Tractor farm tool unit control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a tractor farm tool unit control method and device, electronic equipment and a storage medium. The method comprises the steps that a state space expression of a control system of a tractor farm tool unit is established; the state variables of the control system comprise the tractor course deviation, the farm tool course deviation and the farm tool transverse deviation of the tractor farm tool unit relative to the target operation path, and the control variable of the control system is the front wheel rotation angle of the tractor; acquiring a state feedback controller of the control system by adopting a linear quadratic regulator based on the state space expression; based on the real-time tractor course deviation, the real-time farm tool course deviation and the real-time farm tool transverse deviation, a real-time target front wheel rotation angle is determined through a state feedback controller; and performing real-time regulation and control on the tractor front wheel rotation angle of the tractor farm tool unit based on the real-time target front wheel rotation angle. According to the embodiment of the invention, the farm tool can better track the target operation path.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of agricultural machinery, and in particular to a control method, device, electronic equipment and storage medium for a tractor implement unit. Background Art

[0002] With the continuous development of the precision agriculture industry, agricultural machinery automatic driving systems based on high-precision satellite navigation and positioning technology are becoming increasingly popular in my country. Agricultural machinery automatic driving systems are widely used in all aspects of farming, management and harvesting in agricultural production, which has improved agricultural production efficiency and land utilization rate, and reduced the workload of agricultural machinery drivers.

[0003] The typical operation of the automatic driving system of a tractor-farm implement group is to control the tractor to move along a preset trajectory. In agricultural production operations, the operation effect is actually determined by the implement. When the implement is tightly connected to the tractor and there is no horizontal relative displacement between the implement and the tractor, controlling the tractor to move along the preset trajectory can control the implement to move along the preset trajectory. The existing agricultural machinery automatic driving system can achieve good results, and the operation handover can meet the requirements of agricultural production. However, for towed implements or implements that are not tightly connected to the tractor, factors such as asymmetric loads on the implements and slopes often cause relative lateral displacement between the implements and the tractor. Simply controlling the tractor cannot ensure that the implement moves along the preset trajectory. At this time, the agricultural machinery automatic driving system cannot ensure that the implement always moves along the preset trajectory, and the accuracy of the operation handover will decrease, with obvious overlap or omissions. Summary of the invention

[0004] The embodiments of the present invention provide a tractor agricultural implement unit control method, device, electronic equipment and storage medium, which can enable the agricultural implement to better track a target operation path.

[0005] In a first aspect, an embodiment of the present invention provides a tractor agricultural implement unit control method, comprising:

[0006] Establishing a state space expression of a control system of a tractor-implement unit; the state variables of the control system include: a tractor heading deviation, an implement heading deviation and an implement lateral deviation of the tractor-implement unit relative to a target working path; and the control variable of the control system is a tractor front wheel steering angle;

[0007] Based on the state space expression, a linear quadratic regulator is used to obtain a state feedback controller of the control system;

[0008] determining a real-time target front wheel turning angle by the state feedback controller based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation; and

[0009] The tractor front wheel steering angle of the tractor implement assembly is regulated in real time based on the real-time target front wheel steering angle.

[0010] In a second aspect, an embodiment of the present invention provides a tractor agricultural implement unit control device, comprising:

[0011] A state space expression establishment module is used to establish a state space expression of a control system of a tractor implement assembly; the state variables of the control system include: a tractor heading deviation, an implement heading deviation and an implement lateral deviation of the tractor implement assembly relative to a target operation path, and the control variable of the control system is a tractor front wheel steering angle;

[0012] A state feedback controller acquisition module, used for acquiring a state feedback controller of the control system using a linear quadratic regulator based on the state space expression;

[0013] a target front wheel steering angle acquisition module, used to determine the real-time target front wheel steering angle through the state feedback controller based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation;

[0014] A control module is used to control the tractor front wheel angle of the tractor agricultural implement assembly in real time based on the real-time target front wheel angle.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a tractor implement group control method as described in any one of the embodiments of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a tractor implement unit control method as described in any one of the embodiments of the present invention.

