparatus for tracking a working path of a articulated steering agricultural machine, and an electronic device.
Background
The frame of the articulated steering agricultural machine is of a two-section hinge structure, fig. 1 is a schematic view of the articulated steering agricultural machine in a straight running state provided by the related art, fig. 2 is a schematic view of the articulated steering agricultural machine in a steering state provided by the related art, and as shown in fig. 1-2, the front and rear frames are deflected by the telescopic movement of a steering hydraulic cylinder so as to realize steering, wherein,l C indicating the distance from the center of the front axle to the center of the rear axle of the agricultural machine,dindicating the steering ram length. The structure of bowing is adopted, the turning radius of the whole vehicle is small, the operation is light, the whole structure is compact, and the requirement of hilly and mountain operation can be well met.
The unmanned technique of the agricultural machinery can reduce the manual technique requirement, improve the operation quality and the operation efficiency and reduce the operation cost. The agricultural machinery path tracking technology is one of key technologies for realizing unmanned agricultural machinery and is also an important foundation for unmanned agricultural machinery.
In the related art, pure path tracking algorithm is mostly adopted for agricultural machinery path tracking, and the premise of the algorithm is to assume the wheelbase in the operation processl C Remain unchanged. However, the articulated steering agricultural machinery steering is realized by adjusting steering hydraulic oilCylinder lengthdSteering is realized by changing the wheelbase and adjusting the turning radius, and the wheelbase is used when the agricultural machine is turned by bending overl C The length of the path is shortened, so that the path tracking effect is poor when the bending steering agricultural machine does unmanned operation, and the operation quality is affected.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a method and a device for tracking the operation path of a articulated steering agricultural machine and electronic equipment.
In a first aspect, the present invention provides a method for tracking a work path of a articulated steering agricultural machine, comprising:
determining an agricultural machine steering angle based on the steering hydraulic cylinder length, the first distance, the second distance, the third distance, and the fourth distance;
determining an agricultural machine wheelbase based on the agricultural machine steering angle, a fifth distance, and a sixth distance;
determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation;
controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation includes:
determining an agricultural machine sideslip angle based on the agricultural machine wheelbase, the agricultural machine steering angle, and the sixth distance;
the target steering angle is determined based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the sideslip angle of the agricultural machine based on the wheel base of the agricultural machine, the steering angle of the agricultural machine and the sixth distance includes:
the agricultural machinery sideslip angle is determined through the following agricultural machinery sideslip angle calculation formula:
Figure SMS_1
；
wherein ,
Figure SMS_2
indicating the sideslip angle of the agricultural machinery, < >>
Figure SMS_3
Represents the axle base of agricultural machinery, < >>
Figure SMS_4
Indicating the steering angle of the agricultural machinery, < >>
Figure SMS_5
Indicating the sixth distance.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the target steering angle based on the agricultural machine sideslip angle, the agricultural machine wheelbase, the pre-aiming distance, the heading deviation and the lateral deviation includes:
the target steering angle is determined by the following target steering angle calculation formula:
Figure SMS_6
；
wherein ,
Figure SMS_7
representing target rotationAngle of approach>
Figure SMS_8
Indicating the sideslip angle of the agricultural machinery, < >>
Figure SMS_9
Represents the axle base of agricultural machinery, < >>
Figure SMS_10
Representing the pretightening distance,/->
Figure SMS_11
Indicating heading deviation->
Figure SMS_12
Representing the lateral deviation.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the steering angle of the agricultural machine based on the length of the steering hydraulic cylinder, the first distance, the second distance, the third distance and the fourth distance includes:
the agricultural machine steering angle is determined by the following agricultural machine steering angle calculation formula:
Figure SMS_13
；
wherein ,
Figure SMS_14
indicating the steering angle of the agricultural machinery, < >>
Figure SMS_15
Indicating the length of the steering hydraulic cylinder +.>
Figure SMS_16
Representing a first distance, ++>
Figure SMS_17
Representing the second distance, ++>
Figure SMS_18
Representing a third distance, ++>
Figure SMS_19
Indicating a fourth distance.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the agricultural machine wheelbase based on the agricultural machine steering angle, the fifth distance and the sixth distance includes:
the agricultural machinery wheelbase is determined by the following agricultural machinery wheelbase calculation formula:
Figure SMS_20
；
wherein ,
Figure SMS_21
represents the axle base of agricultural machinery, < >>
Figure SMS_22
Indicating the steering angle of the agricultural machinery, < >>
Figure SMS_23
Representing the fifth distance, ++>
Figure SMS_24
Indicating the sixth distance.
