CN117270535B - Auxiliary navigation system suitable for crawler-type potato harvester and control method - Google Patents
Auxiliary navigation system suitable for crawler-type potato harvester and control method Download PDFInfo
- Publication number
- CN117270535B CN117270535B CN202311238971.5A CN202311238971A CN117270535B CN 117270535 B CN117270535 B CN 117270535B CN 202311238971 A CN202311238971 A CN 202311238971A CN 117270535 B CN117270535 B CN 117270535B
- Authority
- CN
- China
- Prior art keywords
- crawler
- navigation
- combine harvester
- type potato
- potato combine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000002595 Solanum tuberosum Nutrition 0.000 title claims abstract description 177
- 244000061456 Solanum tuberosum Species 0.000 title claims abstract description 177
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000003993 interaction Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 10
- 230000035945 sensitivity Effects 0.000 claims description 7
- 230000009977 dual effect Effects 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 108010014172 Factor V Proteins 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
Abstract
The invention discloses an auxiliary navigation system and a control method suitable for a crawler-type potato harvester, wherein the system comprises the following components: the system comprises a navigation module, a main controller, an upper computer interaction platform and a power module; the navigation module is used for acquiring navigation information of the crawler-type potato combine harvester; the upper computer interaction platform is used for setting parameters and navigation routes of auxiliary navigation control of the crawler-type potato combine harvester; the main controller is used for performing real-time navigation control of the crawler-type potato combine harvester based on the navigation information, the navigation route and the auxiliary navigation control parameters, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester; the power module is used for providing power for each part. The invention designs a self-adaptive navigation control algorithm aiming at the auxiliary navigation harvesting operation of the crawler-type potato combine harvester in the field by matching with factors such as the depth adjustment of the digging shovel, the running speed and the like, thereby completing the auxiliary navigation function of the crawler-type potato combine harvester during the harvesting operation.
Description
Technical Field
The invention belongs to the technical field of auxiliary navigation of crawler-type potato combine harvesters, and particularly relates to an auxiliary navigation system and a control method suitable for a crawler-type potato harvester.
Background
The tuber crops are main grain crops in China, and are important crops for improving grain structure and guaranteeing national grain safety. At present, the potato harvesting operation mainly depends on a sectional potato harvester for digging, and is manually picked up, so that the cost is high. The steering operation of the current crawler-type potato combine harvester is braked by manually controlling a clutch, when the crawler-type potato combine harvester steers leftwards, the left clutch is hydraulically driven to separate from the brake of a left output shaft, the left crawler stops rotating, and at the moment, the crawler-type potato combine harvester steers leftwards under the drive of a right driving force; right-side steering can be achieved in the same way.
The auxiliary navigation system can realize planning and tracking of the operation path, improve the operation efficiency and quality of the agricultural equipment and reduce the labor intensity of a driver. However, for crawler-type agricultural machinery, the steering mode is special, the vehicle kinematic model is relatively complex to build, and the auxiliary navigation technology is not applied to a large range on the crawler-type agricultural vehicle.
The development of the auxiliary navigation algorithm of the crawler-type agricultural machine is slower, most of the crawler-type agricultural machines equipped with the auxiliary navigation system at present walk unsmoothly, the steering frequency is too high, the influence of the operation speed of the crawler-type agricultural machine on the auxiliary navigation system is not considered, and the crawler-type agricultural machine is easily damaged; the control algorithm is single, and a corresponding navigation control algorithm is not designed aiming at the condition that the digging shovel stretches into the ground, so that a set of self-adaptive navigation control algorithm for ensuring the stable and smooth field operation of the crawler-type potato combine harvester is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an auxiliary navigation system and a control method suitable for a crawler-type potato harvester, and aims at the auxiliary navigation harvesting operation of the crawler-type potato harvester in the field, and the auxiliary navigation function of the crawler-type potato harvester during the harvesting operation is completed by designing a self-adaptive navigation control algorithm by matching factors such as the depth of a digging shovel, the running speed and the like.
