Method and system for automatically calibrating deflection angle measuring sensor of guiding wheel

A technology for measuring sensors and deflection angles, applied in measuring devices, instruments, etc., can solve the problems of low calibration accuracy, cumbersome calibration steps, and low calibration efficiency.

Active Publication Date: 2019-03-15
BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI
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Problems solved by technology

At present, the calibration method of the deflection angle measurement sensor is mostly completed manually, an...

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  • Method and system for automatically calibrating deflection angle measuring sensor of guiding wheel
  • Method and system for automatically calibrating deflection angle measuring sensor of guiding wheel

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Embodiment Construction

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0018] The coincidence of the median value of the deflection angle measurement sensor and the 0° value of the guide wheel rotation angle is the key to realize the agricultural machinery automatic navigation system to control the agricultural machinery to follow the established route. During the installation and use of the deflection angle measurem...

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Abstract

The embodiment of the invention provides a method and a system for automatically calibrating a deflection angle measuring sensor of a guiding wheel. The method comprises the following steps: S1: acquiring an average tracking error of agricultural machinery running at a set distance under the control of an automatic navigation system; and S2: if the average tracking error is judged to be not greater than a set maximum average tracking error value, when the guiding wheel is rotated to an alignment position, using a median value of the deflection angle measuring sensor as a calibration result; and if the average tracking error is judged to be greater than the set maximum average tracking error value, decreasing a measuring range of the deflection angle measuring sensor according to the medianvalue of the deflection angle measuring sensor, updating the median value of the deflection angle measuring sensor according to an intermediate value of the measuring range, and returning to S1. Theaverage tracking error is used as a degree evaluation method of the calibration effect of the deflection angle sensor of the guiding wheel, so that a support is provided for judgment of the automaticcalibration effect evaluation of the deflection angle sensor of the guiding wheel.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic control, and more specifically, to an automatic calibration method and system for a deflection angle measurement sensor 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 technology is one of the key technologies to realize automatic navigation of agricultural machinery, and it is also the basis of automatic navigation of agricultural machinery. Automatic steering control technology is the basis for automatic navigation, which is mainly completed by automatic steering mechanism. The automatic steering mechanism continuously adju...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 付卫强胡书鹏李由孟志军
Owner BEIJING RES CENT OF INTELLIGENT EQUIP FOR AGRI
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