In a second aspect, the present invention also provides a bending steering agricultural machinery working path tracking device, including:
the first determining module is used for determining an agricultural machine steering angle based on the length of the steering hydraulic cylinder, the first distance, the second distance, the third distance and the fourth distance;
the second determining module is used for determining an agricultural machine wheelbase based on the agricultural machine steering angle, the fifth distance and the sixth distance;
the third determining module is used for determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the course deviation and the transverse deviation;
the control module is used for controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
In a third aspect, the present invention also 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 a method for articulated steering agricultural machinery working path tracking as described in any one of the above when executing the program.
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 a bowing steering agricultural machine work path tracking method as described in any of the above.
According to the method, the device and the electronic equipment for tracking the operation path of the articulated steering agricultural machinery, the agricultural machinery steering angle is determined based on the length of the steering hydraulic cylinder, the first distance from the fixed point of the steering hydraulic cylinder head to the hinge point, the second distance from the fixed point of the steering hydraulic cylinder tail to the hinge point, the third distance from the fixed point of the steering hydraulic cylinder head to the center line of the head frame and the fourth distance from the fixed point of the steering hydraulic cylinder tail to the center line of the tail frame, and then the agricultural machinery wheelbase can be determined based on the fifth distance from the intersection point of the agricultural machinery head shaft center and the agricultural machinery center line to the hinge point and the fifth distance from the intersection point of the agricultural machinery tail shaft center and the agricultural machinery center line to the hinge point, and then the target steering angle can be determined based on the agricultural machinery wheelbase, the agricultural machinery steering angle, the pre-aiming distance, the heading deviation and the transverse deviation, and then the target steering angle can be controlled in a path tracking mode, the agricultural machinery motion can be controlled to follow the change of the agricultural machinery wheelbase, the target steering angle can be dynamically adjusted, the path tracking precision is improved, and the operation quality is improved.
Drawings
In order to more clearly illustrate the invention 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 invention, 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 view of a articulated steering agricultural machine in a straight-traveling state provided by the related art;
FIG. 2 is a schematic view of a articulated steering agricultural machine in a steering state provided by the related art;
FIG. 3 is a schematic flow chart of a method for tracking the operation path of a articulated steering agricultural machine provided by the invention;
FIG. 4 is a schematic view of the articulated steering agricultural machine provided by the present invention in a right-turn condition;
FIG. 5 is a second flow chart of the method for tracking the operation path of the articulated steering agricultural machine provided by the invention;
FIG. 6 is a third flow chart of a method for tracking a path of operation of a articulated steering agricultural machine according to the present invention;
FIG. 7 is a schematic view of the construction of the articulated steering agricultural machinery work path tracking device provided by the invention;
fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention 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 invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 3 is a schematic flow chart of the method for tracking the operation path of the articulated steering agricultural machine according to the present invention, and as shown in fig. 3, the main execution body of the method for tracking the operation path of the articulated steering agricultural machine may be an electronic device, for example, a vehicle-mounted host machine. The method comprises the following steps:
step 301, determining an agricultural machine steering angle based on a steering hydraulic cylinder length, a first distance, a second distance, a third distance, and a fourth distance.