In order to achieve the above object, the present invention provides the following solutions:
an auxiliary navigation system suitable for a crawler-type potato harvester, comprising:
the system comprises a navigation module, a main controller, an upper computer interaction platform and a power module;
the navigation module is used for acquiring navigation information of the crawler-type potato combine harvester;
the upper computer interaction platform is used for setting parameters and navigation routes of auxiliary navigation control of the crawler-type potato combine harvester;
the main controller is used for performing real-time navigation control of the crawler-type potato combine harvester based on the navigation information, the navigation route and the auxiliary navigation control parameters, so as to realize the auxiliary navigation of the crawler-type potato combine harvester in field operation;
the power module is used for providing power for the navigation module, the main controller and the upper computer interaction platform.
Preferably, the navigation module includes: a dual GNSS positioning antenna and an inertial measurement unit;
the double GNSS positioning antenna is used for acquiring the position information of the crawler-type potato combine harvester;
the inertial measurement unit is used for acquiring course information of the crawler-type potato combine harvester.
Preferably, the process of parameter setting of the auxiliary navigation control of the crawler-type potato combine by the upper computer interaction platform comprises the following steps:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using the kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining a control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
and calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter.
Preferably, the specific process of performing real-time navigation control of the crawler-type potato combine harvester by the main controller based on the navigation information comprises the following steps:
real-time path information of the crawler-type potato combine harvester is calculated in real time based on the position information and the course information;
calculating the position deviation and the course deviation of the current crawler-type potato combine harvester body by comparing the real-time path information with the planned path information;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the position deviation, the course deviation and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
Preferably, the process of performing real-time navigation control of the crawler-type potato combine harvester based on the position deviation, the heading deviation and the parameter of auxiliary navigation control comprises the following steps:
according to the actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, the main controller judges current course error and position error in real time, and when the course error and the position error exceed judging thresholds, steering operation is executed, and the position and the gesture of the crawler potato combine are controlled by matching with the steering sensitivity of the crawler.
The invention also provides an auxiliary navigation control method suitable for the crawler-type potato harvester, which comprises the following steps:
acquiring navigation information of the crawler-type potato combine harvester, wherein the navigation information comprises: position information and heading information;
parameter setting and navigation route setting for auxiliary navigation control of the crawler-type potato combine harvester;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the navigation information, the navigation route and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
Preferably, the method for setting the parameters of the auxiliary navigation control of the crawler-type potato combine harvester comprises the following steps:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using the kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining a control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
and calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter.
Preferably, based on the navigation information, the specific process of performing real-time navigation control of the crawler-type potato combine harvester comprises the following steps:
real-time path information of the crawler-type potato combine harvester is calculated in real time based on the position information and the course information;
calculating the position deviation and the course deviation of the current crawler-type potato combine harvester body by comparing the real-time path information with the planned path information;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the position deviation, the course deviation and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
Preferably, the process of performing real-time navigation control of the crawler-type potato combine harvester based on the position deviation, the heading deviation and the parameter of auxiliary navigation control comprises the following steps:
and according to the actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, judging the current course error and the position error in real time, and when the course error and the position error exceed judging thresholds, executing steering operation, and completing the control of the position and the gesture of the crawler potato combine in cooperation with the steering sensitivity of the crawler.
Compared with the prior art, the invention has the beneficial effects that:
(1) Positioning the position information of the crawler-type potato combine harvester in real time by utilizing a network RTK technology, and acquiring the body posture information in real time by utilizing an inertial measurement unit, so that the posture information of the crawler-type potato combine harvester can be conveniently, real-time and accurately acquired;
(2) The driving time of the tracks on two sides is reasonably obtained according to the running state of the crawler-type potato combine harvester by adopting a self-adaptive navigation control algorithm, so that the navigation is accurately controlled, and the transverse deviation is smaller than 4.5 cm;
(3) By reasonably controlling the crawler belts on the two sides of the crawler-type potato combine harvester, the harvester can walk smoothly in the navigation process without repeated and frequent steering.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a general schematic diagram of a navigation control system of a crawler-type potato combine harvester;
FIG. 2 is a schematic view of a crawler-type potato combine harvester according to the present invention;
FIG. 3 is a control flow diagram for implementing assisted navigation according to the present invention;
FIG. 4 is a schematic diagram of an adaptive navigation control algorithm according to the present invention;
FIG. 5 is a flowchart of a control algorithm according to the present invention;
FIG. 6 is a flow chart of the time margin parameter calculation according to the present invention;
FIG. 7 is a flow chart of actual control period calculation according to the present invention;
fig. 8 is a diagram showing the effect of the path tracking control according to the present invention.
