Auxiliary control system and method for traction device of orchard automatic driving tractor

Abstract

The invention discloses an auxiliary control system and method for a traction device of an orchard automatic driving tractor, and relates to the field of auxiliary control of tractors. The system comprises a vehicle speed sensor, a front wheel steering angle sensor, a vehicle-mounted acceleration sensor, an obstacle detection module, an obstacle avoidance control system, a turning control system, a sliding block position sensor, a sliding block included angle sensor, a sliding block speed sensor and a hanging point sliding system. The control method of the system comprises the steps: judging the current state of the tractor according to information collected by the multiple sensors such as the vehicle speed sensor and the front vehicle rotation angle sensor, predicting the position and the speed of the sliding block according to different states, and controlling the traction point sliding system; according to the difference value between the real-time measurement value and the ideal state, continuously adjusting the position speed of the sliding block to control the steering of the rear trailer, so the trafficability is improved, and the automatic control precision of the automatic driving transportation hitching vehicle in the orchard is improved.

Description

technical field [0001] The invention relates to an orchard automatic driving tractor, in particular to an orchard tractor auxiliary traction device and a control system. Background technique [0002] With the rapid development of agricultural machinery technology in our country, more and more agricultural machinery is used in orchards. With the development of intelligent equipment, the degree of intelligence of agricultural machinery is getting higher and higher, and more and more unmanned harvesting machinery, automatic operation machinery, and automatic transportation machinery are appearing. For the unmanned transport vehicle in the orchard, its automatic driving and obstacle avoidance strategy is to control the front wheel angle to control the steering of the transport vehicle. The rotation of the hinge point reduces the flexibility of the trailer for obstacle avoidance. At the same time, when driving on a road section with a small turning radius, the rear wheels of the...

AI Technical Summary

Problems solved by technology

For the unmanned transport vehicle in the orchard, its automatic driving and obstacle avoidance strategy is to control the front wheel angle to control the steering of the transport vehicle. The rotation of the hinge point reduces the flexibility of the trailer for obstacle avoidance. At the same time, when driving on a road section with a small turning radius, the rear wheels of the trailer will inevitably be pressed against the crops.

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