CN117806312A - Agricultural machinery automatic alignment control method and system based on track prediction - Google Patents
Agricultural machinery automatic alignment control method and system based on track prediction Download PDFInfo
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- CN117806312A CN117806312A CN202311635345.XA CN202311635345A CN117806312A CN 117806312 A CN117806312 A CN 117806312A CN 202311635345 A CN202311635345 A CN 202311635345A CN 117806312 A CN117806312 A CN 117806312A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000003306 harvesting Methods 0.000 claims abstract description 22
- 230000003993 interaction Effects 0.000 claims description 5
- 229920000742 Cotton Polymers 0.000 description 25
- 238000002360 preparation method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 240000008042 Zea mays Species 0.000 description 3
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000009973 maize Nutrition 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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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Abstract
The application relates to an agricultural machinery automatic alignment control method and system based on track prediction, wherein the method comprises the following steps: collecting longitude and latitude data and course angle data of an agricultural machine; recording driving track data of crops in the first row harvested by the agricultural machinery, and fitting a row reference line by adopting a least square method; calculating the slope of the line reference line; acquiring starting point longitude and latitude data of crops in an nth row from an agricultural machine, and calculating a opposite line navigation line of the nth row according to the slope of the opposite line reference line, wherein the opposite line navigation line is parallel to the opposite line reference line; and controlling the agricultural machinery to run along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
Description
Technical Field
The invention relates to the field of automatic driving of agricultural machinery, in particular to an automatic alignment control method and system of agricultural machinery based on track prediction.
Background
With the continuous development of the agricultural automation process, the requirements on the automation degree of the agricultural machinery are higher, and the requirements on the field operation efficiency and the quality are also higher. For crops such as corn and cotton which need to be harvested in rows, when a corn harvester or a cotton picker is used for harvesting, a harvesting head is required to be aligned with the rows of the crops all the time, the precision degree of the rows by a driver influences the harvesting efficiency and quality, the driver is required to concentrate attention for a long time, and the working strength is high. The research automation has important significance on the row control technology.
At present, an automatic driving technology of an agricultural machine based on Real-time kinematic (RTK) high-precision positioning is widely applied, and mainly adopts AB line navigation, or performs full-coverage path planning first and then path tracking, and is mainly used for sowing and plant protection without harvesting rows and the like without considering actual positions of crops. For automatic alignment control of agricultural machinery, mechanical touch type alignment or vision-based alignment is mainly adopted. The mechanical touch type forward looking distance is short, and the error is larger when the running speed is higher; the vision is to the line is mainly used in the obvious condition of crop line, and receives ambient light influence greatly, is difficult to distinguish the crop line through the vision to long thick cotton or maize.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art and provides an automatic agricultural machinery alignment control method and system based on track prediction.
The invention adopts the following technical scheme to realize.
The technical scheme of the invention is to provide an agricultural machinery automatic alignment control method based on track prediction, which comprises the following steps:
collecting longitude and latitude data and course angle data of an agricultural machine;
recording driving track data of crops in the first row harvested by the agricultural machinery, and fitting a row reference line by adopting a least square method;
calculating the slope of the line reference line;
acquiring starting point longitude and latitude data of crops in an nth row from an agricultural machine, and calculating a opposite line navigation line of the nth row according to the slope of the opposite line reference line, wherein the opposite line navigation line is parallel to the opposite line reference line;
and controlling the agricultural machinery to run along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
Further, the straight line equation of the pair line reference line obtained in the step of fitting the pair line reference line By using the least square method is ax+by+c=0, the slope of the straight line is a/B, where x is a longitude value, y is a latitude value, and C is a constant.
Further, the paired guidance route obtained in the step of "calculating the paired guidance route of the nth row" has a straight line direction of ax+by- (Ax) 0 +By 0 ) =0, where x 0 Longitude value as starting point, y 0 Is the latitude value of the starting point.
Further, the "obtaining the longitude and latitude data of the start point of the agricultural machinery to start harvesting the nth row" specifically includes:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with average value of longitude values in track data as starting point 0 The average value of the latitude values is used as the latitude value y of the starting point 0 。
Further, the "obtaining the longitude and latitude data of the start point of the agricultural machinery to start harvesting the nth row" specifically includes:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with the median of longitude values in track data as the starting point 0 Latitude value y with median value of latitude values as starting point 0 。
Further, the "obtaining the longitude and latitude data of the start point of the agricultural machinery to start harvesting the nth row" specifically includes:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with cluster center value of longitude value and latitude value in track data as starting point 0 Latitude value y 0 。
The technical scheme of the invention has the technical effects that: the row direction of the crops is fitted by utilizing the running track of one row as a row alignment reference line, a row alignment navigation line can be predicted at any starting point, automatic row alignment is realized, the actual longitude and latitude positions of the crop rows are not required to be known, and the method is convenient to use and high in applicability. Compared with the touch type automatic alignment method, the system structure is simpler, the control effect is more stable and reliable, and the automation and intelligent degree of the agricultural machinery needing alignment operation are remarkably improved.