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. 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.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, the present invention provides an auxiliary navigation system suitable for a crawler-type potato harvester, comprising:
the system comprises a navigation module, a main controller, an upper computer interaction platform and a power module;
the navigation module is used for acquiring navigation information of the crawler-type potato combine harvester; a schematic diagram of a crawler-type potato combine harvester is shown in fig. 2;
the upper computer interaction platform is a software platform designed based on an Android system, realizes communication with the main controller through a serial port and is used for parameter setting, navigation route setting and navigation data display of auxiliary navigation control of the crawler-type potato combine harvester;
the main controller is used for performing real-time navigation control of the crawler-type potato combine harvester based on the navigation information, the navigation route and the auxiliary navigation control parameters, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester;
the power module is used for providing power for the navigation module, the main controller and the upper computer interaction platform.
In this embodiment, the navigation module includes: a dual GNSS (global navigation satellite system) positioning antenna and an inertial measurement unit;
the double GNSS positioning antenna is used for being arranged on the crawler-type potato combine harvester body, and position information of the crawler-type potato combine harvester is obtained in real time through a carrier phase difference technology;
the inertia measurement unit is used for acquiring course information of the crawler-type potato combine harvester.
In this embodiment, the main controller module includes a single chip microcomputer, a hydraulic solenoid valve driving module, and an RTK information processing module. The main controller carries out the specific process of real-time navigation control of the crawler-type potato combine harvester based on the navigation information, and the specific process comprises the following steps:
receiving positioning information and heading information of the crawler-type potato combine harvester, which are acquired by the double GNSS positioning antennas and the inertial measurement unit, through a serial port; acquiring satellite differential positioning information in real time through a double GNSS positioning antenna, and resolving current position information of the crawler-type potato combine harvester in real time through a board card and a kinematic model; calculating navigation information such as heading deviation, transverse deviation and the like of the current vehicle body by comparing the planning path information and the real-time path information, and uploading the navigation information in real time; and finally, performing real-time navigation control through a designed self-adaptive navigation control algorithm to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
In this embodiment, the process of parameter setting of the auxiliary navigation control of the crawler-type potato combine by the upper computer interaction platform includes:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using a kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining the control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
and calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter.
The invention designs a self-adaptive navigation control algorithm for the field harvesting operation of the crawler-type potato combine harvester on the basis of the equipment and the electronic device, the algorithm adaptively adjusts the time margin parameters of the left and right crawler valve control according to the current running speed and the depth of the digging shovel on the basis, the auxiliary navigation control period is different according to the different running speeds of the crawler-type potato harvester, and the control frequency of the left and right crawler valves of the crawler-type potato combine harvester is also different. The specific steps for realizing the algorithm are as follows: as shown in fig. 3:
step 1: the track-mounted potato combine is used for tracking the course information and the position information of a planned path. And acquiring GNSS positioning information, steering angle information and vehicle body heading information in real time through the double GNSS positioning module, the wheel steering angle sensor and the vehicle body inertia measuring unit.
Step 2: and (3) establishing a kinematic model of the crawler-type potato combine harvester, constructing a vehicle body coordinate system reference plane according to the installation position of the double GNSS positioning antenna, taking the vehicle body coordinate system reference plane as a measurement reference, acquiring the position coordinate of the center point of the vehicle body in real time by adopting a coordinate projection method, and calculating the actual speed, the slip rate and the steering angular speed of the left and right crawler belts relative to the ground in real time by utilizing the following formula (1-3).
Actual traction speed v of left and right caterpillar tracks relative to ground l v r (taking the left turn case as an example):
l is track wheelbase, R s For the actual steering radius v c Is the average speed of the center of the vehicle body.
Slip ratio delta 1 Slip ratio delta 2 :
Actual steering angular velocity omega S ：
u l And u r Is the winding speed of the left and right caterpillar tracks.
Step 3: and (5) calculating parameters of a path tracking control algorithm of the crawler-type potato combine harvester. Because the crawler-type potato combine harvester is mechanically clutch-steered, the crawler-type potato combine harvester is easy to walk unstably due to excessively frequent steering control, and the control algorithm is optimized based on transverse deviation, course deviation, running speed, actual steering angular speed and digging shovel depth. The PID control algorithm is utilized to calculate the control parameters corresponding to the steering module in real time, the adaptive navigation control algorithm is comprehensively utilized to calculate the control parameters, and the field operation path tracking algorithm with good stability and high precision is realized.
