Straight-line driving control system, control method and tillage device

Abstract

The invention provides a straight-line driving control system, a control method and a tillage device, which belong to the technical field of agricultural machinery equipment. The straight-line driving control system includes a light generating device, a light receiving device, a displacement deviation identification device and a straight-line travel execution device. The light generating device emits light that diffuses around the light generating device as the center of the circle through a plurality of light generators arranged on a light distribution disk that can rotate in a circumferential direction. The light receiver responds to the light generated by the light generator through a light response element arranged on a cylindrical surface in an array, and generates an electrical signal. The displacement deviation identification device determines whether there is an offset and outputs a control signal based on the deviation of the response coordinate of the light generator. On the one hand, the target offset can be corrected quickly and accurately. On the other hand, after completing a straight-line motion, it is only necessary to reconfirm the position of the reference light response element to proceed to the next straight-line driving, which simplifies the operation process and improves work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to a straight-line travel control system, a control method and a tillage device. Background Art

[0002] With the continuous advancement of agricultural technology, agricultural machinery and equipment are developing towards large-scale, intelligent and unmanned operation. In order to enable agricultural machinery and equipment to move in a straight line in the field, a variety of positioning and navigation technologies are applied. Beidou navigation technology is not only widely used to make agricultural machinery and equipment move in a straight line, but also used to control the depth of tillage or sowing. However, due to factors such as signal transmission interference and shielding, once the Beidou navigation system loses its signal, the agricultural machinery and equipment is in an uncontrolled state of inertia moving forward. In this way, in places with signal shielding such as greenhouses, the Beidou navigation system cannot reliably function.

[0003] In order to solve the technical problems of insufficient Beidou navigation accuracy and unstable signal reception under special working conditions, in the prior art, for example, the Chinese invention patent with application number 201910787532.7 discloses a laser-assisted positioning system for unmanned rollers in straight lines, including: a laser transmitting device and a laser receiving device; the laser transmitting device is installed on the paver and the starting point of the route; the laser receiving device is installed on the top of the roller. The laser receiving device includes a photoresistor array and a photoresistor external control circuit; the photoresistor array receives laser irradiation and transmits the signal to the unmanned roller controller through the control circuit; the controller identifies the signal matrix to determine the operating position of the roller and controls the roller to adjust the position. The present invention is a supplement to the traditional navigation and positioning of unmanned rollers, which effectively solves the problems of insufficient accuracy and insufficient response under traditional positioning methods, effectively improves the position accuracy of unmanned rollers in straight line operation, and provides a way of position correction, so that the construction quality is guaranteed.

[0004] Although the above-mentioned unmanned roller straight driving laser assisted positioning system provides a system and method for assisted straight-line navigation, in actual use, after each straight-line driving is completed, the position of the laser emitting device needs to be readjusted so that the light can be normally received by the laser receiving device, which results in cumbersome operation and low work efficiency. Summary of the invention

[0005] Based on this, the present invention provides a straight-line driving control system to solve the technical problems existing in the prior art that the laser-assisted positioning device has complicated operation and low working efficiency.

[0006] The invention also provides a straight-line driving control method.

[0007] The invention also provides a tillage device.

[0008] The technical solution of the present invention to solve the above technical problems is as follows:

[0009] In one embodiment, a straight-line driving control system is provided, comprising:

[0010] A light generating device; the light generating device comprises a frame, a light distribution plate and at least one light generator, the light distribution plate is arranged on the frame and parallel to the horizontal plane, and the light distribution plate can rotate in the circumferential direction; the light generator is arranged on the light distribution plate, and a plurality of the light generators are distributed on the same horizontal circumference, and the light generator is used to emit light parallel to the horizontal plane;

[0011] A light receiving device; the light receiving device comprises a light receiver for mounting on the device to be controlled to travel in a straight line, the light receiver having at least one cylindrical surface arranged perpendicular to the horizontal plane, a plurality of light response elements arranged in an array on the cylindrical surface, the light response element being capable of responding to light emitted by the light generator and incident perpendicularly to the light response element, and generating an electrical signal;

[0012] A displacement deviation identification device, the displacement deviation identification device comprising a position identification module, a deviation calculation module and a straight-line travel control module, the position identification module is used to identify the first column coordinates of the optical response element with the strongest actual electrical signal and the standard column coordinates of the optical response element with the strongest expected electrical signal, the deviation calculation module is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates; the straight-line travel control module is used to output a straight-line travel control signal according to the displacement deviation; and

[0013] A straight-line walking execution device, which can be set on the equipment to be controlled to walk in a straight line and communicate with the straight-line walking control module; the straight-line walking execution device is used to respond to the straight-line walking control signal output by the straight-line walking control module to correct the travel direction of the equipment to be controlled to walk in a straight line.