Specifically, fig. 4 is a schematic view of the articulated steering agricultural machine provided by the invention in a right-turn state, as shown in fig. 4, the first distanced OF Fixing point for steering hydraulic cylinder headFTo the hinge pointOThe second distanced OR Fixing point for steering hydraulic cylinder tailRTo the hinge pointOThe third distanced F Fixing point for steering hydraulic cylinder headFTo the central line of the vehicle head frameOC F The fourth distanced R Fixing point for steering hydraulic cylinder tailRCenter line of vehicle tail vehicle frameOC R Is a vertical distance of a pointO’Based on the length of the steering hydraulic cylinder for steering circle centerdFirst distanced OF Second distanced OR Third distanced F And a fourth distanced R The steering angle of the current agricultural machine may be calculated to determine the agricultural machine steering angleθ，θIs of the type of-C F O’C R The value (i.e. pointC F Steering angle value at).
Step 302, determining an agricultural vehicle wheelbase based on the agricultural vehicle steering angle, the fifth distance, and the sixth distance.
Specifically, as shown in FIG. 4, the fifth distancel CF Is a hinge pointOTo a first intersection pointC F The distance of the first intersection pointC F The sixth distance is the intersection point of the center of the agricultural machine headstock shaft and the agricultural machine center linel CR To a second intersection point as a hinge pointC R The distance of the second intersection pointC R Is the center of the tail shaft of the agricultural machinery vehicleThe intersection point of the agricultural machine center lines is used for determining the steering angle of the agricultural machineθThereafter, the steering angle of the agricultural machine can be basedθFifth distancel CF And a sixth distancel CR The wheelbase of the current agricultural machine can be calculated to determine the agricultural machine wheelbasel C 。
Step 303, determining a target steering angle based on the agricultural vehicle wheelbase, the agricultural vehicle steering angle, the pre-aiming distance, the heading deviation and the lateral deviation.
In particular, in determining the wheelbase of an agricultural machinel C Thereafter, it can be based on the agricultural machine wheelbasel C Steering angle of agricultural machineryθDistance of pretargetl H Heading deviationδAnd lateral deviationεCalculating a desired steering angle in a subsequent path tracking process to determine a target steering angleθ’。
And step 304, controlling the action of the agricultural machinery through a path tracking mode based on the target steering angle.
Specifically, in determining the target steering angleθ’Then, the path tracking control can be performed based on the target steering angle, the target steering angle can be dynamically adjusted along with the change of the agricultural machinery wheelbase, and the path tracking precision is improved.
According to the articulated steering agricultural machinery operation path tracking method provided by the invention, the agricultural machinery steering angle is determined based on the length of the steering hydraulic cylinder, the first distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance from the steering hydraulic cylinder head fixed point to the head frame center line and the fourth distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, so that the agricultural machinery wheel base can be determined based on the agricultural machinery steering angle, the fifth distance from the intersection point between the agricultural machinery head shaft center and the agricultural machinery center line to the hinge point and the fifth distance from the intersection point between the agricultural machinery tail shaft center and the agricultural machinery center line to the hinge point, and further, the target steering angle can be determined based on the agricultural machinery wheel base, the agricultural machinery steering angle, the pre-aiming distance, the heading deviation and the transverse deviation, further, the agricultural machinery operation can be controlled in a path tracking mode, the agricultural machinery operation can be followed to dynamically adjust the target steering angle, the path tracking accuracy can be improved, and the operation quality can be improved.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation includes:
determining an agricultural machine sideslip angle based on the agricultural machine wheelbase, the agricultural machine steering angle, and the sixth distance;
the target steering angle is determined based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias.
Specifically, fig. 5 is a second flow chart of the method for tracking the operation path of the articulated steering agricultural machine according to the present invention, as shown in fig. 5, the method for tracking the operation path of the articulated steering agricultural machine includes steps 501 to 505.