The specific flow chart of the control algorithm adopted by the invention is shown in the following figure 5:
and (3) obtaining the expected course angle of the crawler-type potato combine harvester by utilizing the position information and the course information obtained in the step (1) and the planned path decision, and calculating the control quantity of the actual steering angular speed in real time by utilizing the cascade PID controller.
The angle loop PID controller calculates the angle error by a proportional control method to obtain the expected angular velocity; the input of the angular velocity loop PID controller is the expected angular velocity and the actual angular velocityThe difference of the inter-angular velocity is calculated by a proportional-integral-derivative control method to obtain the control quantity k omega of the angular velocity S 。
Considering hysteresis effect t of hydraulic electromagnetic valve and mechanical mechanism of refitted crawler-type potato combine harvester s The actual steering angular velocity w obtained in the step 2 s The control amount k_ω of the aforementioned obtained angular velocity S The time margin parameter tau of the left and right electromagnetic valves is obtained by combining the steering sensitivity of the crawler-type potato combine harvester, and the calculation and schematic are shown in the following figure 6.
The specific formula is as follows:
τ＝t s +k_d*d+k_ω S *ω s formula (4)
Wherein:
τ: the left and right valves of the crawler-type potato combine harvester control the time margin parameters;
t s : controlling lag effect time of the crawler-type potato combine harvester;
d: digging depth of a digging shovel of the crawler-type potato combine harvester;
ω s : actual steering angular speed of the crawler-type potato combine harvester;
k_d: the weight proportion parameter of the digging shovel depth of the crawler-type potato combine harvester is used for adjusting the influence of the digging shovel depth on the time margin parameter;
k_ω S : the control quantity of the angular speed obtained by the PID control algorithm;
by utilizing the time margin parameters, the transverse deviation and the course deviation of the electromagnetic valves at the left side and the right side of the crawler-type potato combine harvester, the control period of the electromagnetic valves at the left side and the right side based on the running speed of the crawler-type potato combine harvester is designed, and the specific formula is as follows:
first according to the lateral deviation e l Heading deviation e h Calculating left and right track steering theoretical control period T according to time margin parameter tau c ：
T c ＝K l *e l +K h *e h +K t * Tau equation (5)
Considering the current running speed V of the crawler-type potato combine harvester, calculating the speed factor V of the self-adaptive navigation control algorithm according to the calculated time margin parameter t ：
V t =v/τ formula (6)
Calculating the actual control period T of left and right crawler steering according to the steering control period and the real-time speed of the crawler potato combine harvester and the left and right deviation:
T＝T c *V t formula (7)
Wherein:
K l : the weight scaling factor of the lateral deviation;
K h : weight proportionality coefficient of course deviation;
K t : the weight proportionality coefficient of the time margin parameter;
the algorithm is schematically shown in fig. 7.
According to the invention, the calculation of the left and right crawler steering theoretical control period is firstly calculated according to the transverse deviation, the course deviation and the time margin, then the speed factor of the speed self-adaptive navigation control algorithm is calculated according to the running speed of the crawler potato combine harvester, finally the time correction is carried out by utilizing the speed factor, and the corrected time is applied to the control of the electromagnetic valves at the left and right sides.
Step 4: and judging the running position error and the course deviation in real time, and executing steering operation when the deviation exceeds a threshold value, and controlling the position and the posture of the crawler-type potato combine harvester by matching with the steering sensitivity of the crawler.
Example two
The invention also provides an auxiliary navigation control method suitable for the crawler-type potato harvester, which comprises the following steps:
acquiring navigation information of the crawler-type potato combine harvester, wherein the navigation information comprises: position information and heading information;
parameter setting and navigation route setting for auxiliary navigation control of the crawler-type potato combine harvester;
based on the navigation information, the navigation route and the parameters of auxiliary navigation control, the real-time navigation control of the crawler-type potato combine harvester is carried out, and the field operation auxiliary navigation of the crawler-type potato combine harvester is realized.
In this embodiment, the method for setting parameters for auxiliary navigation control of the crawler-type potato combine harvester includes:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using the kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining a control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
and calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter.
