Longitudinal relative position control system and control method for master and slave agricultural machinery for sugarcane harvesting

Abstract

The invention discloses a longitudinal relative position control system and control method of a master-slave agricultural machinery for sugarcane harvesting, including an agricultural machinery posture measuring device, a transfer compartment monitoring camera, a cloud server, a vehicle-mounted visual display terminal, a fuzzy controller and an electronic throttle; the agricultural machinery posture measuring device has two devices respectively mounted on the master and slave agricultural machinery, and transmits data with the cloud server through a 5G wireless communication module; the transfer compartment monitoring camera is mounted on the bucket of the slave agricultural machinery, and is connected to the vehicle-mounted visual display terminal through a serial port; the cloud server is connected to the vehicle-mounted visual display terminal through a 5G wireless communication module; the vehicle-mounted visual display terminal is mounted on the control console of the slave agricultural machinery cab, and exchanges data with the cloud server through a 5G wireless communication module; the fuzzy controller is mounted on the slave agricultural machinery; the electronic throttle communicates with the vehicle-mounted visual display terminal through a CAN bus. The invention can effectively reduce the labor intensity of the slave agricultural machinery operator, and realize the efficient collaborative operation of the slave agricultural machinery and the master agricultural machinery for sugarcane harvesting.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery navigation control, and in particular to a fuzzy control-based longitudinal relative position control system for master and slave agricultural machinery for harvesting sugarcane and a control method thereof. Background Art

[0002] Automatic navigation technology for agricultural machinery is one of the key technologies for achieving precision agriculture. Agricultural machinery equipped with intelligent navigation systems can reduce the labor intensity of operators and improve the accuracy of operations. With the continuous reduction of agricultural labor and the increase in labor costs, new unmanned farms have become a new research hotspot. Master-slave collaborative navigation technology can effectively improve work efficiency and reduce labor costs. Therefore, automatic navigation technology for agricultural machinery is receiving more and more research attention.

[0003] In the sugarcane harvesting process, the sugarcane harvester is responsible for cutting the sugarcane stalks and transporting them outward through the mechanical arm, while the transfer vehicle needs to be responsible for connecting the sugarcane segments to the truck bucket while the harvester is harvesting; the quality of the synergy between the two will directly affect the efficiency and effect of the collaborative harvesting operation. At present, the domestic sugarcane harvesting collaborative operation is mainly based on traditional manual collaboration, which relies on human feeling and experience judgment for collaborative operation, with low accuracy, slow response speed, low degree of automation, and high labor intensity. The existing master-slave collaborative control method mainly focuses on vehicle control. Unlike vehicles, agricultural machinery has a harsh operating environment. The soil resistance, the obstruction of the sugarcane cutting disc, and the change of field travel resistance caused by the increase in the load of the transfer vehicle make the agricultural machinery collaborative control highly nonlinear. At the same time, there is a strong coupling between the position and speed during the movement of agricultural machinery. In addition, when facing application scenarios such as sugarcane harvesting and transfer, the loading situation of the vehicle compartment is not taken into account to adjust the vehicle distance in time to eliminate the accumulation of sugarcane segments. Fuzzy control is a nonlinear control method. During use, it is not necessary to accurately establish a dynamic model of agricultural machinery. The system structure is simple and easy to build and implement. It is suitable for complex and changeable farmland environments. Therefore, it is widely used in the research of agricultural machinery navigation control. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and proposes a fuzzy-control-based longitudinal relative position control system for master and slave agricultural machinery for sugarcane harvesting and a control method thereof, so that the slave agricultural machinery can follow the driving path and speed of the master agricultural machinery for timely change and adjustment, and at the same time obtain the relative posture data of the master and slave agricultural machinery and display them on the on-board visual display terminal. The operator observes the accumulation of sugarcane segments in the compartment through the camera installed in the bucket of the transfer vehicle and controls the terminal to adjust the longitudinal relative vehicle distance between the master and slave agricultural machinery to eliminate the accumulation, which can effectively reduce the labor intensity of the operator of the slave agricultural machinery and realize efficient collaborative operation of the slave agricultural machinery and the master agricultural machinery for sugarcane harvesting.

[0005] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a longitudinal relative position control system of a master and slave agricultural machinery for sugarcane harvesting, comprising: an agricultural machinery posture measuring device, a transport compartment monitoring camera, a cloud server, an on-board visual display terminal, a fuzzy controller and an electronic throttle;

[0006] The agricultural machinery posture measurement device has two devices installed on the master and slave agricultural machinery respectively, and transmits data with the cloud server through the 5G wireless communication module, so as to obtain the posture information of the master and slave agricultural machinery during the operation and upload it to the cloud server;

[0007] The transfer compartment monitoring camera is installed on the bucket of the agricultural machinery and is connected to the vehicle-mounted visual display terminal through a serial port to monitor the real-time loading status of the sugarcane segments in the compartment and send it to the vehicle-mounted visual display terminal for display;

[0008] The cloud server is connected to the vehicle-mounted visual display terminal through a 5G wireless communication module to calculate information data and save and forward it;

[0009] The vehicle-mounted visual display terminal is installed on the control console of the agricultural machinery cab and exchanges data with the cloud server through the 5G wireless communication module;

[0010] The fuzzy controller is installed on the slave agricultural machine, and its input is the longitudinal relative position deviation of the master and slave agricultural machines and the relative speed deviation of the master and slave agricultural machines. The output is generated through the preset fuzzy control rules, and the output is the motor current of the slave agricultural machine;

[0011] The electronic throttle communicates with the vehicle-mounted visual display terminal via the CAN bus and is used to execute control instructions issued by the microcontroller of the agricultural machinery posture measurement device. The current output by the fuzzy controller controls the speed of the slave agricultural machinery engine, thereby controlling the running speed of the slave agricultural machinery.