Step 501, based on steering hydraulic cylinder lengthdFirst distanced OF Second distanced OR Third distanced F And a fourth distanced R Determining the steering angle of an agricultural machineθ。
Step 502, based on agricultural machinery steering angleθFifth distancel CF And a sixth distancel CR Determining the wheelbase of an agricultural machinel C 。
Step 503, based on agricultural machinery wheelbasel C Steering angle of agricultural machineryθAnd a sixth distancel CR Determining sideslip angle of agricultural machineryφ。
In particular, the agricultural machine may sideslip during steering, and in order to improve the accuracy of path tracking, the agricultural machine may be based on the agricultural machine wheelbasel C Steering angle of agricultural machineryθAnd a sixth distancel CR Analyzing the sideslip angle of the agricultural machine in the steering process to determine the sideslip angle of the agricultural machineφ。
Step 504, based on agricultural machinery sideslip angleφAgricultural chemicalWheelbasel C Distance of pretargetl H Heading deviationδAnd lateral deviationεDetermining a target steering angleθ’。
In particular, in determining the agricultural machinery sideslip angleφThereafter, the agricultural machinery sideslip angle can be basedφWheel base of agricultural machinel C Distance of pretargetl H Heading deviationδAnd lateral deviationεCalculating a desired steering angle in a subsequent path tracking process to determine a target steering angleθ’. By calculating the steering angle expected value in consideration of the agricultural machine sideslip angle factor, the accuracy of the path tracking can be improved.
Step 505, based on the target steering angleθ’And controlling the agricultural machinery to act through a path tracking mode.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the sideslip angle of the agricultural machine based on the wheel base of the agricultural machine, the steering angle of the agricultural machine and the sixth distance includes:
the agricultural machinery sideslip angle is determined through the following agricultural machinery sideslip angle calculation formula:
Figure SMS_25
；
wherein ,
Figure SMS_26
indicating the sideslip angle of the agricultural machinery, < >>
Figure SMS_27
Represents the axle base of agricultural machinery, < >>
Figure SMS_28
Indicating the steering angle of the agricultural machinery, < >>
Figure SMS_29
Represent the first six distances.
In particular, the agricultural machine may sideslip during steering, and in order to improve the accuracy of path tracking, the agricultural machine may be based on the agricultural machine wheelbasel C Agricultural machinerySteering angleθAnd a sixth distancel CR The sideslip angle of the agricultural machinery in the steering process is analyzed through the agricultural machinery sideslip angle calculation formula so as to determine the agricultural machinery sideslip angleφIn determining the sideslip angle of the agricultural machineryφThereafter, the agricultural machinery sideslip angle can be basedφWheel base of agricultural machinel C Distance of pretargetl H Heading deviationδAnd lateral deviationεCalculating a desired steering angle in a subsequent path tracking process to determine a target steering angleθ’. By calculating the steering angle expected value in consideration of the agricultural machine sideslip angle factor, the accuracy of the path tracking can be improved.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the target steering angle based on the agricultural machine sideslip angle, the agricultural machine wheelbase, the pre-aiming distance, the heading deviation and the lateral deviation includes:
the target steering angle is determined by the following target steering angle calculation formula:
Figure SMS_30
；
wherein ,
Figure SMS_31
indicating the target steering angle>
Figure SMS_32
Indicating the sideslip angle of the agricultural machinery, < >>
Figure SMS_33
Represents the axle base of agricultural machinery, < >>
Figure SMS_34
Representing the pretightening distance,/->
Figure SMS_35
Indicating heading deviation->
Figure SMS_36
Representing the lateral deviation.
In particular, in determining the agricultural machinery sideslip angleφThereafter, the agricultural machinery sideslip angle can be basedφWheel base of agricultural machinel C Distance of pretargetl H Heading deviationδAnd lateral deviationεCalculating the expected steering angle in the follow-up path tracking process through the target steering angle calculation formula so as to determine the target steering angleθ’. By taking into account the steering angle expectation value calculation of the agricultural machine sideslip angle factor, the accuracy of path tracking can be improved.
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the steering angle of the agricultural machine based on the length of the steering hydraulic cylinder, the first distance, the second distance, the third distance and the fourth distance includes:
the agricultural machine steering angle is determined by the following agricultural machine steering angle calculation formula:
Figure SMS_37
；
wherein ,
Figure SMS_38
indicating the steering angle of the agricultural machinery, < >>
Figure SMS_39
Indicating the length of the steering hydraulic cylinder +.>
Figure SMS_40
Representing a first distance, ++>
Figure SMS_41
Representing the second distance, ++>
Figure SMS_42
Representing a third distance, ++>
Figure SMS_43
Indicating a fourth distance.