In this embodiment, based on the navigation information, the specific process of performing real-time navigation control of the crawler-type potato combine harvester includes:
real-time path information of the crawler-type potato combine harvester is calculated in real time based on the position information and the course information;
calculating the position deviation and the course deviation of the current crawler-type potato combine harvester body by comparing the real-time path information with the planned path information;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the position deviation, the course deviation and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
In this embodiment, the process of performing real-time navigation control of the crawler-type potato combine harvester based on the position deviation, the heading deviation and the parameter of auxiliary navigation control includes:
and according to the actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, judging the current course error and the position error in real time, and when the course error and the position error exceed judging thresholds, executing steering operation, and completing the control of the position and the gesture of the crawler potato combine in cooperation with the steering sensitivity of the crawler.
Example III
According to the specific embodiment of the invention, the main controller, the upper computer display and the double GNSSS positioning antenna device are additionally arranged by modifying the Hong Zhu 4UZL-110 crawler-type potato combine harvester, and the linear operation auxiliary navigation of the crawler-type potato combine harvester is realized on a test base in Jiaozhou city in Qingdao city in cooperation with a self-adaptive navigation control algorithm.
In the field operation process of the crawler-type potato combine harvester, firstly, setting specific parameters of a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the harvester;
calculating the actual speed, slip rate and slip rate of the left and right tracks relative to the ground by using the formula (1-3) to obtain the actual steering angular speed omega S ；
Obtaining the control quantity k omega of the angular velocity by using a cascade PID control algorithm S As shown in fig. 5;
considering hysteresis effect t of crawler-type potato combine harvester of specific implementation example s Bind omega S 、k_ω S Calculating a time margin parameter tau, as shown in figure 6;
considering the real-time running speed V of the crawler-type potato combine harvester of a specific implementation example, calculating the speed factor V of the self-adaptive navigation control algorithm t ；
According to the velocity factor V t And the real-time calculation of the actual control period T of left and right crawler steering according to the time margin parameter tau, as shown in figure 7;
according to the obtained actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, the main controller judges the current course error and the position error in real time, and when the error exceeds the judging threshold value, the navigation operation is executed according to the self-adaptive navigation control algorithm, the schematic diagram is shown in figure 4, and the tracking effect is shown in figure 8.
According to the method, a Hong Zhu 4UZL-110 caterpillar self-propelled potato combine harvester is taken as an experimental object, and an auxiliary navigation system based on the method is additionally arranged. When harvesting operation is carried out in the field, the harvester is tracked according to the planned path, and the specific technical effects in the operation process include:
(1) Positioning the position information of the crawler-type potato combine harvester in real time by utilizing a network RTK technology, and acquiring the body posture information in real time by utilizing an inertial measurement unit, so that the posture information of the crawler-type potato combine harvester can be conveniently, real-time and accurately acquired;
(2) The driving time of the tracks on two sides is reasonably obtained according to the running state of the crawler-type potato combine harvester by adopting a self-adaptive navigation control algorithm, so that the accurate navigation control is realized, the transverse deviation is smaller than 4.5 cm, and the specific effect is shown in figure 8;
(3) By reasonably controlling the crawler belts on the two sides of the crawler-type potato combine harvester, the harvester can walk smoothly in the navigation process without repeated and frequent steering.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications and improvements made by those skilled in the art to which the present invention pertains are made without departing from the spirit of the present invention, and all modifications and improvements fall within the scope of the present invention as defined in the appended claims.
Claims (7)
1. An auxiliary navigation system suitable for crawler-type potato harvester, characterized by comprising:
the system comprises a navigation module, a main controller, an upper computer interaction platform and a power module;
the navigation module is used for acquiring navigation information of the crawler-type potato combine harvester;
the upper computer interaction platform is used for setting parameters and navigation routes of auxiliary navigation control of the crawler-type potato combine harvester;
the parameter setting process of the auxiliary navigation control of the crawler-type potato combine harvester by the upper computer interaction platform comprises the following steps:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using the kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining a control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter;
the main controller is used for performing real-time navigation control of the crawler-type potato combine harvester based on the navigation information, the navigation route and the auxiliary navigation control parameters, so as to realize the auxiliary navigation of the crawler-type potato combine harvester in field operation;
the power module is used for providing power for the navigation module, the main controller and the upper computer interaction platform.
2. The auxiliary navigation system for a track potato harvester of claim 1, wherein the navigation module comprises: a dual GNSS positioning antenna and an inertial measurement unit;
the double GNSS positioning antenna is used for acquiring the position information of the crawler-type potato combine harvester;
the inertial measurement unit is used for acquiring course information of the crawler-type potato combine harvester.