[0017] The embodiment of the present invention provides a tractor implement control method, device, electronic device and storage medium. The state space expression of the tractor implement control system is established by taking the tractor heading deviation, implement heading deviation and implement lateral deviation of the tractor implement relative to the target operation path as state variables and the tractor front wheel turning angle as the control variable, and a linear quadratic regulator is used to obtain a state feedback controller. The real-time target front wheel turning angle is further determined by the state feedback controller based on the real-time tractor heading deviation, the real-time implement heading deviation and the real-time implement lateral deviation, so that the tractor front wheel turning angle is regulated based on the target front wheel turning angle. When the tractor implement is operating, the relative lateral displacement between the implement and the tractor can be corrected in time, so that the implement can better track the target operation path, and the implement can always move along the trajectory of the target operation path, thereby improving the accuracy of the operation handover and avoiding overlapping or missing phenomena. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a flow chart of a tractor agricultural implement unit control method provided by an embodiment of the present invention;

[0020] Figure 2 is a structural schematic diagram of a tractor agricultural implement unit in a tractor agricultural implement unit control method provided by an embodiment of the present invention;

[0021] Figure 3 is another flow chart of a tractor agricultural implement unit control method provided by an embodiment of the present invention;

[0022] Figure 4 is a structural schematic diagram of a tractor agricultural implement unit control device provided by an embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Figure 1 A flowchart of a method for controlling a tractor implement unit provided in an embodiment of the present invention is provided. This embodiment is applicable to a scenario where the tractor implement unit includes a towed implement or the implement is not tightly coupled to the tractor. The method can be executed by a tractor implement unit control device provided in an embodiment of the present invention, and the device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a tractor implement unit controller. The following embodiments will be described by taking the device integrated into an electronic device as an example. Reference Figure 1 , the method may specifically include the following steps:

[0027] Step 101, establish a state space expression of the control system of the tractor implement assembly; the state variables of the control system include: the tractor heading deviation, implement heading deviation and implement lateral deviation of the tractor implement assembly relative to the target working path, and the control variable of the control system is the tractor front wheel angle. This step can facilitate obtaining a state feedback controller of the control system based on the state space expression.

[0028] Optionally, the tractor agricultural implement unit provided by the embodiment of the present invention is as follows Figure 2 As shown, it includes: a tractor 1 and an implement 2, the tractor 1 and the implement 2 are connected through a tractor mounting point 3, L1 represents the wheelbase of the front and rear wheels of the tractor, L2 represents the distance from the rear wheel axle of the tractor to the mounting point, and L3 represents the distance from the implement to the mounting point.

[0029] Specifically, the target operation path is a preset operation path of the tractor agricultural implement group, as shown in FIG. Figure 2 The target operation path is shown in 6.

[0030] Optionally, the process of establishing the state space expression of the control system of the tractor implement assembly includes: establishing the state space expression based on the operating driving speed of the tractor implement assembly.

[0031] Optionally, the process of establishing a state space expression based on the operating driving speed of the tractor agricultural implement assembly includes:

[0032] A kinematic model of the tractor implement group is established based on the operating driving speed of the tractor implement group, the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle and the group structure size of the tractor implement group; and a state space expression is established based on the kinematic model.

[0033] Optionally, the process of establishing a kinematic model of the tractor implement group based on the operating driving speed of the tractor implement group, the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle, and the group structural dimensions of the tractor implement group includes: establishing a kinematic model of the tractor implement group based on the operating driving speed of the tractor implement group, the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle, and the group structural dimensions of the tractor implement group.

[0034] Specifically, the above kinematic model can be expressed as:

[0035]

[0036] Among them, ψ e Indicates the tractor heading deviation, Represents ψ e The reciprocal of Indicates the implement heading deviation, express The reciprocal of t Indicates the lateral deviation of the implement, Indicates d t The reciprocal of L1 is the wheelbase of the front and rear wheels of the tractor, L2 is the distance from the rear wheel axle of the tractor to the mounting point, L3 is the distance from the implement to the mounting point, V is the operating speed, and δ is the turning angle of the front wheels of the tractor.

[0037] Specifically, the above state space expression can be expressed as:

[0038]

[0039] Y=CX

[0040]

[0041] U=δ

[0042]

[0043] B=[V / L1 L2V / L1L30] T

[0044]

[0045] Where X represents the state vector, represents the inverse of X, Y represents the observed quantity, U is the controlled quantity, A is the system matrix, B is the control matrix, and C is the observation matrix.

[0046] Specifically, the kinematic model of the tractor-implement group can be established based only on the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle, the tractor front and rear wheel wheelbase, the distance from the tractor rear wheel axle to the mounting point, and the distance from the implement to the mounting point.

[0047] Specifically, the kinematic model of the tractor-implement unit may be established based on the operating speed, tractor heading deviation, implement heading deviation, implement lateral deviation, tractor front wheel turning angle and other unit structure dimension information.

