CN116965393B - High-clearance variable-track plant protection machine and operation control method thereof - Google Patents

High-clearance variable-track plant protection machine and operation control method thereof Download PDF

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Publication number
CN116965393B
CN116965393B CN202311229027.3A CN202311229027A CN116965393B CN 116965393 B CN116965393 B CN 116965393B CN 202311229027 A CN202311229027 A CN 202311229027A CN 116965393 B CN116965393 B CN 116965393B
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plant protection
protection machine
wheel
target
err
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CN116965393A (en
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李宁
刘立超
丁霄
何家勋
黄莉莉
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Anhui Agricultural University AHAU
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Anhui Agricultural University AHAU
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

Abstract

The invention discloses a high-clearance variable-track plant protection machine and an operation control method thereof, and belongs to the field of plant protection machine control. The invention judges whether the plant protection machine needs to turn in real time by collecting the inter-row position information of the plant protection machine, and judges whether the wheel tread needs to be changed in real time by collecting the spacing between adjacent rows and collecting the current wheel tread of the plant protection machine when the plant protection machine is in a straight running state; when the plant protection machine is in a steering state, whether the turning radius meets the requirement is judged in real time by collecting the wheel distances of the front wheel and the rear wheel of the plant protection machine, and the turning radius is adjusted by adjusting the wheel distances of the front wheel and the rear wheel of the plant protection machine; judging whether the wheel track of the plant protection machine needs to be changed or not in real time by collecting the current crop type, and adjusting the wheel track of the plant protection machine by adjusting the included angle of the crossing frame of the plant protection machine; the invention effectively solves the problem that the prior plant protection machine can not adjust the row spacing in production.

Description

High-clearance variable-track plant protection machine and operation control method thereof
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a high-clearance variable tread plant protection machine and an operation control method thereof.
Background
Agricultural machinery is a key element for improving production efficiency and is continuously paid attention to and improved. However, under certain application scenarios, conventional plant protection machines still have some limitations in achieving efficient operation. Especially in a composite planting scene, the change of crop row spacing presents challenges to the applicability of the plant protection machine, and simultaneously limits the working efficiency of the plant protection machine.
Conventional plant protection machines typically have a fixed track width, which limits their ability to work between crops of different row spacing. In different planting modes, frequent mechanical adjustments are required, which results in reduced working efficiency and possibly even damage to the crop. In order to solve the problems, the invention provides a plant protection machine capable of adjusting the track in real time and an operation control method thereof.
Disclosure of Invention
The invention aims to provide a high-clearance variable-track plant protection machine capable of acquiring and adjusting track in real time so as to adapt to different crop row spacing and keeping stability under different operation situations and an operation control method thereof, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a high-clearance variable track plant protection machine operation control method comprises the following steps:
s1, shooting real-time ridge image information in a working area of a plant protection machine by using an industrial camera, processing the shot image, fitting a ridge track line, and judging whether the plant protection machine is in a row end steering area or not through the curvature of the ridge track line; if the driving direction is in the end-of-line steering area, entering S3, otherwise entering S2;
s2, entering a straight-line module, detecting left and right line spaces by using an industrial camera, acquiring a cross included angle between the current two auxiliary rotating arms (5) by using a displacement sensor, calculating the wheel space and wheel base information of the current plant protection machine by using signals output by the displacement sensor, acquiring the minimum turning radius by combining the obtained left and right line space information, calculating the ratio of the current crop line space to the current wheel space, judging whether the ratio is equal to 1, and if so, not performing wheel space adjustment; if not, a first working instruction is obtained;
s3, entering a steering module, detecting the boundary distance between the tail end of the crop row and the farmland by using an industrial camera, calculating a critical turning radius by combining the length of the vehicle body and the wheel track, and judging whether the minimum turning radius is smaller than the critical turning radius; if the number is smaller than the preset number, S5 is entered; otherwise, a second working instruction is obtained, and S4 is entered;
s4, adjusting the turning radius according to the second working instruction in the S3;
s5, turning the plant protection machine, and entering S6;
s6, detecting whether the steering of the plant protection machine is finished by using an industrial camera, if so, entering S7, otherwise, returning to S3;
s7, detecting whether the current row crop changes by using an industrial camera; if the change occurs, the method enters S1, otherwise, the method returns to S2;
and S8, adjusting the track of the plant protection machine according to the second working instruction in the S3, and returning to the S1.