[0014] Preferably, at least 5 light generators are arranged on the light distribution disk.

[0015] Preferably, the cylindrical surface is arrayed with N rows and M columns of photoresponsive elements, wherein N is an integer ≥1, and M is an integer ≥5.

[0016] Preferably, the distribution density of the light-responsive elements on the cylindrical surface is ≥ 1 piece / cm 2 .

[0017] Preferably, the light-responsive element is selected from a phototransistor or a photodiode.

[0018] Preferably, the light generating device further comprises a level adjustment component arranged on the light distribution disk for adjusting the level of the light distribution disk.

[0019] In another embodiment, a straight-line driving control method is provided, which is implemented based on the straight-line driving control system as described above, and includes the following steps:

[0020] Obtain the standard column coordinates of the photoresponse element with the strongest expected electrical signal;

[0021] Obtain the coordinates of the first column of the photoresponse element with the strongest actual electrical signal;

[0022] Calculating displacement deviation according to the first column coordinates and the standard column coordinates;

[0023] According to the displacement deviation, a straight-line walking control signal is output.

[0024] Preferably, the step of “obtaining the standard column coordinates of the photoresponsive element with the strongest expected electrical signal” comprises the following steps:

[0025] Acquire a first reference coordinate of the light generating device;

[0026] Get the first coordinate of the device to be controlled to move in a straight line;

[0027] Calculating a first angle formed between a straight line where the first coordinate and the first reference coordinate are located and a reference straight line; wherein the reference straight line is a straight line passing through the first reference coordinate and perpendicular to a predetermined walking route of the device to be controlled to walk in a straight line;

[0028] Obtaining a reference column coordinate of a light-responsive element serving as a reference;

[0029] The standard column coordinates are calculated according to the first angle and the reference column coordinates.

[0030] Preferably, the step of “obtaining the first coordinate of the device to be controlled to move in a straight line” comprises the following steps:

[0031] Obtaining the average speed of the device to be controlled to move in a straight line;

[0032] Obtaining the moving time of the device to be controlled to move in a straight line;

[0033] The first coordinate is calculated according to the average speed and the moving duration.

[0034] In yet another embodiment, a farming device is provided, comprising the straight-line travel control system as described above.

[0035] Compared with the prior art, the present invention has at least the following advantages:

[0036] The present invention provides a straight-line driving control system, comprising a light generating device, a light receiving device, a displacement deviation identification device and a straight-line walking execution device. The light generating device emits light that diffuses in all directions with the light generating device as the center of the circle through a plurality of light generators arranged on a light distribution disk that can rotate in the circumferential direction. The light receiving device comprises a light receiver, and the light receiver responds to the light generated by the light generator through a light response element arranged in an array on the cylindrical surface, and generates an electrical signal. At this time, when the device to be controlled to move in a straight line deviates in the horizontal direction, there will always be one and only one of the light response elements that receives the strongest light, thereby giving the largest response electrical signal. According to the position of the light response element corresponding to the actual maximum response electrical signal and the position of the light response element corresponding to the expected maximum response electrical signal, the target deviation status can be quickly and accurately determined, so that the device to be controlled to move in a straight line can be made to move in a straight line through the straight-line walking execution device. It should be noted that, since the light generating device emits light that diffuses in all directions with the light generating device as the center, the light response elements arranged in a cylindrical array can receive vertical incident light at any angle. Therefore, when the target completes a linear motion, it is only necessary to reconfirm the position of the reference light response element without moving the light generating device, thereby achieving the goal of making the target move in a straight line, thereby simplifying the operation process and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the structure of a light generating device according to an embodiment.

[0038] Figure 2 FIG. 4 is a schematic structural diagram of a light generating device according to another embodiment.

[0039] Figure 3 FIG. 4 is a schematic structural diagram of an optical receiving device according to an embodiment of the present invention.

[0040] Figure 4 FIG. 4 is a schematic structural diagram of a light generator according to an embodiment.

[0041] Figure 5 FIG. 4 is a schematic structural diagram of a light generator according to another embodiment.

[0042] Figure 6 Schematic diagram of the structure of a straight-line driving control system according to an embodiment.

[0043] Figure 7 The figure is a schematic diagram of the working state of a straight-line driving control system according to an embodiment.

[0044] Figure 8 The figure is a schematic diagram of the working state of a straight-line driving control system according to another embodiment.

[0045] In the figure: a light generating device 100, a frame 110, a light distribution disk 120, a driving mechanism 121, a light generator 130, a horizontal adjustment component 140, a reference adjustment component 150, a light receiving device 200, a device to be controlled for linear travel 210, a light receiver 220, a light response element 230, a displacement deviation identification device 300, a position identification module 310, a deviation calculation module 320, a linear travel control module 330, a linear travel execution device 400, and a linear travel control system 10. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0047] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0048] In a specific embodiment of the present invention, a straight-line driving control system 10 includes: a light generating device 100 , a light receiving device 200 , a displacement deviation identification device 300 and a straight-line walking execution device 400 .

[0049] Please see Figure 1 and Figure 2 The light generating device 100 includes a frame 110, a light distribution plate 120 and at least one light generator 130. The light distribution plate 120 is disposed on the frame 110 and parallel to the horizontal plane. The light distribution plate 120 can rotate in the circumferential direction. The light generator 130 is disposed on the light distribution plate 120, and a plurality of the light generators 130 are distributed on the same horizontal circumference. The light generator 130 is used to emit light parallel to the horizontal plane.

[0050] The light generating device 100 is used to emit light radiating in all directions with the light generating device 100 as the center. For example, the cross section of the light distribution disk 120 parallel to the horizontal plane is circular, and the light distribution disk 120 is provided with a driving mechanism 121, such as a motor, for driving the light distribution disk 120 to rotate. At least one light generator 130 is arranged along the circumferential direction of the light distribution disk 120. The light generator 130 can be any light source capable of emitting a concentrated light beam, such as a laser generator, an infrared generator, etc.

[0051] The light distribution disk 120 is not limited to a circular disk shape, for example, it can be a triangle, square, polygon, irregular shape, etc., so long as the light generators 130 are distributed on the same circumference and do not block the light generators 130 from emitting light parallel to the horizontal plane.

[0052] One or more light generators 130 may be provided. To increase the light density, the number of light generators 130 may be increased, for example, the number of light generators 130 is ≥ 5, preferably 6, 10 or 12. The rotation speed of the light distribution disk 120 may also be increased, for example, the light distribution disk 120 rotates at a rotation speed of 2000 rpm-8000 rpm.

[0053] Preferably, the light generating device 100 further includes a level adjustment component 140 disposed on the light distribution plate 120 for adjusting the level of the light distribution plate 120. When the light generating device 100 is set, the level of the light distribution plate 120 is adjusted by the level adjustment component 140, so that the plane where the light emitted by the plurality of light generators 130 is located is parallel to the horizontal plane.

[0054] Preferably, the light generating device 100 further includes a reference adjustment component 150 disposed on the frame 110 for adjusting the reference position of the light distribution disk 120. Before starting the operation, the position of the light distribution disk 120 is adjusted by the reference adjustment component 150 so that the light emitted by the light generator 130 can be vertically incident on the predetermined reference light receiver of the light receiving device 200. The reference adjustment component 150 includes one or more of a Z-axis adjustment member for adjusting the height of the light distribution disk 120, an X-axis adjustment member for adjusting the left and right position of the light distribution disk 120, a Y-axis adjustment member for adjusting the front and rear position of the light distribution disk 120, and an angle adjustment member for adjusting the angle of the light distribution disk 120.

[0055] Please refer to Figures 3 to 5The light receiving device 200 is used to respond to the light emitted by the light generating device 100 as described above, and includes a light receiver 220 for installation on the device 210 to be controlled to walk in a straight line. The light receiver 220 has at least one cylindrical surface arranged perpendicular to the horizontal plane, and a plurality of light response elements 230 are arrayed on the cylindrical surface. The light response element 230 can respond to the light incident perpendicular to the light response element 230 and generate an electrical signal.