[0048] Step 102, using a linear quadratic regulator to obtain a state feedback controller of the control system based on the state space expression. This step can facilitate determining the real-time target front wheel steering angle through the state feedback controller.

[0049] Specifically, the above-mentioned Linear Quadratic Regulator (LQR) is a method in modern control theory for designing a state feedback controller. Its main goal is to find an optimal control law for state linear feedback, in this way, a closed-loop optimal control system can be constructed. LQR changes the state feedback controller K by adjusting the state weight matrix Q and the control weight matrix R, so that the linear quadratic objective function reaches the minimum value.

[0050] Optionally, the process of obtaining a state feedback controller of a control system using a linear quadratic regulator based on a state space expression includes: constructing a Riccati equation based on the state space expression. The constructed Riccati equation can be specifically expressed as:

[0051] P=Q+A T PA-A T PB(R+B T PB) -1 B TPA

[0052] K=(R+B T PB) -1 B T PA

[0053] Among them, P represents the parameter matrix corresponding to the optimal state feedback controller, A represents the system matrix, B represents the control matrix, Q represents the state weight matrix, R represents the control weight matrix, and K represents the state feedback controller.

[0054] Optionally, the process of obtaining the state feedback controller of the control system using a linear quadratic regulator based on the state space expression includes: obtaining the state feedback controller of the control system using a linear quadratic regulator based on the real-time operating driving speed and state space expression of the tractor implement group.

[0055] Specifically, the process of using a linear quadratic regulator to obtain a state feedback controller of the control system based on the real-time operating speed and state space expression of the tractor implement unit includes:

[0056] Based on the above real-time operating travel speed, the system matrix A and the control matrix B of the state space expression are updated to obtain an updated state space expression, and based on the updated state space expression, a linear quadratic regulator is used to obtain a state feedback controller of the control system.

[0057] Optionally, before using a linear quadratic regulator to obtain a state feedback controller of the control system based on a state space expression, the tractor implement unit control method further includes: determining a state weight matrix of the linear quadratic regulator based on real-time implement lateral deviation to obtain a real-time state weight matrix.

[0058] Optionally, the process of determining the state weight matrix of the linear quadratic regulator based on the real-time lateral deviation of the agricultural implement to obtain the real-time state weight matrix includes: in the process of obtaining the state feedback controller, keeping the control weight matrix R unchanged, and obtaining the above-mentioned state feedback controller by adjusting the state weight matrix Q in real time based on the real-time lateral deviation of the agricultural implement.

[0059] Specifically, the control weight matrix R and the state weight matrix Q may also be adjusted simultaneously to obtain the above-mentioned state feedback controller.

[0060] Optionally, the process of obtaining the state feedback controller by adjusting the state weight matrix Q based on the real-time lateral deviation of the agricultural implement includes:

[0061] When the lateral deviation of the real-time agricultural implement increases, the heading weight in the state weight matrix is ​​reduced and the lateral weight in the state weight matrix is ​​increased to obtain the real-time state weight matrix; and when the lateral deviation of the real-time agricultural implement decreases, the heading weight in the state weight matrix is ​​increased and the lateral weight in the state weight matrix is ​​reduced to obtain the real-time state weight matrix;

[0062] The heading weight includes the weights corresponding to the tractor heading deviation and the farm implement heading deviation; the lateral weight includes the weight corresponding to the farm implement lateral deviation.

[0063] Optionally, the process of obtaining a state feedback controller of a control system using a linear quadratic regulator based on a state space expression includes: determining a state feedback controller of the control system based on a real-time state weight matrix.

[0064] Specifically, the process of determining the state feedback controller of the control system based on the real-time state weight matrix includes: determining the state feedback controller based on the aforementioned Riccati equation.

[0065] Step 103, based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation, determine the real-time target front wheel steering angle through the state feedback controller. This step can facilitate real-time control of the tractor front wheel steering angle of the tractor farm implement assembly based on the real-time target front wheel steering angle.

[0066] Specifically, the real-time target front wheel angle can be obtained based on the following formula:

[0067] U=-KX

[0068] Among them, U represents the real-time target front wheel steering angle, K represents the state feedback controller, and X represents the state vector composed of the real-time tractor heading deviation, the real-time implement heading deviation and the real-time implement lateral deviation.