Specifically, based on steering hydraulic cylinder lengthdFirst distanced OF Second distanced OR Third distanced F And a fourth distanced R The steering angle of the current agricultural machine can be calculated through the agricultural machine steering angle calculation formula so as to determine the agricultural machine steering angleθ。
Optionally, according to the method for tracking the operation path of the articulated steering agricultural machine provided by the invention, the determining the agricultural machine wheelbase based on the agricultural machine steering angle, the fifth distance and the sixth distance includes:
the agricultural machinery wheelbase is determined by the following agricultural machinery wheelbase calculation formula:
Figure SMS_44
；
wherein ,
Figure SMS_45
represents the axle base of agricultural machinery, < >>
Figure SMS_46
Indicating the steering angle of the agricultural machinery, < >>
Figure SMS_47
Representing the fifth distance, ++>
Figure SMS_48
Indicating the sixth distance.
In particular, in determining the steering angle of an agricultural machineθThereafter, the steering angle of the agricultural machine can be basedθFifth distancel CF And a sixth distancel CR The wheel base of the current agricultural machine can be calculated through the agricultural machine wheel base calculation formula so as to determine the agricultural machine wheel basel C 。
Optionally, fig. 6 is a third flow chart of the method for tracking the operation path of the articulated steering agricultural machine according to the present invention, as shown in fig. 6, where the method for tracking the operation path of the articulated steering agricultural machine includes steps 601 to 607.
Step 601, obtaining a first distanced OF Second distanced OR Third distanced F Fourth distanced R And pretarget distancel H 。
Step 602, obtaining the length of a steering hydraulic cylinderdHeading deviationδAnd lateral deviationε。
Step 603, based on steering hydraulic cylinder lengthdFirst distanced OF Second distanced OR Third distanced F And a fourth distanced R Determining the steering angle of the agricultural machinery through an agricultural machinery steering angle calculation formulaθ。
Step 604, based on agricultural machinery steering angleθFifth distancel CF And a sixth distancel CR Determining the agricultural machinery wheelbase through an agricultural machinery wheelbase calculation formulal C 。
Step 605, based on agricultural machinery wheelbasel C Steering angle of agricultural machineryθAnd a sixth distancel CR Determining the sideslip angle of the agricultural machinery through the calculation formula of the sideslip angle of the agricultural machineryφ。
Step 606, based on agricultural machinery sideslip angleφWheel base of agricultural machinel C Distance of pretargetl H Heading deviationδAnd lateral deviationεDetermining the target steering angle through a target steering angle calculation formulaθ’。
Step 607, based on the target steering angleθ’The agricultural machinery is controlled to act by a path tracking method, and then step 602 is continued.
According to the articulated steering agricultural machinery operation path tracking method provided by the invention, the agricultural machinery steering angle is determined based on the length of the steering hydraulic cylinder, the first distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance from the steering hydraulic cylinder head fixed point to the head frame center line and the fourth distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, so that the agricultural machinery wheel base can be determined based on the agricultural machinery steering angle, the fifth distance from the intersection point between the agricultural machinery head shaft center and the agricultural machinery center line to the hinge point and the fifth distance from the intersection point between the agricultural machinery tail shaft center and the agricultural machinery center line to the hinge point, and further, the target steering angle can be determined based on the agricultural machinery wheel base, the agricultural machinery steering angle, the pre-aiming distance, the heading deviation and the transverse deviation, further, the agricultural machinery operation can be controlled in a path tracking mode, the agricultural machinery operation can be followed to dynamically adjust the target steering angle, the path tracking accuracy can be improved, and the operation quality can be improved.
The operation path tracking device for the articulated steering agricultural machinery provided by the invention is described below, and the operation path tracking device for the articulated steering agricultural machinery described below and the operation path tracking method for the articulated steering agricultural machinery described above can be correspondingly referred to each other.