Based on the technical scheme, another technical scheme of the invention is to provide an agricultural machinery automatic alignment control system based on track prediction, which comprises an RTK positioning module, a main processing unit and a steering control unit, wherein the main processing unit is respectively connected with the steering control unit and the RTK positioning module, and the main processing unit is connected with the steering control unit and the RTK positioning module, wherein:
the RTK positioning module is used for acquiring longitude and latitude data and course angle data of the agricultural machinery and sending the longitude and latitude data and the course angle data to the main processing unit;
the main processing unit is used for recording the driving track data of the crops in the first row harvested by the agricultural machinery, and fitting the row reference line by adopting a least square method;
the main processing unit is also used for calculating the slope of the line reference line;
the main processing unit is also used for obtaining the longitude and latitude data of the starting point of the agricultural machinery for starting harvesting the crops in the nth row, and calculating the opposite-row navigation line of the nth row according to the slope of the opposite-row reference line, wherein the opposite-row navigation line is parallel to the opposite-row reference line;
the steering control unit is used for controlling the agricultural machinery to drive along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
Further, the agricultural machine further comprises a steering wheel angle sensor, wherein the steering wheel angle sensor is connected with the steering control unit and is used for detecting the rotation angle of the steering wheels of the agricultural machine.
Further, the system also comprises a man-machine interaction unit, wherein the man-machine interaction unit is connected with the main processing unit and is used for starting or stopping automatic alignment, inputting control parameters and displaying state parameters and track data. The man-machine interaction unit can be a touch display, a smart phone, or independent keys, an indicator light, a nixie tube and the like.
Further, the system also comprises an RTK positioning antenna, wherein the RTK positioning antenna is connected with the RTK positioning module.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a block diagram of an automatic alignment control system of a cotton picker in an embodiment of the present application.
Fig. 2 is a schematic diagram of a pair of reference lines and a pair of navigation lines in an embodiment of the present application.
FIG. 3 is a process flow diagram of an automatic alignment operation of a cotton picker in an embodiment of the present application.
The specific embodiment is as follows:
the technical scheme of the invention is further described below with reference to the accompanying drawings and examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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.
The embodiment takes a brand 6 row cotton picker as an example, and as shown in fig. 1 to 3, an automatic row alignment control system of the cotton picker comprises an automatic row alignment controller, a touch display, a steering wheel angle sensor, an RTK positioning antenna, a steering hydraulic proportional valve and the like. The automatic alignment controller is internally provided with a high-precision RTK positioning module, a main processing unit and a steering control unit, wherein the main processing unit is respectively connected with the steering control unit and the RTK positioning module,
the RTK positioning module is used for acquiring longitude and latitude data and course angle data of the agricultural machinery and sending the longitude and latitude data and the course angle data to the main processing unit;
the main processing unit is used for recording the driving track data of the crops in the first row harvested by the agricultural machinery, and fitting the row reference line by adopting a least square method; the main processing unit is also used for calculating the slope of the line reference line; the main processing unit is also used for obtaining the longitude and latitude data of the starting point of the agricultural machinery for starting harvesting the crops in the nth row, and calculating the opposite-row navigation line of the nth row according to the slope of the opposite-row reference line, wherein the opposite-row navigation line is parallel to the opposite-row reference line;
the steering control unit is used for controlling the agricultural machinery to drive along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
Therefore, the row direction of the crops is fitted by using the row running track as a row matching reference line, a row matching navigation line can be predicted at any starting point, automatic row matching is realized, the actual longitude and latitude positions of the crop rows are not required to be known, the use is convenient, and the applicability is strong. Compared with the touch type automatic alignment method, the system structure is simpler, the control effect is more stable and reliable, and the automation and intelligent degree of the agricultural machinery needing alignment operation are remarkably improved.