[0056] The light receiving device 200 is used to respond to the light emitted by the light generator 130 and generate an electrical signal. In the present invention, the light receiving device 200 includes a light receiver 220 for installation on the device 210 to be controlled to move in a straight line. According to the electrical signal fed back by the light receiver 220, the displacement offset of the device 210 to be controlled to move in a straight line in the horizontal direction relative to the initial state can be determined.

[0057] Specifically, the light receiver 220 has at least one cylindrical surface arranged perpendicular to the horizontal plane, for example, the light receiver 220 is in the shape of a semi-cylinder or a cylinder. A plurality of light response elements 230 are arranged in an array on the cylindrical surface. In some cases, the light response elements 230 may have only one row (i.e., the light response elements 230 in the same row are equivalent). In this case, the displacement offset of the device 210 to be controlled to move in a straight line in the horizontal direction can be determined according to the response of the light response elements 230 at different positions to the light, thereby assisting the device 210 to be controlled to move in a straight line. The specific working principle is similar to that described below and will not be repeated here.

[0058] Preferably, the light-responsive elements 230 are arranged in N rows and M columns on the cylindrical surface, wherein N and M are integers ≥ 5. Preferably, the distribution density of the light-responsive elements 230 on the cylindrical surface is not less than 1 / cm 2 . For example, in a specific embodiment, the photoresponsive elements 230 are distributed in 35-50 rows and 40-60 columns on the cylindrical surface. For example, the array is distributed in 41 rows and 48 columns, totaling 1968 photoresponsive elements 230 on the cylindrical surface. In principle, in order to improve the light response sensitivity of the light receiving device 200, the photoresponsive elements 230 should be arranged on the cylindrical surface as densely as possible. At the same time, the selection of the distribution density of the photoresponsive elements 230 should pay attention to the deviation introduced by factors such as the vibration of the device 210 to be controlled to move in a straight line, so as to avoid overcorrection.

[0059] It should be noted that the optical response element 230 is selected and matched according to the type of light source emitted by the optical generator 130. For example, the optical response element 230 may correspond to a laser receiver or an infrared receiver. Preferably, in the present invention, the optical response element 230 is selected from a photodiode or a phototransistor.

[0060] In principle, the light-responsive element 230 can respond to light sources irradiated from different directions, and the direction and intensity of the illumination affect the size of the final response electrical signal of the light-responsive element 230. Preferably, in the present invention, the maximum value of the response electrical signal is selected as the acceptable signal, that is, only when the light emitted by the light generator 130 is vertically irradiated on the light-responsive element 230, a recognized response electrical signal is generated.

[0061] Please see Figure 6 The displacement deviation identification device 300 includes a position identification module 310, a deviation calculation module 320 and a straight-line walking control module 330. The position identification module 310 is used to identify the first column coordinates of the photoresponse element 230 with the strongest actual electrical signal and the standard column coordinates of the photoresponse element 230 with the strongest expected electrical signal. The deviation calculation module 320 is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates. The straight-line walking control module 330 is used to output a straight-line walking control signal according to the displacement deviation.

[0062] The linear travel execution device 400 can be arranged on the device 210 to be controlled to travel in a linear direction, and communicate with the linear travel control module 330; the linear travel execution device 400 is used to respond to the linear travel control signal output by the linear travel control module 330, and correct the travel direction of the device 210 to be controlled to travel in a linear direction. For example, the linear travel execution device 400 can be a steering device for controlling the steering of a walking mechanism such as wheels.

[0063] Please see Figure 7 and Figure 8 Based on the light generating device 100, the light receiving device 200, the displacement deviation identifying device 300 and the straight-line walking executing device 400, the device 210 to be controlled to walk in a straight line can be made to walk in a straight line.

[0064] Specifically, in the initial position state, the position of the light generating device 100 is adjusted, the light receiver 220 is installed on the device 210 to be controlled to move in a straight line, and the light emitted by the light generating device 100 is aligned with the predetermined reference light response element 230 on the light receiver 220, so that the light emitted by the light generating device 100 is vertically irradiated on the predetermined reference light response element 230 on the light receiver 220. At this time, the light response element 230 is marked as the reference light response element A0.

[0065] In one case, when the device 210 to be controlled to move in a straight line is located directly in front of the light generating device 100, if no deviation occurs, the light emitted by the light generator 130 always shines vertically on the reference light response element A0, that is, the actual light response element A1 remains overlapped with the reference light response element A0.

[0066] When the device 210 to be controlled to move in a straight line is horizontally offset, that is, the travel route of the device 210 to be controlled to move in a straight line is at an angle with the predetermined travel route, the light receiver 220 is deflected along with the device 210 to be controlled to move in a straight line, and the position where the light emitted by the light generator 130 is vertically irradiated on the light receiver 220 changes, and the light response element 230 vertically irradiated by the light emitted by the light generator 130 at this time is recorded as the actual light response element A1. At this time, the arc of the actual light response element A1 and the reference light response element A0 in the orthographic projection direction (the angle formed by the connection of the orthographic projection of the actual light response element A1 and the center of the circle where the orthographic projection of the cylindrical surface is located and the connection of the orthographic projection of the reference light response element A0 and the center of the circle where the orthographic projection of the cylindrical surface is located) is the horizontal offset angle of the device 210 to be controlled to move in a straight line. The straight-line walking control module 330 can output a straight-line walking control signal according to the above-mentioned horizontal deviation angle, and after being responded to by the straight-line walking execution device 400, the moving direction of the device 210 to be controlled to walk in a straight line can be corrected in real time, so that the device 210 to be controlled to walk in a straight line can be moved in a straight line.

[0067] In either case, see Figure 5 When the device 210 to be controlled to move in a straight line is located on the side of the light generating device 100, the straight-line travel control system 10 provided by the present invention can still accurately identify the displacement deviation, so that the device 210 to be controlled to move in a straight line can move in a straight line. Therefore, in actual operation, there is no need to frequently move the light generating device 100, which simplifies the operation process and improves work efficiency.

[0068] Specifically, when the device 210 to be controlled to move in a straight line is located on the side of the light generating device 100, when the device 210 to be controlled to move in a straight line moves, the reference light response element A0 changes at all times, and the reference light response element A0 at a specific time is recorded as the expected light response element A0. y First, according to the position of the device 210 to be controlled to move in a straight line, the expected light response element A is calculated. y For example, the angle formed by the current position of the device 210 to be controlled to move in a straight line, the straight line L1 where the light generating device 100 is located, and the straight line L2 located directly in front of the light generating device 100 is the expected light response element A. ySimilarly, when the device 210 to be controlled to move in a straight line is horizontally offset, that is, the travel route of the device 210 to be controlled to move in a straight line is at an angle to the predetermined travel route, the light receiver 220 is deflected, and the expected position of the light emitted by the light generator 130 vertically irradiating the light receiver 220 changes, and the light response element 230 vertically irradiated by the light emitted by the light generator 130 at this time is recorded as the actual light response element A1. At this time, the actual light response element A1 and the expected light response element A1 are different. y The arc in the direction of the orthographic projection (the distance between the actual orthographic projection of the photoresponse element A1 and the center of the circle where the orthographic projection of the cylindrical surface is located and the expected orthographic projection of the photoresponse element A1) y The angle formed by connecting the orthographic projection of the cylindrical surface and the center of the circle where the orthographic projection of the cylindrical surface is located) is the horizontal deviation angle of the device 210 to be controlled to walk in a straight line.

[0069] In another specific embodiment of the present invention, a straight-line driving control method is implemented based on the straight-line driving control system 10 as described above, and includes the following steps:

[0070] S10. Obtain the standard column coordinates of the photoresponse element with the strongest expected electrical signal.

[0071] Specifically, when the straight-line driving control system 10 is initially operated, the light emitted by the light generating device 100 needs to be vertically irradiated on the predetermined reference light response element 230 on the light receiver 220. At this time, the light response element 230 is marked as the reference light response element A0. In S01, for example, the row number and column number of the reference light response element A0 can be used as the standard coordinates of the reference light response element A0.

[0072] When the device 210 to be controlled to move in a straight line is located directly in front of the light generating device 100, during the movement of the device 210 to be controlled to move in a straight line, the expected light response element A y It coincides with the reference light response element A0, and the standard coordinates remain unchanged.

[0073] When the device 210 to be controlled to move in a straight line is located on the side of the light generating device 100, during the movement of the device 210 to be controlled to move in a straight line, the expected light response element A y The standard coordinates change with the position of the device 210 to be controlled to move in a straight line. At this time, the expected light response element A can be calculated by the position of the device 210 to be controlled to move in a straight line and the light generating device 100. y The standard coordinates of .

[0074] Specifically, the “obtaining the standard column coordinates of the photoresponse element with the strongest expected electrical signal” comprises the following steps:

[0075] S11. Obtain the first reference coordinates of the light generating device.

[0076] Specifically, for example, the center of the orthographic projection of the light distribution plate 120 on the plane can be used as the first reference coordinate of the generating device.

[0077] S12. Obtain the first coordinate of the device 210 to be controlled to move in a straight line.

[0078] Specifically, for example, the center of the orthographic projection of the light receiver 220 on the plane may be used as the first coordinate of the device to be controlled to move in a straight line.

[0079] Since the device 210 to be controlled to move in a straight line is mobile, the moving distance of the device 210 to be controlled to move in a straight line can be used as a basis for calculating the first coordinate of the device 210 to be controlled to move in a straight line.

[0080] For example, the “obtaining the first coordinate of the device 210 to be controlled to move in a straight line” includes the following steps: obtaining the moving distance of the device 210 to be controlled to move in a straight line. The moving distance can be realized by a displacement sensor provided on the walking mechanism of the device 210 to be controlled to move in a straight line.

[0081] Alternatively, the “obtaining the first coordinate of the device 210 to be controlled to move in a straight line” includes the following steps:

[0082] Obtaining the average speed of the device 210 to be controlled to move in a straight line;

[0083] Obtaining the moving time of the device 210 to be controlled to move in a straight line;

[0084] The first coordinate is calculated according to the average speed and the moving duration.

[0085] S13. Calculate a first angle formed between a straight line where the first coordinate and the first reference coordinate are located and a reference straight line; wherein the reference straight line is a straight line passing through the first reference coordinate and perpendicular to a predetermined walking route of the device to be controlled to walk in a straight line.

[0086] S14. Obtain the reference column coordinates of the light-responsive element serving as a reference.

[0087] Specifically, for example, when the device 210 to be controlled to move in a straight line is located directly in front of the light generating device 100, the standard column coordinates of the light response element with the strongest expected electrical signal are used as the reference column coordinates of the reference light response element.

[0088] S15. Calculate the standard column coordinates according to the first angle and the reference column coordinates.

[0089] Specifically, in this embodiment, (90°-first angle) is used as the arc of the standard column coordinate of the light response element with the strongest expected electrical signal relative to the reference column coordinate on the cylindrical surface of the light receiver 220, and based on this, the standard column coordinate of the light response element with the strongest expected electrical signal relative to the reference column coordinate can be obtained.

[0090] S20. Obtain the first column coordinates of the photoresponse element with the strongest actual electrical signal.

[0091] Specifically, when the device 210 to be controlled to move in a straight line is moving, the direction of travel is offset, and the light receiving device 200 is deflected, and the position of the light emitted by the light generating device 100 vertically irradiating the light receiver 220 changes. At this time, since the light response element 230 is vertically irradiated and irradiated from the side, the strength of the electrical signal generated is different. When the electrical signal is the strongest, it is considered that the light response element 230 is vertically irradiated. When the device to be controlled to move in a straight line is moving, the light response element with the strongest electrical signal is identified as the light response element with the strongest actual signal, and its first coordinate is obtained. For example, the column number where the actual light response element is located can be used as the first column coordinate of the light response element.

[0092] S30. Calculate displacement deviation according to the first column coordinates and the standard column coordinates.

[0093] In one case, the arc formed by the orthographic projection of the first column coordinates and the standard column coordinates on the cylindrical surface is the horizontal displacement deviation of the target.

[0094] S40. Output a straight-line walking control signal according to the displacement deviation.

[0095] It is worth noting that, in the embodiment of the present invention, it is assumed that when the device 210 to be controlled to move in a straight line deviates in a horizontal direction, the body of the device 210 to be controlled to move in a straight line first forms an angle with the predetermined driving direction. For example, when the device 210 to be controlled to move in a straight line deviates to the right, the light receiver 220 rotates to the right along with the device 210 to be controlled to move in a straight line. At this time, the light emitted by the light generator 130 is received by the light receiver 220 located on the right side of the reference light receiver. Subject to the sensitivity of the system, in theory, after the device 210 to be controlled to move in a straight line deviates, the traveling direction can be corrected in a short time, so as to maintain straight driving.

[0096] In some other embodiments, when the device 210 to be controlled to move in a straight line moves in a straight line but deviates from the predetermined travel route, at this time, when the device 210 to be controlled to move in a straight line is located at the same horizontal position, the actual value of the first angle formed between the straight line where the first coordinate and the first reference coordinate are located and the reference straight line will deviate from the theoretical value. For example, when the actual travel route of the device 210 to be controlled to move in a straight line deviates to the left relative to the predetermined travel route, the light receiver 220 moves to the left along with the device 210 to be controlled to move in a straight line, and at this time, the light emitted by the light generator 130 is received by the light receiver 220 located on the right side of the reference light receiver.

[0097] If the device 210 to be controlled to move in a straight line is deviated as a whole, that is, the device 210 to be controlled to move in a straight line does not move along the predetermined route, then at this time, the deviating direction of the light generator 130 on the light receiver 220 is opposite to the deviating direction of the device 210 to be controlled to move in a straight line. For example, if the device 210 to be controlled to move in a straight line is located on the left side of the predetermined route, the light emitted by the light generator 130 falls on the right side of the expected position of the first light receiver 220.

[0098] In order to solve the above technical problems, in a preferred embodiment, it can be judged whether there is an overall offset of the device 210 to be controlled to move in a straight line according to the feedback of the adjustment result. That is, firstly, it is assumed that the device 210 to be controlled to move in a straight line moves along a predetermined route and deflects, and correction is performed according to the deflection direction and deflection angle. At this time, if there is an overall offset of the device 210 to be controlled to move in a straight line, the correction at this time makes the offset larger. At this time, it can be judged that there is an overall offset of the device 210 to be controlled to move in a straight line, and a reverse correction is performed. In other optional embodiments, it can be judged whether the power mechanism 20 is offset as a whole according to the position of the optical response element 230 with the strongest expected electrical signal when the device 210 to be controlled to move in a straight line moves along the predetermined route and the position of the first optical response element 230 with the strongest electrical signal when the device 210 to be controlled to move in a straight line moves along the actual route.

[0099] In some specific embodiments, in order to control the tillage spacing, the walking control mechanism further includes an auxiliary light generating component, and the auxiliary light generating component includes an auxiliary light generator capable of emitting light in parallel and horizontal directions. During tillage, the auxiliary light generating component is fixed at the front end of the predetermined walking route of the device 210 to be controlled to walk in a straight line, and the light emitted by the auxiliary light generator is made parallel to the predetermined walking route of the device 210 to be controlled to walk in a straight line. In this way, it is possible to determine whether the device 210 to be controlled to walk in a straight line has an overall offset according to the response position of the auxiliary light generator on the light receiver 220, and make corrections.

[0100] It is worth noting that, under the condition of a relatively flat ground, the above-mentioned horizontal deviation is more concentrated in the light response elements 230 located in the same row responding to the light emitted by the light generator 130. At this time, when the light response elements 230 in different rows respond to the light emitted by the light generator 130, it can be considered that the target fuselage has tilted left and right or front and back, which may be caused by uneven terrain or the presence of hard soil blocks, stones, etc. in the soil.

[0101] It should be emphasized that the straight-line driving control system and control method proposed by the present invention are suitable for short-distance straight-line driving. Generally, the straight-line driving distance is not more than 300m. Long distances will cause the system accuracy to decrease, or even fail due to failure to receive optical signals normally.

[0102] In a specific embodiment, the equipment 210 to be controlled to move in a straight line can be a tillage device, for example, the tillage device includes a power mechanism and the straight-line travel control system 10 as described above, and a tillage component is installed on the power mechanism, and the tillage component is selected from one or a combination of at least two of a rotary tillage component, a disc tillage component, a sowing component, a fertilization component, a weeding component, and a harvesting component; the power mechanism is provided with an automatic steering component for controlling the travel direction of the power mechanism.