3. The auxiliary navigation system for a tracked potato harvester according to claim 1, wherein the specific process of performing real-time navigation control of the tracked potato harvester based on the navigation information by the main controller comprises:
real-time path information of the crawler-type potato combine harvester is calculated in real time based on the position information and the course information;
calculating the position deviation and the course deviation of the current crawler-type potato combine harvester body by comparing the real-time path information with the planned path information;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the position deviation, the course deviation and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
4. The assisted navigation system for a tracked potato harvester of claim 3, wherein the process of performing real-time navigational control of the tracked potato harvester based on the positional deviation, the heading deviation and the parameters of the assisted navigational control comprises:
according to the actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, the main controller judges current course error and position error in real time, and when the course error and the position error exceed judging thresholds, steering operation is executed, and the position and the gesture of the crawler potato combine are controlled by matching with the steering sensitivity of the crawler.
5. The auxiliary navigation control method suitable for the crawler-type potato harvester is characterized by comprising the following steps of:
acquiring navigation information of the crawler-type potato combine harvester, wherein the navigation information comprises: position information and heading information;
parameter setting and navigation route setting for auxiliary navigation control of the crawler-type potato combine harvester;
the parameter setting method for auxiliary navigation control of the crawler-type potato combine harvester comprises the following steps:
setting a kinematic model of the crawler-type potato combine harvester according to the overall structure parameters of the crawler-type potato combine harvester;
calculating the actual speed, the slip rate and the actual steering angular speed of the left and right tracks relative to the ground by using the kinematic model;
based on the actual speed, the slip ratio and the actual steering angular speed, obtaining a control quantity of the angular speed by using a cascade PID control algorithm;
calculating a time margin parameter based on the hysteresis effect of the crawler-type potato combine harvester and combined with the actual steering angular speed and the control amount of the angular speed;
calculating a self-adaptive navigation control speed factor based on the real-time running speed of the crawler-type potato combine harvester;
calculating the actual control period of left and right crawler steering in real time according to the speed factor and the time margin parameter;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the navigation information, the navigation route and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
6. The auxiliary navigation control method for a crawler-type potato harvester according to claim 5, wherein the specific process of performing real-time navigation control of the crawler-type potato combine harvester based on the navigation information comprises:
real-time path information of the crawler-type potato combine harvester is calculated in real time based on the position information and the course information;
calculating the position deviation and the course deviation of the current crawler-type potato combine harvester body by comparing the real-time path information with the planned path information;
and carrying out real-time navigation control on the crawler-type potato combine harvester based on the position deviation, the course deviation and the parameters of auxiliary navigation control, so as to realize the field operation auxiliary navigation of the crawler-type potato combine harvester.
7. The assisted navigation control method for a tracked potato harvester of claim 6, wherein the process of performing real-time navigation control of the tracked potato combine harvester based on the position deviation, the heading deviation and the parameters of the assisted navigation control comprises:
and according to the actual control period of left and right crawler steering, when the crawler potato combine carries out auxiliary navigation operation, judging the current course error and the position error in real time, and when the course error and the position error exceed judging thresholds, executing steering operation, and completing the control of the position and the gesture of the crawler potato combine in cooperation with the steering sensitivity of the crawler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311238971.5A CN117270535B (en) | 2023-09-25 | 2023-09-25 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311238971.5A CN117270535B (en) | 2023-09-25 | 2023-09-25 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117270535A CN117270535A (en) | 2023-12-22 |