[0012] Furthermore, the main agricultural machine is a sugarcane harvester, which is manually driven and operated by a driver;

[0013] The slave agricultural machinery refers to a transfer vehicle, and a driver operates the on-board visual display terminal to automatically follow the position of the master agricultural machinery according to the fuzzy controller to perform longitudinal relative position coordinated control.

[0014] Furthermore, the agricultural machinery posture determination device includes a microcontroller, an RTK-GPS positioning module, a vehicle speed measurement sensor, a heading angle measurement sensor and a 5G wireless communication module, wherein:

[0015] The microcontroller is an STM32 single-chip microcomputer, which is used to execute program decisions;

[0016] The RTK-GPS positioning module is a Qianxun D300 differential positioning device, which is used to obtain high-precision positioning data of the master and slave agricultural machinery;

[0017] The vehicle speed measurement sensor is used to accurately measure the driving speed of the master and slave agricultural machines;

[0018] The heading angle measurement sensor is used to accurately measure the driving headings of the master and slave agricultural machinery;

[0019] The 5G wireless communication module is used to realize remote wireless communication between the agricultural machinery posture measurement device and the cloud server;

[0020] The microcontroller is respectively connected to the RTK-GPS positioning module, the vehicle speed measurement sensor, the heading angle measurement sensor, the 5G wireless communication module and the electronic throttle via a CAN bus.

[0021] Furthermore, the application interface of the vehicle-mounted visual display terminal includes: a schematic diagram for monitoring the longitudinal relative positions of the master and slave agricultural machinery, a schematic diagram for an abstract model of a harvester mechanical arm, a schematic diagram for an abstract model of a transfer vehicle bucket, a monitoring image of the loading status of the transfer vehicle compartment, a button for turning on / off the camera, and a button for establishing / disconnecting a connection, wherein:

[0022] The master-slave agricultural machinery longitudinal relative position monitoring schematic diagram is a diagram used by the application interface to describe and display the longitudinal relative distance between the master and slave agricultural machinery. The position of the master agricultural machinery is illustrated by an abstract model diagram of the harvester mechanical arm, and the position of the slave agricultural machinery is illustrated by an abstract model diagram of the transfer vehicle bucket. At the same time, the operator can set the longitudinal relative distance between the master and slave agricultural machinery targets by operating the application interface and dragging the harvester mechanical arm position.

[0023] The monitoring image of the loading condition of the transfer truck compartment is the monitoring image of the loading condition of the sugarcane section in the transfer truck compartment transmitted to the display interface of the on-board visual display terminal through the serial port by the monitoring camera of the transfer truck compartment;

[0024] The camera on / off button is used to control the on and off of the transfer warehouse surveillance camera;

[0025] The establish / disconnect button is used to control the vehicle-mounted visual display terminal to establish or disconnect the connection with the cloud server.

[0026] Further, the design steps of the fuzzy controller are as follows:

[0027] a. Determine the input and output variables of the fuzzy controller and perform fuzzification processing;

[0028] The longitudinal relative position deviation E of the master and slave agricultural machinery y The relative speed deviation E between the master and slave agricultural machinery v As the input variable of the fuzzy controller, the output variable of the fuzzy controller is the output current u;

[0029] When the position of the slave agricultural machine exceeds the target longitudinal relative distance, the longitudinal relative position deviation E of the master and slave agricultural machines is y is positive, when the position of the slave agricultural machine lags behind the target longitudinal relative distance, the longitudinal relative position deviation E y is negative, the longitudinal relative position deviation E of the master and slave agricultural machinery y The scale levels are {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6};

[0030] When the speed of the slave machine is greater than that of the master machine, the relative speed deviation E v is positive. When the speed of the slave machine is less than that of the master machine, the relative speed deviation E v is negative; in addition, the relative speed deviation E v The ratio level and the longitudinal relative position deviation E of the master and slave agricultural machinery y same;

[0031] The output current u is positive when the slave agricultural machine needs to accelerate, and negative when it needs to decelerate. In addition, the proportional level of the output current u is related to the longitudinal relative position deviation E of the master and slave agricultural machines. y The relative speed deviation E between the master and slave agricultural machinery v same;

[0032] b. Establish fuzzy control rules based on basic domains, proportional levels and factors;

[0033] The longitudinal relative position deviation E of the master and slave agricultural machinery y , relative speed deviation E of master and slave agricultural machinery v The fuzzy levels of the three variables, i.e., large minus, medium minus, small minus, zero, small plus, medium plus, and large plus, are divided into seven fuzzy subsets, i.e., large minus, medium minus, small minus, zero, small plus, medium plus, and large plus. According to the seven fuzzy subsets of the two input variables, 49 fuzzy rules can be obtained to form a fuzzy rule table.

[0034] The membership functions of input variables and output variables are the same, both using triangular membership functions. The number of membership functions is set to 7, and Z-type and S-type membership function graphs are drawn at both ends of the quantization level.

[0035] c. Execute reasoning decision and generate fuzzy control query table;

[0036] Since it is necessary to eliminate the longitudinal relative distance deviation E of the master and slave agricultural machinery y Therefore, a correction coefficient is introduced to adjust the longitudinal relative distance deviation E of the master and slave agricultural machinery. y The relative speed deviation E between the master and slave agricultural machinery v The weight of the control law with the correction factor is calculated using the following formula;

[0037] u=-<αEy +(1-α)E v >,α∈(0,1)

[0038] Yes, <> means rounding, E y and E v represents the longitudinal relative distance deviation of the master and slave agricultural machinery and the relative speed deviation of the master and slave agricultural machinery, u represents the output current; α represents the correction factor; according to the quantization level of the longitudinal relative distance deviation of the master and slave agricultural machinery and the relative speed deviation of the master and slave agricultural machinery, the fuzzy control query table with the correction factor is calculated;

[0039] d. Extract the exact output from the output fuzzy set of the fuzzy controller;

[0040] According to the fuzzy control rules, the centroid method is used to calculate the exact output value of the output fuzzy set. The formula is as follows:

[0041]

[0042] In the formula, u fc (y k ,v k ) represents the precise output value of the fuzzy controller, u i represents the discrete elements of the output fuzzy set, i represents the number of discrete elements of the output fuzzy set, u u (y k ,v k ,u i ) represents the member function of the element, y k and v k They represent the input variables of the longitudinal relative distance deviation and relative speed deviation when the slave machine follows the main working path;

[0043] The fuzzy controller designed above can automatically control the engine power of the slave agricultural machinery, so that the slave agricultural machinery can stably follow the operating position of the master agricultural machinery.

[0044] The present invention also provides a control method for the above-mentioned sugarcane harvesting master-slave agricultural machinery longitudinal relative position control system. First, the position, speed and heading angle data of the sugarcane harvesting master and slave agricultural machinery during the operation are measured by an agricultural machinery posture measuring device, and uploaded to a cloud server. The cloud server solves the data and forwards the signal to the vehicle-mounted visual display terminal to display the real-time posture information of the master and slave agricultural machinery and display it to the operator. At the same time, the transfer compartment monitoring camera monitors the loading situation of the sugarcane segments in the loading bin of the slave agricultural machinery, and forwards it to the vehicle-mounted visual display terminal through the serial port for display. Then, the operator sets the target longitudinal relative distance of the master and slave agricultural machinery through the interface of the vehicle-mounted visual display terminal according to the stacking situation of the sugarcane segments in the compartment. The vehicle-mounted visual display terminal subtracts the target longitudinal relative distance of the master and slave agricultural machinery from the current real-time longitudinal relative distance to obtain the longitudinal relative distance deviation of the master and slave agricultural machinery, and uses it and the real-time relative speed difference of the master and slave agricultural machinery as the input of the fuzzy controller, generates the target output current through the preset fuzzy control rule, controls the opening and closing degree of the electronic throttle through the CAN bus, thereby controlling the engine speed of the slave agricultural machinery, and finally achieving the goal of realizing the coordinated control of the longitudinal relative position of the master and slave agricultural machinery.

[0045] Furthermore, the cloud server solves the data including: performing coordinate conversion on the acquired latitude and longitude data of the master and slave agricultural machinery, specifically converting the UTM longitude and latitude coordinates of the master and slave agricultural machinery into Gaussian plane XY coordinate system coordinates via Gaussian Kruger projection; solving the real-time longitudinal relative distance between the master and slave agricultural machinery according to the heading angles of the master and slave agricultural machinery; and obtaining the real-time relative speed difference between the master and slave agricultural machinery by subtracting the collected real-time driving speeds of the master and slave agricultural machinery.

[0046] Furthermore, the operator sets the target longitudinal relative distance between the master and slave agricultural machinery through the interface of the vehicle-mounted visual display terminal according to the stacking situation of the sugarcane segments in the vehicle compartment, and also includes: if the target longitudinal relative distance is not set, the standard longitudinal relative distance of the standard operating position is used as the target longitudinal relative distance by default.

[0047] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0048] 1. The existing master-slave agricultural machinery relative position coordinated control system does not take into account the interference of nonlinear factors such as soil resistance, obstruction of the sugarcane cutting blade, and changes in field travel resistance caused by increased loading of the transfer vehicle. At the same time, there is a strong coupling between the position and speed of the agricultural machinery during its movement. The designed control algorithm has high requirements on the computing power of the controller and uses too many devices, which is not conducive to large-scale popularization. The present invention uses a fuzzy controller to control the position and speed of the slave agricultural machinery, which has the advantages of simple structure, easy construction and implementation, and strong applicability.

[0049] 2. Compared with other methods such as lidar and computer vision ranging, the use of RTK-GPS for precise positioning of agricultural machinery can effectively avoid problems such as optoelectronic signal obstruction, reflection and noise interference caused by the complex field operation environment during sugarcane harvesting, and difficulty in image processing caused by the bumps of agricultural vehicles, thereby improving the accuracy of agricultural machinery positioning and thus improving the robustness of the system.

[0050] 3. The existing harvester-transfer vehicle harvesting operation collaborative control system does not take into account the real-time loading situation of the transfer vehicle compartment, which easily leads to the accumulation of sugarcane segments and causes economic losses. By using the system of the present invention, the operator can use the on-board visual display terminal to monitor the loading situation of the compartment in real time and adjust the longitudinal following target distance of the agricultural machinery according to the loading situation of the sugarcane segments.

[0051] Based on the similarity of the current mainstream harvester-transfer vehicle collaborative harvesting operation system, the present invention can be transplanted and applied to the collaborative harvesting operation collaborative control system of other crops, such as wheat, rice, etc. It has wide applicability and is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 The figure is a simplified diagram of the hardware structure of the system of the present invention.

[0053] Figure 2 Schematic diagram of the coordinate system for solving the longitudinal relative position of the master and slave agricultural machinery; where: O1-harvester, O2-transfer vehicle, y1 / y2-instantaneous heading of the master and slave agricultural machinery, θ-heading angle, Δx-lateral relative distance between the master and slave agricultural machinery, Δy-real-time longitudinal relative distance between the master and slave agricultural machinery.

[0054] Figure 3 This is a schematic diagram of a standard operating position.

[0055] Figure 4 It is the software interface diagram of the vehicle-mounted visual display terminal; among them: 1-schematic diagram of the longitudinal relative position monitoring of the master and slave agricultural machinery (top view), 2-schematic diagram of the harvester mechanical arm, 3-schematic diagram of the transfer vehicle bucket, 4-monitoring image of the loading situation in the transfer vehicle compartment, 5-on / off camera button, 6-establish / disconnect connection button.

[0056] Figure 5 It is a control flow chart of the system of the present invention. DETAILED DESCRIPTION

[0057] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0058] like Figure 1As shown, this embodiment takes the master-slave operation group of sugarcane harvester and transfer vehicle as the research object, and provides a longitudinal relative position control system of the master-slave agricultural machinery for sugarcane harvesting based on fuzzy control, including an agricultural machinery posture measuring device, a transfer vehicle compartment monitoring camera, a cloud server, an on-board visual display terminal, a fuzzy controller and an electronic throttle;

[0059] The agricultural machinery posture measurement device has two devices installed on the master and slave agricultural machinery respectively, and transmits data with the cloud server through the 5G wireless communication module, so as to obtain the posture information of the master and slave agricultural machinery during the operation and upload it to the cloud server;

[0060] The transfer compartment monitoring camera is installed on the bucket of the agricultural machinery and is connected to the vehicle-mounted visual display terminal through a serial port to monitor the real-time loading status of the sugarcane segments in the compartment and send it to the vehicle-mounted visual display terminal for display;

[0061] The cloud server is connected to the vehicle-mounted visual display terminal through a 5G wireless communication module to calculate information data and save and forward it;

[0062] The vehicle-mounted visual display terminal is installed on the control console of the agricultural machinery cab and exchanges data with the cloud server through the 5G wireless communication module;

[0063] The fuzzy controller is installed on the slave agricultural machine, and its input is the longitudinal relative position deviation of the master and slave agricultural machines and the relative speed deviation of the master and slave agricultural machines. The output is generated through the preset fuzzy control rules, and the output is the motor current of the slave agricultural machine;

[0064] The electronic throttle communicates with the vehicle-mounted visual display terminal via the CAN bus and is used to execute control instructions issued by the microcontroller of the agricultural machinery posture measurement device. The current output by the fuzzy controller controls the speed of the slave agricultural machinery engine, thereby controlling the running speed of the slave agricultural machinery.

[0065] Specifically, the main agricultural machinery refers to a sugarcane harvester, which is manually driven and operated by a driver; the slave agricultural machinery refers to a transfer vehicle, which is operated by a driver through an on-board visual display terminal to automatically follow the position of the main agricultural machinery according to a fuzzy controller for longitudinal relative position coordinated control.

[0066] Specifically, the agricultural machinery posture determination device includes a microcontroller, an RTK-GPS positioning module, a vehicle speed measurement sensor, a heading angle measurement sensor and a 5G wireless communication module, wherein:

[0067] The microcontroller is a micro control decision unit such as an STM32 single-chip microcomputer, which is used to execute program decisions;

[0068] The RTK-GPS positioning module is a Qianxun D300 differential positioning device, which is used to obtain high-precision positioning data of the master and slave agricultural machinery;

[0069] The vehicle speed measurement sensor is used to accurately measure the driving speed of the master and slave agricultural machines;

[0070] The heading angle measurement sensor is used to accurately measure the driving headings of the master and slave agricultural machinery;

[0071] The 5G wireless communication module is used to realize remote wireless communication between the agricultural machinery posture measurement device and the cloud server;

[0072] The microcontroller is respectively connected to the RTK-GPS positioning module, the vehicle speed measurement sensor, the heading angle measurement sensor, the 5G wireless communication module and the electronic throttle via a CAN bus.

[0073] like Figure 5 As shown, the control method of the longitudinal relative position control system of the master and slave agricultural machinery for sugarcane harvesting in this embodiment is as follows:

[0074] Firstly, the position, speed and heading angle of the master and slave agricultural machinery of sugarcane harvesting during the operation are measured by the agricultural machinery posture measurement device and uploaded to the cloud server. The cloud server solves the data and forwards the signal to the vehicle-mounted visual display terminal to display the real-time posture information of the master and slave agricultural machinery and display it to the operator. At the same time, the transfer compartment monitoring camera monitors the loading situation of the sugarcane segments in the loading bin of the slave agricultural machinery and forwards it to the vehicle-mounted visual display terminal through the serial port for display. Then, the operator sets the target longitudinal relative distance of the master and slave agricultural machinery through the interface of the vehicle-mounted visual display terminal according to the stacking situation of the sugarcane segments in the compartment. The vehicle-mounted visual display terminal subtracts the target longitudinal relative distance of the master and slave agricultural machinery from the current real-time longitudinal relative distance to obtain the longitudinal relative distance deviation of the master and slave agricultural machinery, and uses it and the real-time relative speed difference of the master and slave agricultural machinery as the input of the fuzzy controller. The target output current is generated through the preset fuzzy control rules, and the opening and closing degree of the electronic throttle is controlled through the CAN bus, thereby controlling the engine speed of the slave agricultural machinery, and finally achieving the goal of coordinated control of the longitudinal relative position of the master and slave agricultural machinery.

[0075] Specifically, the cloud server solves the data in the following specific implementation methods: Figure 2 As shown, XOY is the Gaussian plane XY coordinate system, O1-harvester, O2-transporter, y1 / y2-instantaneous heading of the master and slave agricultural machinery, θ-heading angle, Δx-lateral relative distance between the master and slave agricultural machinery, Δy-real-time longitudinal relative distance between the master and slave agricultural machinery, where:

[0076] ΔX d =X d1 -X d2

[0077] ΔYd =Y d1 -Y d2

[0078]

[0079] The cloud server receives the longitude and latitude data, instantaneous ground speed V1, V2 and instantaneous heading angle θ of the master and slave agricultural machinery respectively measured by the agricultural machinery posture measurement device, and performs the calculation, specifically: the UTM longitude and latitude coordinates of the master and slave agricultural machinery are converted into Gaussian plane XY coordinate system coordinates (X d1 ,Y d1 )、(X d2 ,Y d2 ); the real-time longitudinal relative distance Δy between the master and slave agricultural machinery is calculated according to the above formula; then the cloud server determines whether the on-board visualization display terminal on the slave agricultural machinery is connected to it, and if so, the instantaneous ground speed V1, V2, instantaneous heading angle θ of the master and slave agricultural machinery and the real-time longitudinal relative distance Δy between the master and slave agricultural machinery are sent to the on-board visualization display terminal; if not, the connection signal of the on-board visualization display terminal is continuously monitored.

[0080] Specifically, the operator sets the target longitudinal relative distance between the master and slave agricultural machinery through the interface of the vehicle-mounted visual display terminal according to the accumulation of sugarcane segments in the vehicle compartment, and also includes: if the target longitudinal relative distance is not set, the standard longitudinal relative distance of the standard operating position is used as the target longitudinal relative distance by default; wherein, the standard operating position, please refer to Figure 3 As shown, the geometric projection center of the harvester's mechanical arm's grain unloading port plane coincides with the geometric projection center of the transfer truck's bucket plane.

[0081] Specifically, the application program of the vehicle-mounted visual display terminal is as follows: Figure 4 As shown in the figure, it is written using the C++ desktop development software QT under the Windows platform. The software interface mainly includes: 1-a schematic diagram of the longitudinal relative position monitoring of the master and slave agricultural machinery (top view), 2-a schematic diagram of the harvester mechanical arm, 3-a schematic diagram of the transfer truck bucket, 4-a monitoring image of the loading situation of the transfer truck compartment, 5-a button to turn on / off the camera, and 6-a button to establish / disconnect the connection. The operator sets the target value y of the longitudinal relative position of the master and slave agricultural machinery by clicking the position of the transfer truck bucket on the vehicle-mounted visual display terminal. g Based on the difference between the current value and the target value, the longitudinal relative position deviation E of the master and slave agricultural machinery is obtained. y =y g -Δy, relative speed deviation E from the current master and slave agricultural machinery v =V2-V1 is input into the fuzzy controller together, and the output current u is generated according to the fuzzy control rules.

[0082] The master-slave agricultural machinery longitudinal relative position monitoring schematic diagram is a diagram used by the application interface to describe and display the longitudinal relative distance between the master and slave agricultural machinery. The position of the master agricultural machinery is illustrated by an abstract model diagram of the harvester mechanical arm, and the position of the slave agricultural machinery is illustrated by an abstract model diagram of the transfer vehicle bucket. At the same time, the operator can set the longitudinal relative distance between the master and slave agricultural machinery targets by operating the application interface and dragging the harvester mechanical arm position.