[0069] Step 104, real-time control of the tractor front wheel angle of the tractor implement unit based on the real-time target front wheel angle. This step is based on steps 101 to 103, by establishing a state space expression of the tractor implement unit control system with the tractor heading deviation, implement heading deviation and implement lateral deviation of the tractor implement unit relative to the target operation path as state variables, and the tractor front wheel angle as the control variable, and using a linear quadratic regulator to obtain a state feedback controller, further based on the real-time tractor heading deviation, real-time implement heading deviation and real-time implement lateral deviation, the real-time target front wheel angle is determined by the state feedback controller, and the tractor front wheel angle is controlled based on the target front wheel angle, so that the relative lateral displacement between the implement and the tractor can be corrected in time when the tractor implement unit is operating, so that the implement can better track the target operation path, and the implement can always move along the trajectory of the target operation path, so as to improve the accuracy of the operation handover and avoid overlapping or missing phenomena.

[0070] Optionally, the process of real-time regulation of the tractor front wheel angle of the tractor implement unit based on the real-time target front wheel angle includes: based on the real-time target front wheel angle and parameters of the tractor steering actuator, controlling the steering wheel to rotate to track the target front wheel angle.

[0071] The following further describes a control method for a tractor agricultural implement unit in another embodiment. Figure 3 As shown, the following steps may be included:

[0072] Step 301, establishing a state space expression of the control system of the tractor implement assembly.

[0073] Step 302: A linear quadratic regulator is used to obtain a state feedback controller of the control system based on the state space expression.

[0074] Step 303: determine the real-time tractor position information and the real-time implement position information by using a satellite positioning device and an inertial measurement unit.

[0075] Specifically, the satellite positioning device includes a satellite antenna, and the inertial measurement unit is an IMU (Inertial Measurement Unit) unit.

[0076] Specifically, the satellite positioning equipment includes: a tractor satellite positioning equipment and an agricultural implement satellite positioning equipment, and the inertial measurement unit (IMU) includes: a tractor inertial unit and an agricultural implement inertial unit.

[0077] Specifically, the tractor satellite positioning device and the tractor inertial unit can be integrated into Figure 2In the controller 4 of the tractor shown, the above-mentioned agricultural implement satellite positioning device and agricultural implement inertial unit are installed in the agricultural implement positioning structure 5.

[0078] Optionally, the above process of determining real-time agricultural implement posture information by using a satellite positioning device and an inertial measurement unit includes: acquiring real-time agricultural implement satellite data measured by a satellite positioning device and real-time agricultural implement inertial data measured by an inertial measurement unit; solving agricultural implement posture information to be corrected based on the real-time agricultural implement satellite data and the real-time agricultural implement inertial data; and correcting the agricultural implement posture information to be corrected based on the agricultural implement installation offset data to obtain real-time agricultural implement posture information.

[0079] Specifically, the process of obtaining real-time agricultural implement satellite data measured by a satellite positioning device and real-time agricultural implement inertial data measured by an inertial measurement unit may include obtaining agricultural implement satellite data obtained by real-time positioning of the agricultural implement by the agricultural implement satellite positioning device, and obtaining real-time agricultural implement inertial data measured by the agricultural implement inertial unit in real time.

[0080] Specifically, the process of determining the real-time tractor posture information by using the satellite positioning device and the inertial measurement unit may include: acquiring tractor satellite data obtained by real-time positioning of the tractor by the tractor satellite positioning device, acquiring real-time tractor inertial data obtained by real-time measurement by the tractor inertial unit, and calculating the real-time tractor posture information based on the real-time tractor satellite data and the real-time tractor inertial data.

[0081] Optionally, the above-mentioned farm implement installation offset data includes the farm implement inertial unit installation error angle and the farm implement satellite positioning device installation error. The above-mentioned installation angle error can be understood as: the angle between the farm implement inertial unit and the actual working surface, and the above-mentioned installation angle error can specifically include the roll angle error and the pitch angle error.

[0082] Specifically, the above-mentioned agricultural implement installation offset data may be obtained by pre-calibration, or may be obtained based on pre-measurement.

[0083] Specifically, the embodiments of the present invention can improve the accuracy of real-time agricultural implement posture information by correcting agricultural implement posture information based on agricultural implement installation offset data, thereby improving real-time agricultural implement heading deviation and real-time agricultural implement lateral deviation.

[0084] Optionally, before correcting the to-be-corrected agricultural implement posture information based on the agricultural implement installation offset data to obtain the real-time agricultural implement posture information, the tractor agricultural implement unit control method provided by the embodiment of the present invention further includes:

[0085] Allowing the implement of the tractor implement group to simulate operation in a first direction on a calibration path and obtaining the implement posture data corresponding to the first direction to obtain first calibration posture data;

[0086] Allowing the tractor implement assembly to simulate operation in a second direction on the calibration path and obtaining implement posture data corresponding to the second direction to obtain second calibration posture data, wherein the second direction is opposite to the first direction; and

[0087] The agricultural implement installation offset data is calculated based on the first calibration pose data and the second calibration pose data.