The RTK positioning antenna is connected to an RTK positioning module of the automatic alignment controller, the RTK positioning module is used for acquiring real-time longitude and latitude and course angle, the RTK positioning antenna is added with signals of the RTK positioning module, and a steering control unit of the automatic alignment controller acquires 0-5V or 4-20mA analog quantity signals output by a steering wheel angle sensor to obtain real-time rear wheel angle; the steering control unit of the automatic alignment controller also outputs PWM control signals to the hydraulic steering proportional valve so as to control the steering wheels to rotate, wherein the steering wheels are rear wheels of the cotton picker.
The touch display is connected with the main processing unit of the automatic alignment controller through a CAN bus. The touch display is used for starting or stopping automatic alignment operation, inputting setting parameters, displaying state parameters, vehicle track, alignment effect and the like.
The cotton picker is controlled to stably and automatically perform the row alignment operation along the cotton row by the operation of the automatic row alignment control system. The following is a further description of an example of an automatic alignment control procedure initiated during operation of the cotton picker.
The automatic line alignment of the cotton picker mainly comprises two parts of automatic line alignment preparation and automatic line alignment operation, wherein an automatic line alignment preparation process is required to be executed once before the automatic line alignment operation function is used on each cotton plot to be picked.
1. The process of automatic row preparation is as follows:
firstly, manually driving a cotton picker to Ji Mou lines, namely a first line, stopping, starting a track recording function on a touch display, and sending a track recording starting instruction to an automatic alignment controller by the touch display through a CAN bus; then the manual driving cotton picker completes the row-by-row harvesting of the first row, and in the harvesting process, an automatic row-by-row controller collects high-precision positioning tracks (comprising a series of longitude and latitude points) of the whole process at the frequency of 10Hz per second.
And then, based on the historical track data, fitting a straight line By using a least square method to serve as an automatic line alignment reference line, solving the slope of the straight line of the line alignment reference line, and setting a straight line equation as ax+by+C=0, wherein x is a longitude value, y is a latitude value, and the slope of the straight line is A/B.
After the automatic line alignment preparation process is successfully executed, the line alignment reference line is obtained, so that the automatic line alignment operation function can be started, and the automatic line alignment operation on the rest cotton lines is realized.
2. The automatic alignment operation process is as follows:
firstly, a driver manually drives a cotton picker to run and align cotton rows to be collected, namely an N row, and stopping; then starting automatic alignment operation on the touch display, and sending an automatic alignment starting instruction to an automatic alignment controller by the touch display through a CAN bus;
the RTK positioning module of the automatic alignment controller acquires the longitude and latitude value (x) 0 ,y 0 ) As a starting point, collecting a current course angle as a running direction; and according toThe slope A/B of the straight line calculated in the automatic alignment preparation stage is calculated to obtain the slope A/B of the straight line passing through the starting point (x 0 ,y 0 ) The linear equation of the parallel line is Ax+By- (Ax) 0 +By 0 ) =0, i.e. pair line guide.
Then, the opposite-line guide line obtained in the previous step is automatically used as the guide of the cotton picker, the real-time steering angle of the rear wheel and the longitude and latitude value of the current position of the cotton picker are continuously collected, and the rear wheel of the cotton picker is controlled to rotate by adopting a pure tracking path tracking algorithm, so that the cotton picker can drive along the opposite-line guide line, and automatic opposite-line is realized.
When the operation is finished or an abnormal condition is met in the middle, clicking the automatic alignment stopping button through the touch display, and sending an automatic alignment stopping instruction to the automatic alignment controller through the CAN bus by the touch display, wherein the automatic alignment stopping controller stops automatic alignment.
Repeating the automatic row alignment operation process to complete the adoption and collection of all the remaining cotton rows.
The automatic alignment control system of the embodiment ensures the accuracy of alignment of the driver, improves the harvesting efficiency and quality, ensures that the driver does not need to concentrate attention for a long time, reduces the working strength, and has important significance in the automatic alignment control technology.
In order to further improve the accuracy of the starting point, the driver can also drive manually to drive for a small distance, and the average value of the longitude and the latitude of the track is used as the starting point. Or take the longitude, latitude median or cluster center of the track as the starting point.