[0103] That is to say, in a specific embodiment, the above-mentioned straight-line driving control system 10 and control method can be used on a tillage device to control the tillage device to move in a straight line. In particular, since the tillage device often needs to make a reciprocating motion along the direction of the cultivated land when operating. At this time, based on the above-mentioned straight-line driving control system and control method, each time the reciprocating motion is made, it is only necessary to reconfirm the position of the reference light response element, without moving the light generating device 100, to achieve the goal of making the tillage device move in a straight line, thereby simplifying the operation process and improving work efficiency.

[0104] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A straight-line driving control system, characterized in that: include: A light generating device, the light generating device comprising a frame, a light distribution plate and at least one light generator, the light distribution plate being arranged on the frame and arranged parallel to a horizontal plane, the light distribution plate being capable of rotating in a circumferential direction; the light generator being arranged on the light distribution plate, and a plurality of the light generators being distributed on the same horizontal circumference, the light generator being used to emit light parallel to a horizontal plane; A light receiving device, the light receiving device comprising a light receiver for mounting on the device to be controlled to travel in a straight line, the light receiver having at least one cylindrical surface arranged perpendicular to a horizontal plane, a plurality of light response elements arranged in an array on the cylindrical surface, the light response elements being capable of responding to light emitted by the light generator and incident perpendicularly to the light response elements, and generating an electrical signal; A displacement deviation identification device, the displacement deviation identification device comprising a position identification module, a deviation calculation module and a straight-line walking control module, the position identification module is used to identify the first column coordinates of the optical response element with the strongest actual electrical signal and the standard column coordinates of the optical response element with the strongest expected electrical signal, the deviation calculation module is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates; the straight-line walking control module is used to output a straight-line walking control signal according to the displacement deviation; as well as A straight-line walking execution device, which can be arranged on the device to be controlled to walk in a straight line and communicate with the straight-line walking control module; the straight-line walking execution device is used to respond to the straight-line walking control signal output by the straight-line walking control module to correct the travel direction of the device to be controlled to walk in a straight line; Wherein, obtaining the standard column coordinates of the photoresponse element with the strongest expected electrical signal comprises the following steps: Acquire a first reference coordinate of the light generating device; Get the first coordinate of the device to be controlled to move in a straight line; Calculating a first angle formed between a straight line where the first coordinate and the first reference coordinate are located and a reference straight line; wherein the reference straight line is a straight line passing through the first reference coordinate and perpendicular to a predetermined walking route of the device to be controlled to walk in a straight line; Obtaining a reference column coordinate of a light-responsive element serving as a reference; The standard column coordinates are calculated according to the first angle and the reference column coordinates.

2. The straight-line driving control system according to claim 1, characterized in that: At least five light generators are arranged on the light distribution disk.

3. The straight-line driving control system according to claim 1, characterized in that: The cylindrical surface is arrayed with N rows and M columns of photoresponsive elements, wherein N is an integer ≥1, and M is an integer ≥5.

4. The straight-line driving control system according to claim 3, characterized in that: The distribution density of the photoresponsive elements on the cylindrical surface is ≥ 1 piece / cm 2 .

5. The straight-line driving control system according to any one of claims 1 to 4, characterized in that: The light-responsive element is selected from a phototransistor or a photodiode.

6. The straight-line driving control system according to claim 1, characterized in that: The light generating device further comprises a level adjustment component arranged on the light distribution plate and used for adjusting the level of the light distribution plate.

7. A straight-line driving control method, characterized in that: The straight-line driving control system according to any one of claims 1 to 6 is implemented, comprising the following steps: Obtain the standard column coordinates of the photoresponse element with the strongest expected electrical signal; Obtain the coordinates of the first column of the photoresponse element with the strongest actual electrical signal; Calculating displacement deviation according to the first column coordinates and the standard column coordinates; According to the displacement deviation, a straight-line walking control signal is output.

8. The straight-line driving control method according to claim 7, characterized in that: The "obtaining the first coordinate of the device to be controlled to walk in a straight line" comprises the following steps: Obtaining the average speed of the device to be controlled to move in a straight line; Obtaining the moving time of the device to be controlled to move in a straight line; The first coordinate is calculated according to the average speed and the moving duration.

9. A farming device, characterized in that: It comprises a straight-line driving control system as described in any one of claims 1-6.

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