Preferably, in S2, the measuring of the cross included angle between the two auxiliary rotating arms of the plant protection machine specifically includes the following operations:
a1, fixedly mounting a displacement sensor on a rotation central shaft of two auxiliary rotating arms, and acquiring the current crossed included angle of the auxiliary rotating arms by using the displacement sensor;
a2, calculating the wheel tread, the wheel base and the minimum turning radius of the plant protection machine, wherein the specific calculation formula is as follows:
wherein:Bis the wheel track of the plant protection machine;the length of the auxiliary rotating arm;αis a crossed included angle between the two auxiliary rotating arms;Ris the minimum turning radius;Lis the wheel base of the plant protection machine;φis the maximum rotation angle of the front wheel.
Preferably, the crop row spacing measurement and the crop row end and farmland boundary distance measurement in S2 and S3 specifically include the following operations:
b1, fixedly mounting an industrial camera on the upper surface of a chassis truck with high ground clearance, and measuring the row spacing of crops and the distance between the tail end of the row of the crops and the boundary of a farmland through the industrial camera;
and B2, when the plant protection machine is in a straight line, calculating the ratio of the current crop row spacing to the current plant protection machine wheel spacing by utilizing the current crop row spacing obtained in the step B1, wherein the specific calculation formula is as follows:
wherein:bthe ratio of the current crop row spacing to the current plant protection machine wheel spacing is set;ais the row spacing of crops;Bis the wheel track of the plant protection machine;
and B3, calculating a critical turning radius by using the distance between the tail end of the crop row obtained in the step B1 and the boundary of the farmland when the plant protection machine turns, wherein the specific calculation formula is as follows:
d=μR
wherein:dis the critical steering radius;μis a steering redundancy coefficient;Ris the minimum turning radius.
Preferably, the turning radius adjustment in S4 specifically means: if the current turning radius is larger than the critical turning radius, the wheel distance between the front wheel and the rear wheel is reduced; if the current turning radius is smaller than the critical turning radius, the front-rear wheel distance is increased.
Preferably, the first working instruction in S2 specifically includes the following:
L_err=target-L_measure
L_out=P*L_err+I*L_err+D*（L_err-pre_err）
R_err=target-R_measure
R_out=P*R_err+I*R_err+D*（R_err-pre_err）
wherein:
l_err is the difference between the left wheel center line and the fitted track line of the camera; r_err is the difference between the left wheel center line and the fitted track line of the camera; the target is a track line of the ridge fitted by the camera, and is ideally a center line of the ridge; l_measure is the pixel position of the left wheel centerline in the image; r_measure is the pixel position of the left wheel centerline in the image; pre_err is the last deviation; p refers to the report, which is a proportionality constant; i refers to Integral, which is an Integral constant; d is Differential, which is a Differential constant; out is the deviation obtained;
in the process of the plant protection machine traveling straight, the plant protection machine is ensured to travel in the middle of the ridge through steering and wheel distance adjustment, and the process is divided into the following stages:
(1) By steering adjustment:
(1) target-m < L_err < target+m and R_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) target-m < R_err < target+m and L_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(3) target-m < L_err < target+m and R_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through left steering;
(4) target-m < R_err < target+m and L_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) Adjusting by adjusting the wheel track:
(1) l_err=target+m and r_err < target-m
If the condition is satisfied, the left wheel of the plant protection machine is fixed, the right wheel turns 90 degrees and is perpendicular to the advancing direction of the plant protection machine, and the right wheel is in the range of [ target-m, target+m ] by expanding the wheel track rightwards;
(2) l_err > target+m and r_err=target-m
If the condition is satisfied, the right wheel of the plant protection machine is fixed, the left wheel turns 90 degrees and is vertical to the advancing direction of the plant protection machine, and the left wheel is in the range of [ target-m, target+m ] by expanding the wheel track leftwards;
(3) l_err > target+m and R_err < target-m
If the condition is satisfied, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by enlarging the wheel distance leftwards and rightwards;
(4) l_err < target+m and R_err > target-m
If the condition is met, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by reducing the wheel distance leftwards and rightwards;
in the above formula, m=x+w/2; wherein x is the width of a buffer zone between the wheel and the seedling belt; w is the wheel width.