[0088] Specifically, the first calibration posture data includes the agricultural implement calibration positioning data, roll angle calibration measurement value and pitch angle calibration measurement value corresponding to the first direction, and the second calibration posture data includes the agricultural implement calibration positioning data, roll angle calibration measurement value and pitch angle calibration measurement value corresponding to the second direction.

[0089] Optionally, the process of calculating the agricultural implement installation offset data based on the first calibration posture data and the second calibration posture data includes: determining the installation error of the agricultural implement satellite positioning device based on the agricultural implement calibration positioning data corresponding to the first direction, the agricultural implement calibration positioning data corresponding to the second direction and the actual position information of the agricultural implement.

[0090] Optionally, the process of calculating the implement installation offset data based on the first calibration posture data and the second calibration posture data includes: determining the aforementioned roll angle error based on the roll angle calibration measurement value corresponding to the first direction and the roll angle calibration measurement value corresponding to the second direction.

[0091] Optionally, the process of calculating the implement installation offset data based on the first calibration posture data and the second calibration posture data includes: calculating the average value of the roll angle calibration measurement value a1 corresponding to the first direction and the roll angle calibration measurement value a2 corresponding to the second direction to obtain the roll angle error of the implement inertial unit.

[0092] Specifically, x represents the roll angle error, y represents the actual roll angle of the implement working surface when the tractor implement unit simulates working in the first direction, then for the roll angle calibration measurement value a1 corresponding to the first direction, a1=y+x, and for the roll angle calibration measurement value a2 corresponding to the second direction, since the first direction is opposite to the second direction, that is, when the tractor implement unit simulates working in the second direction, the actual roll angle of the implement is -y, so a2=-y+x, then x=(a1+a2) / 2.

[0093] Optionally, the process of calculating the implement installation offset data based on the first calibration posture data and the second calibration posture data includes: determining the aforementioned pitch angle error based on the pitch angle calibration measurement value corresponding to the first direction, the pitch angle calibration measurement value corresponding to the second direction and the actual pitch angle of the implement working surface.

[0094] In an optional specific example, a line connecting two points AB is set as the calibration route, and the distance between the two points AB is greater than 30 meters.

[0095] Optionally, the process of making the implements of the tractor implement group simulate operation in a first direction on the calibration path and obtaining the implement posture data corresponding to the first direction includes: parking the vehicle at B with the front of the vehicle facing point A; placing the implement in an operating state, driving forward at a constant speed of 2 km / h and automatically driving to point A, and collecting the first calibration posture data during the driving process.

[0096] Optionally, the above-mentioned making the implements of the tractor implement group simulate operation in a first direction on the calibration path and obtaining the implement posture data corresponding to the first direction: parking the vehicle at B with the front of the vehicle facing point A; lifting the implement, maintaining an automatic forward driving speed of 2 km / h, and stopping at a place 10 meters away from point A; lowering the implement to the operating state and collecting the first calibration posture data, and lifting the implement after the data collection is completed.

[0097] Optionally, the process of making the tractor implement group simulate operation in the second direction on the calibration path and obtaining the implement posture data corresponding to the second direction includes: stopping the vehicle at point A and making the front of the vehicle face point B; placing the implement in the working state, maintaining a constant speed of 2 km / h and driving forward automatically to point B, and collecting the first calibration posture data during the driving process.

[0098] Optionally, the process of making the tractor implement unit simulate operation in the second direction on the calibration path and obtaining the implement posture data corresponding to the second direction includes: stopping the vehicle at point A with the front of the vehicle facing point B; lifting the implement, driving forward automatically at a speed of 2 km / h, and stopping 10 meters away from point A; lowering the implement to the operating state and collecting the second calibration posture data, and lifting the implement after the data collection is completed.

[0099] Specifically, the embodiments of the present invention can calibrate and obtain accurate implement installation offset data by simulating operations in two directions on the implement calibration path, so as to improve the accuracy of real-time implement posture information obtained by correcting the implement posture information based on the implement installation offset data.

[0100] Specifically, step 303 and step 304 may be executed after step 302 or before step 302 , or may be executed while step 302 is being executed.

