Guide wheel deflection angle measuring method and device

Abstract

The invention discloses a guide wheel deflection angle measuring method and device. The method comprises the following steps: obtaining a front course angle [theta] t sensed by a front course sensor, a back course angle sensed by a back course sensor, a front wheel distance and a shaft distance; and determining the deflection angle of guide wheels at the left and right sides according to the obtained front course angle [theta] t, the back course angle, the front wheel distance and the shaft distance. Through the installation of the course sensors on the middle point of the axis of the guide wheels and the middle point position of the axis of the back wheel, the course angles are collected, and thus rapid and accurate measurement of deflection angle of the guide wheel is realized.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a method and device for measuring the deflection angle of a guide wheel. Background technique [0002] Automatic navigation of agricultural machinery is an important part of modern intelligent agricultural vehicles and has broad development prospects. It has a wide range of applications in many aspects such as automatic spraying of pesticides and fertilizers, harvesting operations, intertillage and weeding, and transplanting. Automatic steering control system is one of the key technologies to realize automatic navigation of agricultural machinery. The deflection angle measuring device of the guide wheel is the most basic component of the automatic steering control system. [0003] In the prior art, there are generally three methods for measuring the deflection angle of the guide wheel: (1) using the angle sensor of the link mechanism to measure the deflection angle of the g...

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Problems solved by technology

[0004] However, for the above-mentioned three methods of measuring the deflection angle of the guide wheel, if the first method is used, the sensor of the linkage mechanism will be easily damaged by the impact of mechanical transmission and vehicle vibration, and the vibration will generate measurement noise. inaccurate angle measurement

If the second method is used, although the magneto-resistive angle sensor adopts non-contact measurement, it is less affected by vibration, but due to the high precision requirements for the installation adapter, it is easy to be affected by the installation and fixing method.

If the third method is adopted, since there is a gap in the mechanical connection between the hydraulic cylinder and the guide wheel, the method of calculating the deflection angle of the guide wheel by measuring the stroke of the hydraulic cylinder with a displacement sensor is prone to hysteresis, which makes the data processing algorithm complex. Low repeatability

[0005] To sum up, for the above methods, although the measurement of the deflection angle of the guide wheel can be realized, the measurement results are not satisfactory due to the influence of various factors.

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