Fig. 7 is a schematic structural view of a bending and steering agricultural machinery working path tracking device provided by the invention, as shown in fig. 7, the device includes: a first determination module 701, a second determination module 702, a third determination module 703, and a control module 704, wherein:
a first determining module 701, configured to determine an agricultural machine steering angle based on a steering hydraulic cylinder length, a first distance, a second distance, a third distance, and a fourth distance;
a second determination module 702 for determining an agricultural vehicle wheelbase based on the agricultural vehicle steering angle, a fifth distance, and a sixth distance;
a third determining module 703, configured to determine a target steering angle based on the agricultural vehicle wheelbase, the agricultural vehicle steering angle, the pre-aiming distance, the heading deviation, and the lateral deviation;
the control module 704 is used for controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
Optionally, the third determining module is specifically configured to:
determining an agricultural machine sideslip angle based on the agricultural machine wheelbase, the agricultural machine steering angle, and the sixth distance;
the target steering angle is determined based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias.
According to the articulated steering agricultural machinery operation path tracking device provided by the invention, the agricultural machinery steering angle is determined based on the length of the steering hydraulic cylinder, the first distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance from the steering hydraulic cylinder head fixed point to the head frame center line and the fourth distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, so that the agricultural machinery wheel base can be determined based on the agricultural machinery steering angle, the fifth distance from the intersection point between the agricultural machinery head shaft center and the agricultural machinery center line to the hinge point and the fifth distance from the intersection point between the agricultural machinery tail shaft center and the agricultural machinery center line to the hinge point, and further, the target steering angle can be determined based on the agricultural machinery wheel base, the agricultural machinery steering angle, the pre-aiming distance, the heading deviation and the transverse deviation, further, the agricultural machinery operation can be controlled in a path tracking mode, the agricultural machinery operation can be followed to dynamically adjust the target steering angle, the path tracking accuracy can be improved, and the operation quality can be improved.
Fig. 8 is a schematic structural diagram of an electronic device according to the present invention, as shown in fig. 8, the electronic device may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a articulated steering agricultural implement path tracking method comprising:
determining an agricultural machine steering angle based on the steering hydraulic cylinder length, the first distance, the second distance, the third distance, and the fourth distance;
determining an agricultural machine wheelbase based on the agricultural machine steering angle, a fifth distance, and a sixth distance;
determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation;
controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be 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 invention 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 invention. 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 yet another 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, is implemented to perform the method of articulated steering agricultural machinery work path tracking provided by the above methods, the method comprising:
determining an agricultural machine steering angle based on the steering hydraulic cylinder length, the first distance, the second distance, the third distance, and the fourth distance;
determining an agricultural machine wheelbase based on the agricultural machine steering angle, a fifth distance, and a sixth distance;
determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation;
based on the target steering angle of the vehicle, controlling the action of the agricultural machinery in a path tracking mode;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
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 invention 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 invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; and that these modifications or substitutions may be made, without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The method for tracking the operation path of the articulated steering agricultural machinery is characterized by comprising the following steps of:
determining an agricultural machine steering angle based on the steering hydraulic cylinder length, the first distance, the second distance, the third distance, and the fourth distance;
determining an agricultural machine wheelbase based on the agricultural machine steering angle, a fifth distance, and a sixth distance;
determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the heading deviation and the lateral deviation;
controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
2. The articulated steering agricultural machinery work path tracking method of claim 1, wherein said determining a target steering angle based on said agricultural machinery wheelbase, said agricultural machinery steering angle, a pretightening distance, a heading bias, and a lateral bias comprises:
determining an agricultural machine sideslip angle based on the agricultural machine wheelbase, the agricultural machine steering angle, and the sixth distance;
the target steering angle is determined based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias.
3. The articulated steering agricultural machinery work path tracking method of claim 2, wherein said determining an agricultural machinery sideslip angle based on said agricultural machinery wheelbase, said agricultural machinery steering angle, and said sixth distance comprises:
the agricultural machinery sideslip angle is determined through the following agricultural machinery sideslip angle calculation formula:
Figure QLYQS_1
；
wherein ,
Figure QLYQS_2
indicating the sideslip angle of the agricultural machinery, < >>
Figure QLYQS_3
Represents the axle base of agricultural machinery, < >>
Figure QLYQS_4
Indicating the steering angle of the agricultural machinery, < >>
Figure QLYQS_5
Indicating the sixth distance.