[0101] Step 304 : determining the real-time tractor heading deviation based on the target working path and the real-time tractor posture information, and determining the real-time farm implement heading deviation and the real-time farm implement lateral deviation based on the target working path and the real-time farm implement posture information.

[0102] Step 305 , based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation, a real-time target front wheel turning angle is determined by a state feedback controller.

[0103] Step 306 , adjusting the tractor front wheel steering angle of the tractor implement assembly in real time based on the real-time target front wheel steering angle.

[0104] The embodiment of the present invention determines real-time tractor posture information and real-time agricultural implement posture information through a satellite positioning device and an inertial measurement unit, and determines real-time agricultural implement heading deviation and real-time agricultural implement lateral deviation based on the real-time tractor posture information and the real-time agricultural implement posture information, which can improve the accuracy of the real-time agricultural implement heading deviation and the real-time agricultural implement lateral deviation, and is conducive to improving the accuracy of the real-time target front wheel turning angle, and then accurately controls the front wheel turning angle of the tractor, so that the agricultural implement can better track the target operation path.

[0105] Figure 4 1 is a structural diagram of a tractor implement unit control device provided in an embodiment of the present invention, and the device is suitable for executing a tractor implement unit control method provided in an embodiment of the present invention. Figure 4 As shown, the device may specifically include:

[0106] The state space expression establishment module 401 is used to establish the state space expression of the control system of the tractor implement unit; the state variables of the control system include: the tractor heading deviation, the implement heading deviation and the implement lateral deviation of the tractor implement unit relative to the target working path, and the control variable of the control system is the tractor front wheel angle. This module can facilitate the acquisition of the state feedback controller of the control system based on the state space expression.

[0107] Optionally, the state space expression establishing module 401 can be specifically used to establish a state space expression based on the operating driving speed of the tractor agricultural implement group.

[0108] Optionally, the above-mentioned state-space expression establishing module 401 can be specifically used to establish a kinematic model of the tractor implement group based on the operating driving speed of the tractor implement group, the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle, the tractor front and rear wheel wheelbase, the distance from the tractor rear wheel axle to the mounting point and the distance from the implement to the mounting point; and to establish a state-space expression based on the kinematic model.

[0109] The state feedback controller acquisition module 402 is used to acquire the state feedback controller of the control system using a linear quadratic regulator based on the state space expression. This module can facilitate the determination of the real-time target front wheel steering angle through the state feedback controller.

[0110] Optionally, the state feedback controller acquisition module 402 can be specifically used to acquire the state feedback controller of the control system using a linear quadratic regulator based on the real-time operating driving speed and state space expression of the tractor implement unit.

[0111] Optionally, the tractor implement group control device method provided by the embodiment of the present invention also includes a real-time state weight matrix acquisition module, which is used to determine the state weight matrix of the linear quadratic regulator based on the real-time implement lateral deviation before using the linear quadratic regulator to acquire the state feedback controller of the control system based on the state space expression to obtain the real-time state weight matrix; the above-mentioned state feedback controller acquisition module 402 can be specifically used to determine the state feedback controller of the control system based on the real-time state weight matrix.

[0112] Optionally, the state feedback controller acquisition module 402 can be specifically used to reduce the heading weight in the state weight matrix and increase the lateral weight in the state weight matrix to obtain the real-time state weight matrix when the real-time lateral deviation of the agricultural implement increases; and to increase the heading weight in the state weight matrix and reduce the lateral weight in the state weight matrix to obtain the real-time state weight matrix when the real-time lateral deviation of the agricultural implement decreases; the heading weight includes the weights corresponding to the tractor heading deviation and the agricultural implement heading deviation; the lateral weight includes the weights corresponding to the lateral deviation of the agricultural implement.

[0113] The target front wheel angle acquisition module 403 is used to determine the real-time target front wheel angle through the state feedback controller based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation. This module can facilitate real-time control of the tractor front wheel angle of the tractor farm implement assembly based on the real-time target front wheel angle.

[0114] The control module 404 is used to control the tractor front wheel angle of the tractor implement unit in real time based on the real-time target front wheel angle. This module can be combined with modules 401 to 403, by establishing a state space expression of the tractor implement unit control system with the tractor heading deviation, the implement heading deviation and the implement lateral deviation of the tractor implement unit relative to the target operation path as state variables, and the tractor front wheel angle as the control variable, and using a linear quadratic regulator to obtain a state feedback controller, further based on the real-time tractor heading deviation, the real-time implement heading deviation and the real-time implement lateral deviation, the real-time target front wheel angle is determined through the state feedback controller, so that the tractor front wheel angle is controlled based on the target front wheel angle, so that the relative lateral displacement between the implement and the tractor can be corrected in time when the tractor implement unit is operating, so that the implement can better track the target operation path, so that the implement always moves along the trajectory of the target operation path, improve the accuracy of the operation handover, and avoid overlapping or missing phenomena.