In order to further improve the accuracy of the navigation line, the distance D0 from the starting point to the fitting straight line in the automatic driving preparation stage can be calculated by utilizing the characteristic that the line spacing of cotton is equidistant, assuming that the line spacing is D, taking cotton in Xinjiang China as an example, and the line spacing is 760 mm. The number of lines N, n= (d0+0.5d) from the start point to the fitting line is then calculated, dividing D. Then, a straight line with a distance of N x D from the fitted straight line is obtained, and the straight line is used as a opposite navigation line.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (10)
1. An agricultural machinery automatic alignment control method based on track prediction is characterized by comprising the following steps:
collecting longitude and latitude data and course angle data of an agricultural machine;
recording driving track data of crops in the first row harvested by the agricultural machinery, and fitting a row reference line by adopting a least square method;
calculating the slope of the line reference line;
acquiring starting point longitude and latitude data of crops in an nth row from an agricultural machine, and calculating a opposite line navigation line of the nth row according to the slope of the opposite line reference line, wherein the opposite line navigation line is parallel to the opposite line reference line;
and controlling the agricultural machinery to run along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
2. The method for automatically aligning an agricultural machine based on track prediction according to claim 1, wherein the straight line equation of the alignment reference line obtained in the step of fitting the alignment reference line By using a least square method is ax+by+c=0, the slope of the straight line is a/B, where x is a longitude value, y is a latitude value, and C is a constant.
3. The method for automatically controlling the alignment of an agricultural machine based on track prediction according to claim 2, wherein the alignment obtained in the step of calculating the alignment of the nth row is the alignment obtained in the step of calculating the alignment of the nth row, and the alignment direction is ax+by- (Ax) 0 +By 0 ) =0, where x 0 Longitude value as starting point, y 0 Is the latitude value of the starting point.
4. The method for automatically aligning an agricultural machine based on track prediction according to claim 3, wherein the step of obtaining the longitude and latitude data of the start point of the agricultural machine to start harvesting the nth row specifically comprises:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with average value of longitude values in track data as starting point 0 The average value of the latitude values is used as the latitude value y of the starting point 0 。
5. The method for automatically aligning an agricultural machine based on track prediction according to claim 3, wherein the step of obtaining the longitude and latitude data of the start point of the agricultural machine to start harvesting the nth row specifically comprises:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with the median of longitude values in track data as the starting point 0 Latitude value y with median value of latitude values as starting point 0 。
6. The method for automatically aligning an agricultural machine based on track prediction according to claim 3, wherein the step of obtaining the longitude and latitude data of the start point of the agricultural machine to start harvesting the nth row specifically comprises:
controlling the agricultural machinery to travel a distance along the N-th row of crops, and recording track data of the distance;
longitude value x with cluster center value of longitude value and latitude value in track data as starting point 0 Latitude value y 0 。
7. The utility model provides an automatic control system that goes to line of agricultural machinery based on track prediction, its characterized in that includes RTK positioning module, main processing unit and turns to control unit, and main processing unit is connected with turning to control unit and RTK positioning module respectively, wherein:
the RTK positioning module is used for acquiring longitude and latitude data and course angle data of the agricultural machinery and sending the longitude and latitude data and the course angle data to the main processing unit;
the main processing unit is used for recording the driving track data of the crops in the first row harvested by the agricultural machinery, and fitting the row reference line by adopting a least square method;
the main processing unit is also used for calculating the slope of the line reference line;
the main processing unit is also used for obtaining the longitude and latitude data of the starting point of the agricultural machinery for starting harvesting the crops in the nth row, and calculating the opposite-row navigation line of the nth row according to the slope of the opposite-row reference line, wherein the opposite-row navigation line is parallel to the opposite-row reference line;
the steering control unit is used for controlling the agricultural machinery to drive along the line guidance route according to the heading angle data of the agricultural machinery so as to harvest the nth row crops.
8. The automatic alignment control system of an agricultural machine based on track prediction according to claim 7, further comprising a steering wheel angle sensor connected to the steering control unit, the steering wheel angle sensor being configured to detect a rotation angle of a steering wheel of the agricultural machine.
9. The automatic alignment control system of agricultural machinery based on track prediction according to claim 7, further comprising a man-machine interaction unit connected with the main processing unit, wherein the man-machine interaction unit is used for starting or stopping automatic alignment, inputting control parameters, and displaying state parameters and track data.
10. The track prediction based automatic alignment control system of an agricultural machine of claim 7, further comprising an RTK positioning antenna coupled to the RTK positioning module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311635345.XA CN117806312A (en) | 2023-12-01 | 2023-12-01 | Agricultural machinery automatic alignment control method and system based on track prediction |
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| CN202311635345.XA CN117806312A (en) | 2023-12-01 | 2023-12-01 | Agricultural machinery automatic alignment control method and system based on track prediction |
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| CN202311635345.XA Pending CN117806312A (en) | 2023-12-01 | 2023-12-01 | Agricultural machinery automatic alignment control method and system based on track prediction |
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