Agricultural machine linear walking control method and device and agricultural machine

Abstract

The application discloses a kind of agricultural machinery linear walking control method, device and agricultural machinery.Method includes: through the actual position of agricultural machinery on positioning device real-time acquisition agricultural machinery, determine actual position and the position deviation value of set track position;When the absolute value of position deviation value is less than or equal to first preset value, keep the current advancing direction of agricultural machinery unchanged;When the absolute value of position deviation value is greater than first preset value and less than or equal to second preset value, determine whether to adjust direction according to the rate of change of position deviation value;When the absolute value of position deviation value is greater than or equal to second preset value, then adjust direction.The application uses the way of segmented adjustment according to the position deviation value between actual position and set track position, can substantially reduce adjustment frequency under the premise of guaranteeing system adjustment accuracy, guarantee the stability and smoothness of system, increase the life and reliability of special regulation system, reduce maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, and particularly relates to an agricultural machinery straight-line walking control method and device and agricultural machinery. BACKGROUND

[0002] When agricultural machinery is working, especially in the process of plowing, planting and harvesting, many processes require the agricultural machinery to have a straight-line walking function under automatic navigation to improve work efficiency and reduce labor intensity. At present, most agricultural machinery with automatic navigation function uses satellite differential positioning to detect the position of the agricultural machinery in real time, calculates the deviation of the position of the agricultural machinery from the set trajectory position, and uses the deviation to correct the travel direction of the agricultural machinery in real time.

[0003] The prior art has a high direction adjustment frequency, and some even need to be adjusted more than ten thousand times within a day (calculated based on 10 hours of work per day). Frequent direction adjustment causes great wear and tear on the steering system, greatly reduces the service life of the steering system, and frequent adjustment also causes poor system stability and low comfort.

[0004] The existing control mode is a program that controls in a periodic sequence. The error detected in the nth period can only be adjusted in the n+1 period, and there is a one-period lag. If the direction error detection value changes in the next period, the adjustment based on the error detected in the nth period will accelerate the deviation in the n+1 period, which will cause the system to overshoot and thus reduce the adjustment accuracy of the system. SUMMARY

[0005] The present application solves the technical problems existing in the prior art and provides an agricultural machinery straight-line walking control method, device and agricultural machinery.

[0006] To solve the above technical problems, the present application provides an agricultural machinery straight-line walking control method, which comprises the following steps: collecting the actual position of the agricultural machinery in real time through a positioning device on the agricultural machinery, determining the position deviation value between the actual position and the set trajectory position; when the absolute value of the position deviation value is less than or equal to a first preset value, keeping the current forward direction of the agricultural machinery unchanged; when the absolute value of the position deviation value is greater than the first preset value and less than or equal to a second preset value, determining whether to perform direction adjustment according to the change rate of the position deviation value; and when the absolute value of the position deviation value is greater than or equal to the second preset value, performing direction adjustment.

[0007] The beneficial effects of the present application are: according to the position deviation value between the actual position of the agricultural machine and the set trajectory position, the segmented adjustment mode is adopted, the current advancing direction of the agricultural machine is kept unchanged in the low deviation stage to ensure the smoothness of the system, in the high deviation stage, the deviation is corrected regardless of whether the change trend of the deviation meets the requirements, in the medium deviation stage, whether the direction adjustment is performed is determined according to the change rate of the position deviation value, in this way, the adjustment frequency is greatly reduced on the premise of ensuring the adjustment accuracy of the system, the stability and smoothness of the system are ensured, and the service life and reliability of the special adjustment system are increased.

[0008] On the basis of the above technical scheme, the utility model can also be improved as follows.

[0009] Further, the position deviation value of the actual position and the set trajectory position is determined, and the formula is as follows:

[0010]

[0011] Wherein, △H is the position deviation, the actual position coordinates are H 测 (X 测 , Y 测 ), and the set trajectory position coordinates are H 设 (X 设 , Y 设 ).

[0012] Further, when the direction adjustment is performed, if X 测 -X 设 > 0, the advancing direction of the agricultural machine is controlled to adjust to the right, and if X 测 -X 设 < 0, the advancing direction of the agricultural machine is controlled to adjust to the left.

[0013] Further, whether the direction adjustment is performed is determined according to the change rate of the position deviation value, and the method comprises the following steps: when the change rate of the position deviation value is less than a preset change rate, the current advancing direction of the agricultural machine is kept unchanged; and when the change rate of the position deviation value is greater than or equal to the preset change rate, the direction adjustment is performed.

[0014] The beneficial effects of the above further scheme are: the change trend (first derivative) of the deviation is greater than a set value, which indicates that the direction has a great possibility to change to a more deviated direction, at this time, the deviation correction measure is taken, otherwise, the change trend (first derivative) of the deviation is less than the set value, which indicates that the deviation is large, but there is no danger of further deterioration, the current advancing direction of the agricultural machine is kept unchanged to ensure the smoothness of the system.

[0015] Further, the first preset value is in the range of 10mm-20mm, and the second preset value is in the range of 35mm-45mm.

[0016] The beneficial effect of the further scheme is that when the position deviation is less than the first preset value, the system direction is not adjusted, thereby reducing the total adjustment times by about 40%; when the position deviation is between the first preset value and the second preset value, the adjustment is made according to the position deviation change rate, thereby reducing the total adjustment times by about 30%.

[0017] Further, the first preset value is 15mm, and the second preset value is 40mm.

[0018] The beneficial effect of the further scheme is that the hierarchical adjustment strategy reduces the adjustment frequency while optimizing and improving the system smoothness, thereby reducing the labor intensity of the driver to a certain extent.

[0019] To solve the above technical problem, the present application provides a straight-line walking control device for agricultural machinery, comprising a data acquisition module and a data processing module; the data acquisition module is used to collect the actual position of the agricultural machinery in real time through a positioning device on the agricultural machinery, and determine the position deviation value between the actual position and the set trajectory position; the data processing module is used to keep the current advancing direction of the agricultural machinery unchanged when the absolute value of the position deviation value is less than or equal to a first preset value; when the absolute value of the position deviation value is greater than the first preset value and less than or equal to a second preset value, determine whether to make direction adjustment according to the change rate of the position deviation value; when the absolute value of the position deviation value is greater than or equal to the second preset value, make direction adjustment.

[0020] To solve the above technical problem, the present application provides a computer readable storage medium, comprising instructions, when the instructions are run on a computer, the computer executes the straight-line walking control method for agricultural machinery provided by the above technical solution.

[0021] To solve the above technical problem, the present application provides a straight-line walking control device for agricultural machinery, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the straight-line walking control method for agricultural machinery provided by the above technical solution is realized.

[0022] To solve the above technical problem, the present application provides an agricultural machinery, comprising a positioning device installed on the agricultural machinery and the straight-line walking control device for agricultural machinery provided by the above technical solution.

[0023] Additional aspects of the application and its advantages will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The straight-line walking control method for agricultural machinery provided by the embodiment of the present application is shown in the flow chart. DETAILED DESCRIPTION

[0025] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0026] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0027] Agricultural machinery operations, such as the processes of ridging, sowing, mulching, spraying, and harvesting in cotton planting, all require a high degree of straightness in the operation.

[0028] Figure 1 This is a flowchart illustrating the method for agricultural machinery to travel in a straight line, as provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0029] S1: The positioning device on the agricultural machinery collects the actual position of the agricultural machinery in real time and determines the positional deviation between the actual position and the set trajectory position.

[0030] In this embodiment of the invention, the actual position of the agricultural machinery can be collected in real time by a positioning antenna installed on the top of the agricultural machinery, and the position deviation value ΔH can be determined based on the difference between the actual position and the set trajectory position.

[0031]

[0032] Where △H is the positional deviation, and the actual position coordinates are H. 测 (X 测 Y 测 Set the trajectory position coordinates as H. 设 (X 设, Y 设 ).

[0033] S2, when the absolute value of the position deviation value is less than or equal to the first preset value, keeping the current advancing direction of the agricultural machine unchanged; when the absolute value of the position deviation value is greater than the first preset value and less than or equal to the second preset value, determining whether to perform direction adjustment according to the change rate of the position deviation value; when the absolute value of the position deviation value is greater than or equal to the second preset value, performing direction adjustment.

[0034] The agricultural machine straight-line walking method provided by the embodiment of the application adopts a segmented adjustment mode according to the position deviation value of the advancing direction of the agricultural machine, keeps the current advancing direction of the agricultural machine unchanged in the low deviation stage to ensure the smoothness of the system, corrects the deviation in the high deviation stage regardless of whether the change trend of the deviation meets the requirement, and determines whether to perform direction adjustment according to the change rate of the position deviation value in the medium deviation stage; in this way, the adjustment frequency is greatly reduced on the premise of ensuring the adjustment accuracy of the system, the stability and smoothness of the system are ensured, and the service life and reliability of the special regulation system are increased.

[0035] When the direction adjustment is performed, if X 测 -X 设 >0, the advancing direction of the agricultural machine is controlled to be adjusted to the right; if X 测 -X 设 <0, the advancing direction of the agricultural machine is controlled to be adjusted to the left.

[0036] The determination of whether to perform direction adjustment according to the change rate of the position deviation value includes: when the change rate of the position deviation value is less than a preset value, keeping the current advancing direction of the agricultural machine unchanged; and when the change rate of the position deviation value is greater than or equal to the preset value, performing direction adjustment.

[0037] In the embodiment of the application, when the change trend (first derivative) of the deviation is greater than a set value, it indicates that the direction has a great possibility to change to a more deviated direction, and at this time, a deviation correction measure is taken; otherwise, when the change trend (first derivative) of the deviation is less than the set value, it indicates that the deviation is large, but there is no danger of further deterioration, the current advancing direction of the agricultural machine is kept unchanged to ensure the smoothness of the system.

[0038] In the embodiment of the present application, the first preset value can be in the range of 10mm-20mm, and the second preset value can be in the range of 35mm-45mm. When the position deviation is less than the first preset value, the system direction is not adjusted, so that the total adjustment times are reduced by about 4 / 10; when the position deviation is between the first preset value and the second preset value, the system is adjusted according to the position deviation rate, so that the total adjustment times are reduced by about 3 / 10. Preferably, the first preset value is 15mm, and the second preset value is 40mm. In the embodiment of the present application, the hierarchical adjustment strategy reduces the adjustment frequency, and the system smoothness is also optimized and improved, so that the labor intensity of the driver is reduced to a certain extent.

[0039] The present application will be described in detail below with a specific example.

[0040] 1. Real-time acquisition of the position deviation value between the actual position of the agricultural machine and the set trajectory position.

[0041] In the embodiment of the present application, the actual position of the agricultural machine is collected in real time by the positioning antenna installed on the top of the agricultural machine, and the position deviation value ΔH is determined according to the difference between the actual position and the set trajectory position.

[0042] ΔH = H 测 -H 设 , (-H max / 2 ≤ ΔH ≤ Hmax / 2, H max ≥ 0);

[0043] Wherein, ΔH is the deviation value of the agricultural machine running direction, H 测 is the geographical position measurement value of the agricultural machine, H 设 is the set value of the agricultural machine running trajectory, and H max is the maximum allowed deviation value, generally 50mm.

[0044] 2. Determine the interval range of the absolute value of the position deviation value, and execute the direction control strategy corresponding to the interval range.

[0045] Specifically, the absolute value |ΔH| of the position deviation value can include three interval ranges: (0-15mm), 15mm-40mm, and 40mm-50mm.

[0046] Different algorithms are implemented for the above three segments respectively:

[0047] (1) When |ΔH|<15mm, although there is a certain deviation between the actual position and the preset position, the position deviation value is small, and the system does not make direction adjustment;

[0048] (2) When 15mm≤|ΔH|≤40mm, the deviation between the actual position and the preset position is already large, but still within the tolerable range, at this time the system calculates the rate of change of ΔH, that is, the first order derivative of ΔH, to obtain

[0049] When , (a is a set value), the system does not make directional adjustment;

[0050] When , the system makes directional adjustment; if X 测 -X 设 >0, the control of the advancing direction of the agricultural machine is adjusted to the right; if X 测 -X 设 <0, the control of the advancing direction of the agricultural machine is adjusted to the left;

[0051] (3) When |ΔH|≥40mm, at this time the deviation between the actual position and the preset position is already large and will easily exceed the deviation limit H max , at this time the system makes directional adjustment regardless of ; if X 测 -X 设 >0, the control of the advancing direction of the agricultural machine is adjusted to the right; if X 测 -X 设 <0, the control of the advancing direction of the agricultural machine is adjusted to the left.

[0052] The following compares the actual test of the prior art scheme (automatic navigation function) and the embodiment scheme of the present application, and the test process is as follows:

[0053] 1. On the agricultural machine with the automatic navigation function, the control program is compiled according to the existing scheme algorithm, and the frequency of directional adjustment of the whole machine in the scheme is collected during operation.

[0054] 2. The control program is compiled according to the embodiment scheme of the present application, and the frequency of directional adjustment of the whole machine in the scheme is collected.

[0055] The comparison of the total directional adjustment times is shown in Table 1.

[0056] Table 1

[0057]

[0058] The test results in Table 1 show that the overall adjustment frequency of the existing scheme is obviously higher than that of the embodiment scheme of the present application.

[0059] Overall, the embodiment of the application filters the lower directional deviation 0-15mm by simplifying the algorithm; further, by calculating the directional change trend, most of the directional adjustment of the higher directional deviation segment 15mm-40mm is filtered, and in this stage, only the directional deviation with obvious deviation from the set direction trend is adjusted, and in other cases, although there is a certain deviation, the system still does not make adjustment. In this way, the adjustment frequency is limited to a very low level, greatly maintaining the smoothness of the whole vehicle, and improving the service life of the directional adjustment mechanism. The algorithm is also optimized compared with the existing scheme, and the controller power is saved.

[0060] And the algorithm of the application effectively utilizes the change trend feature, has a certain predictability, avoids the trend of extreme deterioration of the system directional deviation, and greatly improves the system extreme difference.

[0061] The embodiment of the application provides a straight-line walking device of a farm machine, which comprises a data acquisition module and a data processing module; the data acquisition module is used for collecting an actual position of the farm machine in real time through a positioning device on the farm machine, and determining a position deviation value of the actual position and a set track position; the data processing module is used for keeping a current advancing direction of the farm machine unchanged when an absolute value of the position deviation value is less than or equal to a first preset value; determining whether to perform directional adjustment according to a change rate of the position deviation value when the absolute value of the position deviation value is greater than the first preset value and less than or equal to a second preset value; and performing directional adjustment when the absolute value of the position deviation value is greater than or equal to the second preset value.

[0062] The embodiment of the application provides a computer readable storage medium, which comprises instructions, when the instructions run on a computer, the computer executes the straight-line walking method of the farm machine provided in the above technical solution.

[0063] The embodiment of the application provides a straight-line walking device of a farm machine, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor executes the straight-line walking method of the farm machine provided in the above technical solution when executing the program.

[0064] The embodiment of the application provides a farm machine, which comprises a positioning device installed on the farm machine and the straight-line walking device of the farm machine provided in the above technical solution.

[0065] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0066] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0067] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0068] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0069] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various program code storage media.

[0070] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling straight travel of an agricultural machine, characterized by, The method comprises the following steps: acquiring the actual position of the agricultural machine in real time through a positioning device on the agricultural machine, and determining a position deviation value between the actual position and a set trajectory position; when the absolute value of the position deviation value is less than or equal to a first preset value, keeping the current advancing direction of the agricultural machine unchanged; when the absolute value of the position deviation value is greater than the first preset value and less than or equal to a second preset value, determining whether to adjust the direction according to the change rate of the position deviation value; when the absolute value of the position deviation value is greater than the second preset value, adjusting the direction. The determination of whether to adjust the direction according to the change rate of the position deviation value comprises: when the change rate of the position deviation value is less than a preset change rate, keeping the current advancing direction of the agricultural machine unchanged; when the change rate of the position deviation value is greater than or equal to the preset change rate, adjusting the direction.

2. The agricultural machine straight walking control method according to claim 1, characterized by, The position deviation value between the actual position and the set trajectory position is determined according to the following formula: Wherein, △H is the position deviation value, the actual position coordinate is H 测 (X 测 , Y 测 ), the set track position coordinate is H 设 (X 设 , Y 设 ).

3. The agricultural machine straight line walking control method of claim 2, wherein, When the direction is adjusted, if X 测 -X 设 >0, the agricultural machine is controlled to adjust the advancing direction to the left; if X 测 -X 设 <0, the agricultural machine is controlled to adjust the advancing direction to the right.

4. The straight-line walking control method of an agricultural machine according to any one of claims 1 to 3, characterized by, The first preset value ranges from 10 mm to 20 mm, and the second preset value ranges from 35 mm to 45 mm.

5. The agricultural machine straight line walking control method of claim 4, wherein, The first preset value is 15 mm, and the second preset value is 40 mm.

6. An agricultural machine straight walking control device characterized by comprising: The agricultural machine straight-line walking control device for implementing the agricultural machine straight-line walking control method according to any one of claims 1 to 5 comprises: a data acquisition module for acquiring the actual position of the agricultural machine in real time through a positioning device on the agricultural machine, and determining a position deviation value between the actual position and a set trajectory position; a data processing module for keeping the current advancing direction of the agricultural machine unchanged when the absolute value of the position deviation value is less than or equal to a first preset value, determining whether to adjust the direction according to the change rate of the position deviation value when the absolute value of the position deviation value is greater than the first preset value and less than or equal to a second preset value, and adjusting the direction when the absolute value of the position deviation value is greater than the second preset value.

7. An agricultural machine straight walking control device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor implements the agricultural machine straight-line walking control method according to any one of claims 1 to 5 when executing the program.

8. An agricultural machine characterized by comprising: The agricultural machine straight-line walking control device comprises a positioning device mounted on the agricultural machine and the agricultural machine straight-line walking control device according to claim 7.

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