[0083] The monitoring image of the loading condition of the transfer truck compartment is the monitoring image of the loading condition of the sugarcane section in the transfer truck compartment transmitted to the display interface of the on-board visual display terminal through the serial port by the monitoring camera of the transfer truck compartment;

[0084] The camera on / off button is used to control the on and off of the transfer warehouse surveillance camera;

[0085] The establish / disconnect button is used to control the vehicle-mounted visual display terminal to establish or disconnect the connection with the cloud server.

[0086] Specifically, the microcontroller integrates a fuzzy controller, and the design steps of the fuzzy controller are as follows:

[0087] a. Determine the input and output variables of the fuzzy controller and perform fuzzification processing;

[0088] The longitudinal relative position deviation E of the master and slave agricultural machinery y The relative speed deviation E between the master and slave agricultural machinery v As the input variable of the fuzzy controller, the output variable of the controller is the output current u.

[0089] When the position of the slave agricultural machine exceeds the target longitudinal relative distance, the longitudinal relative position deviation E of the master and slave agricultural machines is y is positive, when the position of the slave agricultural machine lags behind the target longitudinal relative distance, the longitudinal relative position deviation E y Negative. The longitudinal relative position deviation E of the master and slave agricultural machinery y The scale levels are {-6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}.

[0090] When the speed of the slave machine is greater than that of the master machine, the relative speed deviation E v is positive. When the speed of the slave machine is less than that of the master machine, the relative speed deviation E v In addition, the relative speed deviation E v The ratio level and the longitudinal relative position deviation E of the master and slave agricultural machinery y same.

[0091] The output current u is positive when the slave agricultural machine needs to accelerate, and negative when it needs to decelerate. In addition, the proportional level of the output current u is related to the longitudinal relative position deviation E of the master and slave agricultural machines. yThe relative speed deviation E between the master and slave agricultural machinery v same.

[0092] b. Establish fuzzy control rules based on basic domains, proportional levels and factors;

[0093] According to the above fuzzy parameter design, the longitudinal relative position deviation E of the master and slave agricultural machinery is y , relative speed deviation E of master and slave agricultural machinery v The fuzzy levels of the three variables, i.e., large minus (ML), medium minus (MM), small minus (MS), zero (O), small plus (PS), medium plus (PM) and large plus (PL), are divided into seven fuzzy subsets, i.e., large minus (ML), medium minus (MM), small minus (MS), zero (O), small plus (PS), medium plus (PM) and large plus (PL). According to the seven fuzzy subsets of the two input variables, 49 fuzzy rules can be obtained to form a fuzzy rule table, as shown in the following table.

[0094]

[0095] The membership functions of the input variables and the output variables are the same, both using triangular membership functions. The number of membership functions is set to 7, and Z-type and S-type membership function graphs are drawn at both ends of the quantization level.

[0096] c. Execute reasoning decision and generate fuzzy control query table;

[0097] Since it is necessary to eliminate the longitudinal relative distance deviation E of the master and slave agricultural machinery y Therefore, a correction coefficient is introduced to adjust the longitudinal relative distance deviation E of the master and slave agricultural machinery. y The relative speed deviation E between the master and slave agricultural machinery v The control law with the correction factor is calculated using the following formula.

[0098] u=-<αE y +(1-α)E v >,α∈(0,1)

[0099] In the formula, <> indicates rounding, E y and E v represents the longitudinal relative distance deviation of the master and slave agricultural machinery and the relative speed deviation of the master and slave agricultural machinery, and u represents the output current. The correction factor α is set to 0.5. According to the quantization level of the longitudinal relative distance deviation of the master and slave agricultural machinery and the relative speed deviation of the master and slave agricultural machinery, the fuzzy control query table with the correction factor is calculated.

[0100] d. Extract the exact output from the output fuzzy set of the fuzzy controller;

[0101] According to the fuzzy control rules, the centroid method is used to calculate the exact output value of the output fuzzy set, and the formula is as follows.

[0102]

[0103] In the formula, u fc (y k ,v k ) represents the precise output value of the fuzzy controller, u i represents the discrete elements of the output fuzzy set, i represents the number of discrete elements of the output fuzzy set, u u (y k ,v k ,u i ) represents the member function of the element, y k and v k They represent the input variables of the longitudinal relative distance deviation and relative speed deviation when the slave machine follows the main working path.

[0104] The fuzzy controller designed above can automatically control the engine power of the slave agricultural machinery to ensure that the slave agricultural machinery can stably follow the operating position of the master agricultural machinery.