Compared with the prior art, the invention provides the high-clearance variable track plant protection machine and the operation control method thereof, which have the following beneficial effects:
the high-clearance variable tread plant protection machine and the operation control method thereof provided by the invention can intelligently adjust the tread and steering according to the real-time operation condition so as to realize efficient and accurate operation. Meanwhile, the stable walking and operating state of the plant protection machine in field operation is ensured by utilizing the data acquisition and processing of the industrial camera and the sensor.
Drawings
FIG. 1 is a schematic three-dimensional diagram of a high-clearance variable tread plant protection machine according to the present invention;
FIG. 2 is a schematic view of an annular slide rail of a high-clearance variable track plant protection machine according to the present invention;
FIG. 3 is a schematic view of a main rotating arm of a high-clearance variable track plant protection machine according to the present invention;
FIG. 4 is a top view of a main rotating arm, an auxiliary rotating arm and a track adjusting system of a high-clearance plant protection machine with variable track provided by the invention;
FIG. 5 is a schematic diagram of a track adjustment system for a high-clearance variable track plant protection machine according to the present invention;
fig. 6 is a schematic structural diagram of a transmission support frame, a steering system and a driving module of the high-clearance plant protection machine with variable wheel tread.
Reference numerals illustrate:
1. a chassis; 2. a circular slide rail; 3. a main rotating arm; 301. a rotating frame; 302. the rotating arm extending column is fixed on the shell; 303. a radial arm extension column; 304. a first rotary joint; 4. a transmission support frame; 401. a second rotary joint; 402. a support column; 5. an auxiliary rotating arm; 6. a track pitch adjustment system; 601. adjusting a motor; 602. a gear box; 603. a screw rod; 604. a sliding sleeve; 7. a steering system; 701. a steering reduction gearbox; 702. a steering motor; 8. a driving module; 801. a motor mounting rack; 802. a driving motor; 803. a wheel; 9. a medicine box; 10. and a medicine spraying device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
referring to fig. 1-5, the present invention provides a high-clearance variable tread plant protection machine, which comprises the following components:
chassis 1: four connecting columns, a cylindrical shaft fixing hole and a motor bracket hole are fixed on the chassis 1. The chassis 1 is used as a main supporting structure of the plant protection machine, and the overall stability is ensured.
Annular slide rail 2: the circular slide rail 2 is arranged on the chassis 1, and the lower surface of the circular slide rail is connected with the chassis 1 through a connecting hole. The slide rail provides a stable track, so that the radial arm keeps an accurate running track.
Main rotation arm 3: the main rotating arm 3 is composed of a rotating frame 301, a rotating arm extending column 303, a fixed housing and a rotating joint. The main rotation arm 3 is connected to the chassis 1 through a cylindrical shaft fixing hole so that it can rotate around a fixing point. The rotating frame 301 is also provided with a mounting hole for connecting with the fixed housing 302 of the swing arm extension column.
The auxiliary rotating arm 5: the auxiliary rotating arm 5 is connected with the chassis 1 and the transmission supporting frame 4 through positioning and fixing holes. The device consists of two rotary joints and a slide rail cylinder with a slide rail, and can stably move in the process of changing the track width.