[0115] Optionally, the tractor implement group control device method provided in the embodiment of the present invention also includes: a deviation determination module, which is used to determine real-time tractor posture information and real-time implement posture information through a satellite positioning device and an inertial measurement unit, and to determine a real-time tractor heading deviation based on a target operating path and the real-time tractor posture information, and to determine a real-time implement heading deviation and a real-time implement lateral deviation based on the target operating path and the real-time implement posture information.

[0116] Optionally, the above-mentioned deviation determination module can be specifically used to obtain real-time agricultural implement satellite data measured by a satellite positioning device and real-time agricultural implement inertial data measured by an inertial measurement unit; to obtain agricultural implement posture information to be corrected based on the real-time agricultural implement satellite data and the real-time agricultural implement inertial data; and to correct the agricultural implement posture information to be corrected based on the agricultural implement installation offset data to obtain real-time agricultural implement posture information.

[0117] Optionally, the above-mentioned deviation determination module can be specifically used to, before correcting the to-be-corrected implement posture information based on the implement installation offset data to obtain real-time implement posture information, make the implements of the tractor implement group simulate operation in a first direction on a calibration path and obtain the implement posture data corresponding to the first direction to obtain first calibration posture data; make the tractor implement group simulate operation in a second direction on the calibration path and obtain the implement posture data corresponding to the second direction to obtain second calibration posture data, the second direction being the opposite direction of the first direction; and calculate the implement installation offset data based on the first calibration posture data and the second calibration posture data.

[0118] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0119] An embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the tractor implement group control method provided in any of the above embodiments is implemented.

[0120] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, and when the program is executed by a processor, the tractor implement unit control method provided in any of the above embodiments is implemented.

[0121] The embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the tractor agricultural implement unit control method as described in any one of the embodiments of the present invention.

[0122] Reference below Figure 5 , which shows a schematic diagram of the structure of a computer system 500 of an electronic device suitable for implementing an embodiment of the present invention. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0123] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0124] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.

[0125] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are executed.

[0126] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0127] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] The modules and / or units involved in the embodiments of the present invention may be implemented in software or hardware. The modules and / or units described may also be arranged in a processor, for example, may be described as: a processor including a state space expression establishment module, a state feedback controller acquisition module, a target front wheel angle acquisition module and a control module. The names of these modules do not, in some cases, constitute limitations on the modules themselves.

[0129] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: establishing a state space expression of a control system of a tractor implement group; the state variables of the control system include: the tractor heading deviation, the implement heading deviation and the implement lateral deviation of the tractor implement group relative to the target working path, and the control variable of the control system is the tractor front wheel angle; based on the state space expression, a linear quadratic regulator is used to obtain a state feedback controller of the control system; based on the real-time tractor heading deviation, the real-time implement heading deviation and the real-time implement lateral deviation, the real-time target front wheel angle is determined by the state feedback controller; and the tractor front wheel angle of the tractor implement group is controlled in real time based on the real-time target front wheel angle.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a tractor agricultural implement unit, characterized in that: include: Establish the state space expression of the control system of the tractor implement unit; The state variables of the control system include: the tractor heading deviation, the farm implement heading deviation and the farm implement lateral deviation of the tractor farm implement assembly relative to the target working path, and the control variable of the control system is the tractor front wheel steering angle; Based on the state space expression, a linear quadratic regulator is used to obtain a state feedback controller of the control system; determining a real-time target front wheel angle by the state feedback controller based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation; and The tractor front wheel steering angle of the tractor implement assembly is regulated in real time based on the real-time target front wheel steering angle.

2. The control method of the tractor agricultural implement unit according to claim 1, characterized in that: The state space expression of the control system of the tractor implement assembly is established, including: Establishing the state space expression based on the operating travel speed of the tractor implement assembly; The method of obtaining a state feedback controller of the control system using a linear quadratic regulator based on the state space expression includes: Based on the real-time operating driving speed of the tractor implement assembly and the state space expression, a linear quadratic regulator is used to obtain a state feedback controller of the control system.