[0105] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A longitudinal relative position control system for master and slave agricultural machinery for sugarcane harvesting, characterized in that: include: Agricultural machinery posture measurement device, transfer compartment monitoring camera, cloud server, vehicle-mounted visual display terminal, fuzzy controller and electronic throttle; The agricultural machinery posture measurement device has two devices installed on the master and slave agricultural machinery respectively, and transmits data with the cloud server through the 5G wireless communication module, so as to obtain the posture information of the master and slave agricultural machinery during the operation and upload it to the cloud server; The transfer compartment monitoring camera is installed on the bucket of the agricultural machinery and is connected to the vehicle-mounted visual display terminal through a serial port to monitor the real-time loading status of the sugarcane segments in the compartment and send it to the vehicle-mounted visual display terminal for display; The cloud server is connected to the vehicle-mounted visual display terminal through a 5G wireless communication module to calculate information data and save and forward it; The vehicle-mounted visual display terminal is installed on the control console of the agricultural machinery cab and exchanges data with the cloud server through the 5G wireless communication module; The fuzzy controller is installed on the slave agricultural machine, and its input is the longitudinal relative position deviation of the master and slave agricultural machines and the relative speed deviation of the master and slave agricultural machines. The output is generated through the preset fuzzy control rules, and the output is the motor current of the slave agricultural machine; The electronic throttle communicates with the vehicle-mounted visual display terminal via the CAN bus, and is used to execute the control instructions issued by the microcontroller of the agricultural machinery posture determination device, and controls the speed of the engine of the slave agricultural machinery through the current output by the fuzzy controller, thereby controlling the running speed of the slave agricultural machinery; The design steps of the fuzzy controller are as follows: a. Determine the input and output variables of the fuzzy controller and perform fuzzification processing; The longitudinal relative position deviation E of the master and slave agricultural machinery y The relative speed deviation E between the master and slave agricultural machinery v As the input variable of the fuzzy controller, the output variable of the fuzzy controller is the output current u; When the position of the slave agricultural machine exceeds the target longitudinal relative distance, the longitudinal relative position deviation E of the master and slave agricultural machines is y is positive, when the position of the slave agricultural machine lags behind the target longitudinal relative distance, the longitudinal relative position deviation E y is negative, the longitudinal relative position deviation E of the master and slave agricultural machinery y The proportion levels are {−6, −5, −4, −3, −2, −1, 0, 1, 2, 3, 4, 5, 6}; When the speed of the slave machine is greater than that of the master machine, the relative speed deviation E v is positive. When the speed of the slave machine is less than that of the master machine, the relative speed deviation E v is negative; in addition, the relative speed deviation E v The ratio level and the longitudinal relative position deviation E of the master and slave agricultural machinery y same; The output current u is positive when the slave agricultural machine needs to accelerate, and negative when it needs to decelerate. In addition, the proportional level of the output current u is related to the longitudinal relative position deviation E of the master and slave agricultural machines. y The relative speed deviation E between the master and slave agricultural machinery v same; b. Establish fuzzy control rules based on basic domains, proportional levels and factors; The longitudinal relative position deviation E of the master and slave agricultural machinery y , relative speed deviation E of master and slave agricultural machinery v The fuzzy levels of the three variables, i.e., large minus, medium minus, small minus, zero, small plus, medium plus, and large plus, are divided into seven fuzzy subsets, i.e., large minus, medium minus, small minus, zero, small plus, medium plus, and large plus. According to the seven fuzzy subsets of the two input variables, 49 fuzzy rules can be obtained to form a fuzzy rule table. The membership functions of input variables and output variables are the same, both using triangular membership functions. The number of membership functions is set to 7, and Z-type and S-type membership function graphs are drawn at both ends of the quantization level. c. Execute reasoning decision and generate fuzzy control query table; Since it is necessary to eliminate the longitudinal relative distance deviation E of the master and slave agricultural machinery y Therefore, a correction coefficient is introduced to adjust the longitudinal relative distance deviation E of the master and slave agricultural machinery. y The relative speed deviation E between the master and slave agricultural machinery v The weight of the control law with the correction factor is calculated using the following formula; ； In the formula, < > indicates rounding, E y and E v It represents the longitudinal relative distance deviation of the master and slave agricultural machinery and the relative speed deviation of the master and slave agricultural machinery, and u represents the output current; represents the correction factor; according to the quantization level of the longitudinal relative distance deviation between the master and slave agricultural machinery and the relative speed deviation between the master and slave agricultural machinery, a fuzzy control query table with the correction factor is calculated; d. Extract the exact output from the output fuzzy set of the fuzzy controller; According to the fuzzy control rules, the centroid method is used to calculate the exact output value of the output fuzzy set. The formula is as follows: ； In the formula, represents the exact output value of the fuzzy controller, represents the discrete elements of the output fuzzy set, i represents the number of discrete elements of the output fuzzy set, Represents the membership function of the element, y k and v k They represent the input variables of the longitudinal relative distance deviation and relative speed deviation when the slave machine follows the main working path; The fuzzy controller designed above can automatically control the engine power of the slave agricultural machinery, so that the slave agricultural machinery can stably follow the operating position of the master agricultural machinery.

2. The longitudinal relative position control system for master and slave agricultural machinery for sugarcane harvesting according to claim 1, characterized in that: The main agricultural machinery refers to a sugarcane harvester, which is manually driven and operated by a driver; the slave agricultural machinery refers to a transfer vehicle, which is operated by a driver through an on-board visual display terminal to automatically follow the position of the main agricultural machinery according to a fuzzy controller for longitudinal relative position coordinated control.