Drive support 4: the transmission support frame 4 is composed of a pair of rotary joints and support columns 402, and is connected between the chassis 1 and the auxiliary rotating arm 5. The structure ensures that the wheel track adjusting system 6 can be fixed through the transmission reduction gearbox, and ensures the stable adjustment of the wheel track of the plant protection machine.
Track adjustment system 6: the track adjusting system 6 consists of an adjusting motor 601, a gear box 602, a screw 603 and a sliding sleeve 604. The system can accurately control the steering of the plant protection machine, so that the plant protection machine can maintain an accurate travelling direction in the working process.
Drive module 8: the drive module 8 includes a motor mount 801, a drive motor 802, and wheels 803. Through this module, plant protection can obtain the power that advances required.
Medicine chest 9: the medicine chest 9 is fixed on the chassis 1 through medicine chest support posts and is used for carrying medicines required by plant protection. The design ensures that the medicament can be supplied at any time, and ensures the continuity of operation.
The spraying device 10: the spraying device 10 is composed of a spraying bracket and a spraying nozzle, and can accurately spray the medicine in the operation process. This system can carry out accurate spraying to the plant according to actual need, has improved the effect of plant protection.
The operation control method of the plant protection machine comprises the following steps:
s1, shooting real-time ridge image information in a working area of a plant protection machine by using an industrial camera, processing the shot image, fitting a ridge track line, and judging whether the plant protection machine is in a row end steering area or not through the curvature of the ridge track line; if the driving direction is in the end-of-line steering area, entering S3, otherwise entering S2;
s2, entering a straight-line module, detecting left and right line spaces by using an industrial camera, acquiring a cross included angle between the current two auxiliary rotating arms 5 by using a displacement sensor, calculating the wheel space and wheel base information of the current plant protection machine by using signals output by the displacement sensor, acquiring the minimum turning radius by combining the obtained left and right line space information, calculating the ratio of the current crop line space to the current wheel space, judging whether the ratio is equal to 1, and if so, not performing wheel space adjustment; if not, a first working instruction is obtained;
s2, measuring a cross included angle between two auxiliary rotating arms 5 of the plant protection machine, wherein the method specifically comprises the following operations:
a1, fixedly mounting a displacement sensor on a rotation central shaft of two auxiliary rotating arms 5, and acquiring a crossing included angle of the current auxiliary rotating arm 5 by using the displacement sensor;
a2, calculating the wheel tread, the wheel base and the minimum turning radius of the plant protection machine, wherein the specific calculation formula is as follows:
wherein:Bis the wheel track of the plant protection machine;the length of the auxiliary rotating arm 5;αis a crossed included angle between the two auxiliary rotating arms 5;Ris the minimum turning radius;Lis the wheel base of the plant protection machine;φthe maximum rotation angle of the front wheel;
s2, the first working instruction specifically comprises the following contents:
L_err=target-L_measure
L_out=P*L_err+I*L_err+D*（L_err-pre_err）
R_err=target-R_measure
R_out=P*R_err+I*R_err+D*（R_err-pre_err）
wherein:
l_err is the difference between the left wheel center line and the fitted track line of the camera; r_err is the difference between the left wheel center line and the fitted track line of the camera; the target is a track line of the ridge fitted by the camera, and is ideally a center line of the ridge; l_measure is the pixel position of the left wheel centerline in the image; r_measure is the pixel position of the left wheel centerline in the image; pre_err is the last deviation; p refers to the report, which is a proportionality constant; i refers to Integral, which is an Integral constant; d is Differential, which is a Differential constant; out is the deviation obtained;
in the process of the plant protection machine traveling straight, the plant protection machine is ensured to travel in the middle of the ridge through steering and wheel distance adjustment, and the process is divided into the following stages:
(1) By steering adjustment:
(1) target-m < L_err < target+m and R_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) target-m < R_err < target+m and L_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(3) target-m < L_err < target+m and R_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through left steering;
(4) target-m < R_err < target+m and L_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) Adjusting by adjusting the wheel track:
(1) l_err=target+m and r_err < target-m
If the condition is satisfied, the left wheel of the plant protection machine is fixed, the right wheel turns 90 degrees and is perpendicular to the advancing direction of the plant protection machine, and the right wheel is in the range of [ target-m, target+m ] by expanding the wheel track rightwards;
(2) l_err > target+m and r_err=target-m
If the condition is satisfied, the right wheel of the plant protection machine is fixed, the left wheel turns 90 degrees and is vertical to the advancing direction of the plant protection machine, and the left wheel is in the range of [ target-m, target+m ] by expanding the wheel track leftwards;
(3) l_err > target+m and R_err < target-m
If the condition is satisfied, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by enlarging the wheel distance leftwards and rightwards;
(4) l_err < target+m and R_err > target-m
If the condition is met, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by reducing the wheel distance leftwards and rightwards;
in the above formula, m=x+w/2; wherein x is the width of a buffer zone between the wheel and the seedling belt; w is the wheel width;
s3, entering a steering module, detecting the boundary distance between the tail end of the crop row and the farmland by using an industrial camera, calculating a critical turning radius by combining the length of the vehicle body and the wheel track, and judging whether the minimum turning radius is smaller than the critical turning radius; if the number is smaller than the preset number, S5 is entered; otherwise, a second working instruction is obtained, and S4 is entered;
s2, measuring the row spacing of crops and measuring the distance between the tail end of the row of the crops and the boundary of a farmland, wherein the method specifically comprises the following operations:
b1, fixedly mounting an industrial camera on the upper surface of a chassis truck with high ground clearance, and measuring the row spacing of crops and the distance between the tail end of the row of the crops and the boundary of a farmland through the industrial camera;
and B2, when the plant protection machine is in a straight line, calculating the ratio of the current crop row spacing to the current plant protection machine wheel spacing by utilizing the current crop row spacing obtained in the step B1, wherein the specific calculation formula is as follows:
wherein:bthe ratio of the current crop row spacing to the current plant protection machine wheel spacing is set;ais the row spacing of crops;Bis the wheel track of the plant protection machine;
and B3, calculating a critical turning radius by using the distance between the tail end of the crop row obtained in the step B1 and the boundary of the farmland when the plant protection machine turns, wherein the specific calculation formula is as follows:
d=μR
wherein:dis the critical steering radius;μis a steering redundancy coefficient;Ris the minimum turning radius;
s4, adjusting the turning radius according to the second working instruction in the S3;
the turning radius adjustment in S4 specifically refers to: if the current turning radius is larger than the critical turning radius, the wheel distance between the front wheel and the rear wheel is reduced; if the current turning radius is smaller than the critical turning radius, the front-rear wheel distance is increased.
S5, turning the plant protection machine, and entering S6;
s6, detecting whether the steering of the plant protection machine is finished by using an industrial camera, if so, entering S7, otherwise, returning to S3;
s7, detecting whether the current row crop changes by using an industrial camera; if the change occurs, the method enters S1, otherwise, the method returns to S2;
and S8, adjusting the track of the plant protection machine according to the second working instruction in the S3, and returning to the S1.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.

Claims (4)

1. The method is used for controlling the high-clearance variable-track plant protection machine, the plant protection machine comprises a chassis (1), a main rotating arm (3) is arranged at the central position of the chassis (1), the main rotating arm (3) comprises a rotating frame (301), the rotating frame (301) is rotatably arranged on the chassis (1), rotating arm extension column fixing shells (302) are arranged at two ends of the rotating frame (301), rotating arm extension columns (303) are connected in the rotating arm extension column fixing shells (302) in a telescopic manner, and first rotating joints (304) are arranged at the tail ends of the rotating arm extension columns (303); a transmission support frame (4) is arranged below the main rotating arm (3), the transmission support frame (4) comprises a second rotating joint (401) and a support column (402), the second rotating joint (401) is connected with the first rotating joint (304), and the support column (402) is fixedly connected to the bottom end of the support column (402); the transmission support frame (4) is connected with a steering system (7) and a driving module (8), and the steering system (7) is composed of a steering reduction gearbox (701) and a steering motor (702); the driving module (8) comprises a motor mounting frame (801), a driving motor (802) and wheels (803); four connecting columns are fixedly connected to the upper surface of the chassis (1), and a circular sliding rail (2) is fixedly arranged at the top end of each connecting column; the circular slide rail (2) is connected with an auxiliary rotating arm (5), the auxiliary rotating arm (5) is matched with the transmission support frame (4), the auxiliary rotating arm (5) is composed of a third rotating joint and a rail cylinder, and the rail cylinder is provided with a slide rail; the chassis (1) is also provided with a wheel track adjusting system (6), the wheel track adjusting system (6) comprises an adjusting motor (601), a gear box (602), a screw rod (603) and a sliding sleeve (604), wherein the gear box (602) is fixedly arranged on a rack on the chassis (1), and the sliding sleeve (604) is connected with an auxiliary rotating arm (5) through a sliding rail; the medicine spraying device is characterized in that a medicine box (9) is fixedly arranged on the chassis (1), a medicine spraying device (10) is fixedly arranged on one side of the chassis (1), and the medicine spraying device (10) is matched with the medicine box (9);
the method comprises the following steps:
s1, shooting real-time ridge image information in a working area of a plant protection machine by using an industrial camera, processing the shot image, fitting a ridge track line, and judging whether the plant protection machine is in a row end steering area or not through the curvature of the ridge track line; if the driving direction is in the end-of-line steering area, entering S3, otherwise entering S2;
s2, entering a straight-line module, detecting left and right line spaces by using an industrial camera, acquiring a cross included angle between the current two auxiliary rotating arms (5) by using a displacement sensor, calculating the wheel space and wheel base information of the current plant protection machine by using signals output by the displacement sensor, acquiring the minimum turning radius by combining the obtained left and right line space information, calculating the ratio of the current crop line space to the current wheel space, judging whether the ratio is equal to 1, and if so, not performing wheel space adjustment; if not, a first working instruction is obtained;
the first work instruction specifically comprises the following contents:
L_err=target-L_measure
L_out=P*L_err+I*L_err+D*（L_err-pre_err）
R_err=target-R_measure
R_out=P*R_err+I*R_err+D*（R_err-pre_err）
wherein:
l_err is the difference between the left wheel center line and the fitted track line of the camera; r_err is the difference between the left wheel center line and the fitted track line of the camera; the target is a track line of the ridge fitted by the camera, and is ideally a center line of the ridge; l_measure is the pixel position of the left wheel centerline in the image; r_measure is the pixel position of the left wheel centerline in the image; pre_err is the last deviation; p refers to the report, which is a proportionality constant; i refers to Integral, which is an Integral constant; d is Differential, which is a Differential constant; out is the deviation obtained;
in the process of the plant protection machine traveling straight, the plant protection machine is ensured to travel in the middle of the ridge through steering and wheel distance adjustment, and the process is divided into the following stages:
(1) By steering adjustment:
(1) target-m < L_err < target+m and R_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) target-m < R_err < target+m and L_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(3) target-m < L_err < target+m and R_err > target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through left steering;
(4) target-m < R_err < target+m and L_err < target-m
If the condition is met, the plant protection machine adjusts the positions of the wheels through right steering;
(2) Adjusting by adjusting the wheel track:
(1) l_err=target+m and r_err < target-m
If the condition is satisfied, the left wheel of the plant protection machine is fixed, the right wheel turns 90 degrees and is perpendicular to the advancing direction of the plant protection machine, and the right wheel is in the range of [ target-m, target+m ] by expanding the wheel track rightwards;
(2) l_err > target+m and r_err=target-m
If the condition is satisfied, the right wheel of the plant protection machine is fixed, the left wheel turns 90 degrees and is vertical to the advancing direction of the plant protection machine, and the left wheel is in the range of [ target-m, target+m ] by expanding the wheel track leftwards;
(3) l_err > target+m and R_err < target-m
If the condition is satisfied, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by enlarging the wheel distance leftwards and rightwards;
(4) l_err < target+m and R_err > target-m
If the condition is met, the left and right wheels of the plant protection machine are simultaneously turned for 90 degrees and are perpendicular to the advancing direction of the plant protection machine, and the left and right wheels are in the range of the average [ target-m, target+m ] by reducing the wheel distance leftwards and rightwards;
in the above formula, m=x+w/2; wherein x is the width of a buffer zone between the wheel and the seedling belt; w is the wheel width;
s3, entering a steering module, detecting the boundary distance between the tail end of the crop row and the farmland by using an industrial camera, calculating a critical turning radius by combining the length of the vehicle body and the wheel track, and judging whether the minimum turning radius is smaller than the critical turning radius; if the number is smaller than the preset number, S5 is entered; otherwise, a second working instruction is obtained, and S4 is entered;
s4, adjusting the turning radius according to the second working instruction in the S3;
s5, turning the plant protection machine, and entering S6;
s6, detecting whether the steering of the plant protection machine is finished by using an industrial camera, if so, entering S7, otherwise, returning to S3;
s7, detecting whether the current row crop changes by using an industrial camera; if the change occurs, the method enters S1, otherwise, the method returns to S2;
and S8, adjusting the track of the plant protection machine according to the second working instruction in the S3, and returning to the S1.
2. The method for controlling the operation of the high-clearance plant protection machine according to claim 1, wherein the measurement of the intersection angle between the two auxiliary rotating arms (5) of the plant protection machine in S2 specifically comprises the following operations:
a1, fixedly mounting a displacement sensor on a rotation central shaft of a crossed frame, and collecting the included angle of the current crossed frame by using the displacement sensor;
a2, calculating the wheel tread, the wheel base and the minimum turning radius of the plant protection machine, wherein the specific calculation formula is as follows:
wherein:Bis the wheel track of the plant protection machine;is the length of the crossed frame;αis an included angle of the crossed frame;Ris the minimum turning radius;Lis the wheel base of the plant protection machine;φis the maximum rotation angle of the front wheel.
3. The method for controlling the operation of the high-clearance plant protection machine according to claim 1, wherein the step of measuring the row spacing of the crops and the distance between the end of the row of the crops and the boundary of the farmland in the step of S2 and the step of S3 specifically comprises the following steps:
b1, fixedly mounting an industrial camera on the upper surface of a chassis truck with high ground clearance, and measuring the row spacing of crops and the distance between the tail end of the row of the crops and the boundary of a farmland through the industrial camera;
and B2, when the plant protection machine is in a straight line, calculating the ratio of the current crop row spacing to the current plant protection machine wheel spacing by utilizing the current crop row spacing obtained in the step B1, wherein the specific calculation formula is as follows:
wherein:bthe ratio of the current crop row spacing to the current plant protection machine wheel spacing is set;ais the row spacing of crops;Bis the wheel track of the plant protection machine;
and B3, calculating a critical turning radius by using the distance between the tail end of the crop row obtained in the step B1 and the boundary of the farmland when the plant protection machine turns, wherein the specific calculation formula is as follows:
d=μR
wherein:dis the critical steering radius;μis a steering redundancy coefficient;Ris the minimum turning radius.
4. The method for controlling the operation of the high-clearance plant protection machine according to claim 1, wherein the turning radius adjustment in S4 specifically means: if the current turning radius is larger than the critical turning radius, the wheel distance between the front wheel and the rear wheel is reduced; if the current turning radius is smaller than the critical turning radius, the front-rear wheel distance is increased.
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