4. The method for tracking the working path of the articulated steering agricultural machine according to claim 2, wherein, the determining the target steering angle based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias includes:
the target steering angle is determined by the following target steering angle calculation formula:
Figure QLYQS_6
；
wherein ,
Figure QLYQS_7
indicating the target steering angle>
Figure QLYQS_8
Indicating the sideslip angle of the agricultural machinery, < >>
Figure QLYQS_9
Represents the axle base of agricultural machinery, < >>
Figure QLYQS_10
Representing the pretightening distance,/->
Figure QLYQS_11
Indicating heading deviation->
Figure QLYQS_12
Representing the lateral deviation.
5. The articulated steering agricultural machine work path tracking method of any of claims 1-4, wherein the determining an agricultural machine steering angle based on steering hydraulic ram length, first distance, second distance, third distance, and fourth distance comprises:
the agricultural machine steering angle is determined by the following agricultural machine steering angle calculation formula:
Figure QLYQS_13
；
wherein ,
Figure QLYQS_14
indicating the steering angle of the agricultural machinery, < >>
Figure QLYQS_15
Indicating the length of the steering hydraulic cylinder +.>
Figure QLYQS_16
Representing a first distance, ++>
Figure QLYQS_17
Representing the second distance, ++>
Figure QLYQS_18
Representing a third distance, ++>
Figure QLYQS_19
Indicating a fourth distance. />
6. The articulated steering agricultural machinery work path tracking method of any of claims 1-4, wherein said determining an agricultural machinery wheelbase based on said agricultural machinery steering angle, fifth distance, and sixth distance comprises:
the agricultural machinery wheelbase is determined by the following agricultural machinery wheelbase calculation formula:
Figure QLYQS_20
；
wherein ,
Figure QLYQS_21
represents the axle base of agricultural machinery, < >>
Figure QLYQS_22
Indicating the steering angle of the agricultural machinery, < >>
Figure QLYQS_23
Representing the fifth distance, ++>
Figure QLYQS_24
Indicating the sixth distance.
7. A articulated steering agricultural machinery work path tracking device, comprising:
the first determining module is used for determining an agricultural machine steering angle based on the length of the steering hydraulic cylinder, the first distance, the second distance, the third distance and the fourth distance;
the second determining module is used for determining an agricultural machine wheelbase based on the agricultural machine steering angle, the fifth distance and the sixth distance;
the third determining module is used for determining a target steering angle based on the agricultural machine wheelbase, the agricultural machine steering angle, the pre-aiming distance, the course deviation and the transverse deviation;
the control module is used for controlling the action of the agricultural machinery in a path tracking mode based on the target steering angle;
the first distance is the distance from the steering hydraulic cylinder head fixed point to the hinge point, the second distance is the distance from the steering hydraulic cylinder tail fixed point to the hinge point, the third distance is the vertical distance from the steering hydraulic cylinder head fixed point to the head frame center line, the fourth distance is the vertical distance from the steering hydraulic cylinder tail fixed point to the tail frame center line, the fifth distance is the distance from the hinge point to the first intersection point, the first intersection point is the intersection point of the agricultural machine head shaft center and the agricultural machine center line, the sixth distance is the distance from the hinge point to the second intersection point, and the second intersection point is the intersection point of the agricultural machine tail shaft center and the agricultural machine center line.
8. The articulated steering agricultural machinery work path tracking device of claim 7, wherein the third determination module is specifically configured to:
determining an agricultural machine sideslip angle based on the agricultural machine wheelbase, the agricultural machine steering angle, and the sixth distance;
the target steering angle is determined based on the agricultural sideslip angle, the agricultural wheelbase, the pre-aiming distance, the heading bias, and the lateral bias.
9. 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 articulated steering agricultural machinery work path tracking method of any one of claims 1 to 6 when the program is executed.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the articulated steering agricultural machinery work path tracking method of any of claims 1 to 6.
CN202310476675.2A 2023-04-28 2023-04-28 Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment Active CN116176697B (en)

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