3. The longitudinal relative position control system for master and slave agricultural machinery for sugarcane harvesting according to claim 2, characterized in that: The agricultural machinery posture determination device includes a microcontroller, an RTK-GPS positioning module, a vehicle speed measurement sensor, a heading angle measurement sensor and a 5G wireless communication module, wherein: The microcontroller is an STM32 single-chip microcomputer, which is used to execute program decisions; The RTK-GPS positioning module is a Qianxun D300 differential positioning device, which is used to obtain high-precision positioning data of the master and slave agricultural machinery; The vehicle speed measurement sensor is used to accurately measure the driving speed of the master and slave agricultural machines; The heading angle measurement sensor is used to accurately measure the driving headings of the master and slave agricultural machinery; The 5G wireless communication module is used to realize remote wireless communication between the agricultural machinery posture measurement device and the cloud server; The microcontroller is respectively connected to the RTK-GPS positioning module, the vehicle speed measurement sensor, the heading angle measurement sensor, the 5G wireless communication module and the electronic throttle via a CAN bus.

4. The longitudinal relative position control system for master and slave agricultural machinery for sugarcane harvesting according to claim 3 is characterized in that: The application program interface of the vehicle-mounted visualization display terminal includes: a schematic diagram for monitoring the longitudinal relative positions of the master and slave agricultural machinery, a schematic diagram for the abstract model of the harvester mechanical arm, a schematic diagram for the abstract model of the transfer vehicle bucket, a monitoring image of the loading status of the transfer vehicle compartment, a button for turning on / off the camera, and a button for establishing / disconnecting a connection, wherein: The master-slave agricultural machinery longitudinal relative position monitoring schematic diagram is a diagram used by the application interface to describe and display the longitudinal relative distance between the master and slave agricultural machinery. The position of the master agricultural machinery is illustrated by an abstract model diagram of the harvester mechanical arm, and the position of the slave agricultural machinery is illustrated by an abstract model diagram of the transfer vehicle bucket. At the same time, the operator can set the longitudinal relative distance between the master and slave agricultural machinery targets by operating the application interface and dragging the harvester mechanical arm position. The monitoring image of the loading condition of the transfer truck compartment is the monitoring image of the loading condition of the sugarcane section in the transfer truck compartment transmitted to the display interface of the on-board visual display terminal through the serial port by the monitoring camera of the transfer truck compartment; The camera on / off button is used to control the on and off of the transfer warehouse surveillance camera; The establish / disconnect button is used to control the vehicle-mounted visual display terminal to establish or disconnect the connection with the cloud server.

5. The control method of the longitudinal relative position control system of the master and slave agricultural machinery for sugarcane harvesting according to any one of claims 1 to 4, characterized in that: Firstly, the position, speed and heading angle data of the master and slave agricultural machinery of sugarcane harvesting during the operation are measured by the agricultural machinery posture measurement device and uploaded to the cloud server. The cloud server solves the data and forwards the signal to the on-board visual display terminal to display the real-time posture information of the master and slave agricultural machinery and display it to the operator. At the same time, the transfer warehouse monitoring camera monitors the loading situation of the sugarcane segments in the loading warehouse of the slave agricultural machinery and forwards it to the on-board visual display terminal through the serial port for display. Then the operator sets the target longitudinal relative distance of the master and slave agricultural machinery through the interface of the on-board visual display terminal according to the stacking situation of the sugarcane segments in the warehouse. The on-board visual display terminal subtracts the target longitudinal relative distance of the master and slave agricultural machinery from the current real-time longitudinal relative distance to obtain the longitudinal relative distance deviation of the master and slave agricultural machinery, and uses it and the real-time relative speed difference of the master and slave agricultural machinery as the input of the fuzzy controller. The target output current is generated through the preset fuzzy control rules, and the opening and closing degree of the electronic throttle is controlled through the CAN bus, thereby controlling the engine speed of the slave agricultural machinery, and finally achieving the goal of coordinated control of the longitudinal relative position of the master and slave agricultural machinery.

6. The control method of the longitudinal relative position control system of the master and slave agricultural machinery for sugarcane harvesting according to claim 5, characterized in that: The cloud server solves the data including: performing coordinate conversion on the acquired latitude and longitude data of the master and slave agricultural machinery, specifically converting the UTM latitude and longitude coordinates of the master and slave agricultural machinery into Gaussian plane XY coordinate system coordinates via Gaussian Kruger projection; solving the real-time longitudinal relative distance between the master and slave agricultural machinery according to the heading angles of the master and slave agricultural machinery; and obtaining the real-time relative speed difference between the master and slave agricultural machinery by subtracting the collected real-time driving speeds of the master and slave agricultural machinery.

7. The control method of the longitudinal relative position control system of the master and slave agricultural machinery for sugarcane harvesting according to claim 6, characterized in that: The operator sets the target longitudinal relative distance between the master and slave agricultural machinery through the interface of the vehicle-mounted visual display terminal according to the stacking situation of the sugarcane segments in the vehicle compartment, and also includes: if the target longitudinal relative distance is not set, the standard longitudinal relative distance of the standard operating position is used as the target longitudinal relative distance by default.

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