3. The control method of the tractor agricultural implement unit according to claim 1, characterized in that: Before obtaining the state feedback controller of the control system by using a linear quadratic regulator based on the state space expression, the tractor implement unit control method further includes: Determine the state weight matrix of the linear quadratic regulator based on the real-time lateral deviation of the agricultural implement to obtain a real-time state weight matrix; The method of obtaining a state feedback controller of the control system using a linear quadratic regulator based on the state space expression includes: Based on the real-time state weight matrix, a state feedback controller of the control system is determined.

4. The control method of the tractor agricultural implement unit according to claim 3, characterized in that: The state weight matrix of the linear quadratic regulator is determined based on the real-time lateral deviation of the agricultural implement to obtain a real-time state weight matrix, including: When the real-time lateral deviation of the agricultural implement increases, the heading weight in the state weight matrix is ​​reduced and the lateral weight in the state weight matrix is ​​increased to obtain the real-time state weight matrix; and when the real-time lateral deviation of the agricultural implement decreases, the heading weight in the state weight matrix is ​​increased and the lateral weight in the state weight matrix is ​​reduced to obtain the real-time state weight matrix; The heading weight includes weights corresponding to the tractor heading deviation and the farm implement heading deviation; the lateral weight includes weights corresponding to the farm implement lateral deviation.

5. The control method of the tractor agricultural implement unit according to claim 2, characterized in that: The state space expression is established based on the operating driving speed of the tractor agricultural implement assembly, including: Establishing a kinematic model of the tractor implement assembly based on the operating driving speed of the tractor implement assembly, the tractor heading deviation, the implement heading deviation, the implement lateral deviation, the tractor front wheel turning angle and the assembly structure size of the tractor implement assembly; and The state space expression is established based on the kinematic model.

6. The control method of the tractor agricultural implement unit according to claim 1, characterized in that: Before determining the real-time target front wheel turning angle by the state feedback controller based on the real-time tractor heading deviation, the real-time agricultural implement heading deviation and the real-time agricultural implement lateral deviation, the tractor agricultural implement unit control method further includes: Determine real-time tractor position information and real-time implement position information through satellite positioning equipment and inertial measurement units; and The real-time tractor heading deviation is determined based on the target working path and the real-time tractor posture information, and the real-time farm implement heading deviation and the real-time farm implement lateral deviation are determined based on the target working path and the real-time farm implement posture information.

7. The control method of the tractor agricultural implement unit according to claim 6, characterized in that: Determining the real-time agricultural implement position information by using a satellite positioning device and an inertial measurement unit includes: Acquire real-time agricultural implement satellite data measured by the satellite positioning device and real-time agricultural implement inertial data measured by the inertial measurement unit; Calculating the agricultural implement posture information to be corrected based on the real-time agricultural implement satellite data and the real-time agricultural implement inertial data; and The real-time agricultural implement posture information is obtained by correcting the to-be-corrected agricultural implement posture information based on the agricultural implement installation offset data.

8. The tractor agricultural implement unit control method according to claim 7, before the to-be-corrected agricultural implement position information is corrected based on the agricultural implement installation offset data to obtain the real-time agricultural implement position information, the tractor agricultural implement unit control method further comprises: Allowing the agricultural implement of the tractor agricultural implement assembly to simulate operation in a first direction on a calibration path and acquiring agricultural implement posture data corresponding to the first direction to obtain first calibration posture data; The tractor implement assembly is instructed to simulate operation in a second direction on the calibration path and acquire implement posture data corresponding to the second direction to obtain second calibration posture data, wherein the second direction is opposite to the first direction; as well as The agricultural implement installation offset data is calculated based on the first calibration posture data and the second calibration posture data.

9. A control device for a tractor agricultural implement unit, characterized in that: include: A state space expression building module is used to build the state space expression of the control system of the tractor implement unit; The state variables of the control system include: the tractor heading deviation, the farm implement heading deviation and the farm implement lateral deviation of the tractor farm implement assembly relative to the target working path, and the control variable of the control system is the tractor front wheel steering angle; A state feedback controller acquisition module, used for acquiring a state feedback controller of the control system using a linear quadratic regulator based on the state space expression; a target front wheel steering angle acquisition module, configured to determine a real-time target front wheel steering angle through the state feedback controller based on the real-time tractor heading deviation, the real-time farm implement heading deviation and the real-time farm implement lateral deviation; and A control module is used to control the tractor front wheel angle of the tractor agricultural implement assembly in real time based on the real-time target front wheel angle.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the tractor implement unit control method as claimed in any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the tractor agricultural implement unit control method as claimed in any one of claims 1 to 8 is implemented.

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