| CN117270535B true CN117270535B (en) | 2024-03-12 |
Family
ID=89211766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311238971.5A Active CN117270535B (en) | 2023-09-25 | 2023-09-25 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117270535B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5287280A (en) * | 1987-09-14 | 1994-02-15 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling shoe slip of crawler vehicle |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN110007667A (en) * | 2018-01-04 | 2019-07-12 | 中国农业机械化科学研究院 | A kind of crawler tractor and its path tracking control method and system |
| CN110716565A (en) * | 2019-10-10 | 2020-01-21 | 江苏大学 | Track vehicle navigation track tracking control system |
| CN211458028U (en) * | 2019-08-09 | 2020-09-11 | 山东省农业机械科学研究院 | Intelligent control system for operating speed of potato harvester |
| WO2020238011A1 (en) * | 2019-05-28 | 2020-12-03 | 南京天辰礼达电子科技有限公司 | Kinematics estimation and deviation calibration method for crawler-type tractor |
| CN115576326A (en) * | 2022-10-31 | 2023-01-06 | 怀化学院 | Rice combine harvester aided navigation method and device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8612084B2 (en) * | 2009-09-15 | 2013-12-17 | The University Of Sydney | System and method for autonomous navigation of a tracked or skid-steer vehicle |
-
2023
- 2023-09-25 CN CN202311238971.5A patent/CN117270535B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5287280A (en) * | 1987-09-14 | 1994-02-15 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling shoe slip of crawler vehicle |
| CN107697066A (en) * | 2017-09-26 | 2018-02-16 | 安徽省现代农业装备产业技术研究院有限公司 | Caterpillar tractor DAS (Driver Assistant System) |
| CN110007667A (en) * | 2018-01-04 | 2019-07-12 | 中国农业机械化科学研究院 | A kind of crawler tractor and its path tracking control method and system |
| WO2020238011A1 (en) * | 2019-05-28 | 2020-12-03 | 南京天辰礼达电子科技有限公司 | Kinematics estimation and deviation calibration method for crawler-type tractor |
| CN211458028U (en) * | 2019-08-09 | 2020-09-11 | 山东省农业机械科学研究院 | Intelligent control system for operating speed of potato harvester |
| CN110716565A (en) * | 2019-10-10 | 2020-01-21 | 江苏大学 | Track vehicle navigation track tracking control system |
| CN115576326A (en) * | 2022-10-31 | 2023-01-06 | 怀化学院 | Rice combine harvester aided navigation method and device |
Non-Patent Citations (2)
| Title |
|---|
| 小型履带式油菜播种机导航免疫PID控制器设计;丁幼春;何志博;夏中州;彭靖叶;吴太晖;;农业工程学报;20190430(07);全文 * |
| 履带式联合收获机水田作业转向运动学分析与试验;关卓怀;沐森林;吴崇友;陈科尹;廖宜涛;丁幼春;廖庆喜;;农业工程学报;20200731(13);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117270535A (en) | 2023-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3729935B1 (en) | Automatic steering system and automatic steering method | |
| US10521703B2 (en) | System and method for controlling machine pose using sensor fusion | |
| JP6420173B2 (en) | Automated traveling field work vehicle | |
| US10401176B2 (en) | System and method for determining machine state using sensor fusion | |
| US8190364B2 (en) | System and method for providing towed implement compensation | |
| WO2017208306A1 (en) | Autonomous work vehicle | |
| CN104603708B (en) | Agricultural automatic pilot and the method for guiding vehicle | |
| JP2017123829A (en) | Field work vehicle | |
| US20180373275A1 (en) | Sensor fusion feedback for controlling fluid pressures in a machine | |
| US11937526B2 (en) | Control device for work vehicle configured to travel autonomously | |
| CN107943060A (en) | A kind of automatic pilot, method and computer-readable medium along tracking straight line guiding vehicle | |
| CN111142518B (en) | Self-adaptive seeding control system based on unmanned technology and control method thereof | |
| CN107831771A (en) | A kind of dilatory machine automatic drive system, control method and caterpillar tractor | |
| Oksanen et al. | Guidance system for agricultural tractor with four wheel steering | |
| Iida et al. | Path-following control of a head-feeding combine robot | |
| JP7080101B2 (en) | Work vehicle | |
| JP6991050B2 (en) | Traveling work machine | |
| KR20210093240A (en) | An automatic driving control system, an automatic driving control program, a recording medium recording an automatic driving control program, an automatic driving control method, a control device, a control program, a recording medium recording a control program, a control method | |
| JP2019038535A (en) | Automatic travel field work vehicle | |
| CN117270535B (en) | Auxiliary navigation system suitable for crawler-type potato harvester and control method | |
| US8924096B2 (en) | Implement controller having angular rate correction | |
| AU2014277805A1 (en) | System and method for determining ground speed of machine | |
| JP2023001180A (en) | Farm field work vehicle | |
| Zhang et al. | Development of a prototype of guidance system for rice-transplanter | |
| CN113015427A (en) | Automatic steering system, automatic steering method, and automatic steering program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |