Online control method of agricultural machinery and computer storage medium

Abstract

The invention discloses an on-line control method of an agricultural machine and a computer storage medium, the on-line control method comprises the following steps: obtaining an anti-steering delay steering angle control parameter of the agricultural machine according to a kinematic model and a cost function, the kinematic model being established based on a steering delay parameter and a motion parameter of the agricultural machine; updating a preview course angle of the agricultural machine according to the target course angle of the target course and the vertical distance between the agricultural machine and the target course; according to the steering angle control parameters and the current course angle and the preview course angle of the agricultural machine, steering of the agricultural machine is controlled; and returning to the step of updating the preview course angle of the agricultural machine, so that the agricultural machine enters and travels along the target route. The on-line speed and the on-line stability of the agricultural machine can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery control, and in particular to an online control method and computer storage medium for agricultural machinery. Background Art

[0002] With the development of science and technology and the improvement of agricultural mechanization, agricultural machinery based on automatic navigation systems is also being widely used.

[0003] At present, most of the agricultural machinery automatic driving guidance systems can only rely on the built-in path tracking algorithm to approach the entry point of the target route on the global path from the current position of the agricultural machinery. The entire entry process has a long driving distance, resulting in a low entry speed and low stability. Summary of the invention

[0004] In view of this, the present application provides an online control method for agricultural machinery and a computer storage medium, which are used to improve the online speed and online stability of agricultural machinery. The technical solution of the present application is as follows:

[0005] A first aspect of the present application provides an online control method for agricultural machinery, comprising: obtaining a steering angle control parameter of the agricultural machinery to resist steering delay according to a kinematic model and a cost function, wherein the kinematic model is established based on the steering delay parameter and motion parameter of the agricultural machinery; updating the preview heading angle of the agricultural machinery according to a target heading angle of a target route and a vertical distance between the agricultural machinery and the target route; controlling the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle; and returning to the step of updating the preview heading angle of the agricultural machinery so that the agricultural machinery enters and travels along the target route.

[0006] In one embodiment of the present application, the preview heading angle of the agricultural machinery is updated according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route, including: comparing the vertical distance with a preset foresight distance in the current control cycle; if the vertical distance is less than or equal to the foresight distance, updating the preview heading angle according to the target heading angle, the vertical distance and the foresight distance; if the vertical distance is greater than the foresight distance, updating the preview heading angle according to the target heading angle and the preset angle.

[0007] In one embodiment of the present application, updating the preview heading angle of the agricultural machinery based on the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route also includes: if the vertical distance is zero, determining that the target heading angle is the preview heading angle.

[0008] In one embodiment of the present application, the preview heading angle of the agricultural machinery is updated according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route, and also includes: obtaining the forward-looking distance according to the driving speed of the agricultural machinery, and the forward-looking distance is proportional to the driving speed.

[0009] In one embodiment of the present application, the algorithm for updating the preview heading angle includes:

[0010]

[0011] ψ p =ψ t ,|P e |=0;

[0012] In the formula, ψ p is the preview heading angle; t is the target heading angle; e is the vertical distance, wherein the agricultural machinery is on the left side of the target route. e is positive, the agricultural machinery is on the right side of the target route when P e is negative; L is the vertical distance; A is the preset angle.

[0013] In one embodiment of the present application, the steering of the agricultural machinery is controlled according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle, including: obtaining a heading angle deviation according to the current heading angle and the preview heading angle; obtaining a front wheel steering angle of the agricultural machinery according to the heading angle deviation, the vertical distance and the steering angle control parameter; and controlling the steering of the agricultural machinery according to the front wheel steering angle.

[0014] In one embodiment of the present application, controlling the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle also includes: obtaining a preview tracking straight line according to the preview heading angle; controlling the steering of the agricultural machinery according to the front wheel angle and driving along the preview tracking straight line.

[0015] In one embodiment of the present application, the steering angle control parameters include a position deviation coefficient, a heading deviation coefficient, and a feedforward control amount, and the algorithm for the front wheel steering angle includes:

[0016]

[0017] In the formula, is the heading angle deviation; ψ c is the current heading angle; ψ p is the preview heading angle; δ is the front wheel turning angle; P eis the vertical distance; k1 is the position deviation coefficient; k2 is the heading deviation coefficient; δ f is the feedforward control quantity based on the yaw angle deviation.

[0018] In one embodiment of the present application, the steering angle control parameters of the agricultural machinery that are anti-steering delay are obtained based on the kinematic model and the cost function, including: obtaining the state quantity coefficient matrix and the control quantity coefficient matrix of the kinematic model; establishing the cost function based on the kinematic model; obtaining the error weight matrix and the control quantity weight matrix of the cost function; establishing a linear quadratic function based on the state quantity coefficient matrix, the control quantity coefficient matrix, the error weight matrix and the control quantity weight matrix; and obtaining the steering angle control parameters based on the linear quadratic function.

[0019] A second aspect of the present application provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the online control method.

[0020] This application uses the kinematic model of agricultural machinery established by steering delay parameters, and solves the optimal steering angle control parameters by combining the cost function, and finally obtains the optimal control rate for guiding the agricultural machinery to the target route, thereby improving the speed and stability of the agricultural machinery to the target route. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an online environment diagram of an agricultural machinery provided in an embodiment of the present application.

[0022] Figure 2 This is a flow chart of an online control method for agricultural machinery provided in an embodiment of the present application.

[0023] Figure 3 It is a flow chart of a method for updating a preview heading angle provided in an embodiment of the present application.

[0024] Figure 4 This is a flowchart of another method for updating the preview heading angle provided in an embodiment of the present application.

[0025] Figure 5 This is a flowchart of a third method for updating the preview heading angle provided in an embodiment of the present application.

[0026] Figure 6 This is a flow chart for controlling the steering of agricultural machinery provided in an embodiment of the present application.

[0027] Figure 7 This is another flow chart for controlling the steering of agricultural machinery provided in an embodiment of the present application.

[0028] Figure 8 It is a flow chart of a method for obtaining steering angle control parameters provided in an embodiment of the present application.

[0029] Fig. 9 This is an online example diagram of an agricultural machinery provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] It should be noted that in the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0031] It should also be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchangeable with each other, and some of the steps can also be deleted.

[0032] With the development of science and technology and the improvement of agricultural mechanization, agricultural machinery based on automatic navigation systems is also being widely used.

[0033] At present, most of the agricultural machinery automatic driving guidance systems can only rely on the built-in path tracking algorithm to approach the entry point of the target route on the global path from the current position of the agricultural machinery. The entire entry process has a long driving distance, resulting in a low entry speed and low stability.

[0034] The present application provides an online control method for agricultural machinery and a computer storage medium, which are used to improve the online speed and online stability of the agricultural machinery.

[0035] Please refer to Figure 1 , Figure 1 The online environment 100 of an agricultural machine provided in an embodiment of the present application may include a plurality of target routes 120 of an agricultural machine 110 .

[0036] The process of controlling the agricultural machinery 110 to travel to one of the target routes 120 and follow the target route 120 is the process of controlling the agricultural machinery 110 to go online. It can be understood that the online process also includes switching from the current target route 120 to another target route 120.

[0037] In the embodiment of the present application, the agricultural machinery 110 includes agricultural vehicles, such as tractors, harvesters, and sprayers, which can be remotely controlled or automatically controlled agricultural vehicles, which are not limited here. The target route 120 can be manually formulated and marked on the corresponding field for identification by the agricultural machinery 110. Alternatively, the agricultural machinery 110 can directly mark the field after identifying it through an image acquisition device. For example, the target route 120 can be a gully in the field, which is not limited here.

[0038] Please refer to Figure 2 , Figure 2 A flowchart of an online control method for agricultural machinery provided in an embodiment of the present application specifically includes the following steps:

[0039] Step S21: Obtaining steering angle control parameters of the agricultural machinery to resist steering delay according to the kinematic model and the cost function, wherein the kinematic model is established based on the steering delay parameters and motion parameters of the agricultural machinery.

[0040] In the embodiment of the present application, the steering delay parameter of the agricultural machinery is based on the delay of the agricultural machinery steering system, which can be the steering kinematic time constant τ. The kinematic parameters of the agricultural machinery include the front wheel steering angle δ, the vertical distance P of the target route e , vertical distance change rate Heading angle deviation Heading angle deviation change rate Steering angle change rate Speed ​​v of agricultural machinery, reference steering angle δ r , the curvature k corresponding to the matching point in the target route, and the forward distance L. Among them, the heading angle deviation It is the deviation between the current heading angle of the agricultural machinery and the preview heading angle. The preview heading angle is the angle from the agricultural machinery to the preview point when tracking the target route. The preview point is a point on the planned path in front of the agricultural machinery when tracking the target route. By tracking the preview point, the agricultural machinery moves towards the preview point.

[0041] According to the above-mentioned steering delay parameters and kinematic parameters, the established kinematic model for resisting steering delay can be:

[0042]

[0043] It can be understood that the steering delay parameter, that is, the steering kinematic time constant τ, is taken into account when establishing the above-mentioned kinematic model. When the agricultural machinery is controlled online according to the kinematic model, the problem of reduced online speed caused by the hysteresis of the steering system of the agricultural machinery can be avoided.

[0044] In the embodiment of the present application, the steering angle control parameter may be a control function of the front wheel steering angle of the agricultural machinery, and the control function of the front wheel steering angle is based on the vertical distance P e , and the above heading angle deviation For example, the control function of the front wheel steering angle can be designed as: α is the position deviation coefficient, and β is the heading deviation coefficient. It can be understood that αP e The role of is to enable the agricultural machinery to quickly enter the target route to work on the line. The larger the α is, the faster the speed of going on the line is, but it may cause larger control oscillations. The role of is to make the agricultural machinery move along the direction of the target route. The larger the β is, the faster the online speed is, but the system stability decreases.

[0045] For example, when the agricultural machinery is far away from the target route, that is, the vertical distance P e When it is large, α can be appropriately increased to ensure that the agricultural machinery can quickly drive to the target route. When is larger, β can be appropriately increased to ensure that the agricultural machinery can quickly track the target course of the target route.

[0046] It can be understood that the speed and stability of agricultural machinery going online can be effectively improved by reasonably configuring α and β. Therefore, the optimal α and β can be solved by the cost function based on the above kinematic model, so as to obtain the optimal front wheel steering angle control function when the agricultural machinery is online, that is, the steering angle control parameters.

[0047] In an embodiment of the present application, the above-mentioned kinematic model can be stored in the controller of the agricultural machinery in advance after it is established. After the agricultural machinery is started, the detailed values ​​of the above-mentioned various motion parameters are obtained by the sensor and then input into the kinematic model to obtain the optimal steering angle control parameters under the current motion parameters through the cost function.

[0048] Step S22: updating the preview heading angle of the agricultural machinery according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route.

[0049] In the embodiment of the present application, after obtaining the target route, the controller of the agricultural machinery can further obtain the target heading angle corresponding to the target route. For example, when guiding the agricultural machinery to automatically drive the target route, the controller of the agricultural machinery can obtain one point on the target route as the target point for going online, and obtain the corresponding target heading angle according to the target point. The controller of the agricultural machinery also obtains the vertical distance P from the target heading. e , according to the target heading angle and vertical distance P e Updates the preview heading angle during the current control cycle.

[0050] In some embodiments, the controller can be configured to calculate the target heading angle, the current heading angle of the agricultural machinery, and the vertical distance P. e And the steering angle range of the agricultural machinery, update the preview heading angle. In addition, during the process of agricultural machinery going online, due to the vertical distance P between the agricultural machinery and the target route e , and heading angle deviation The above-mentioned preview heading angle is continuously changing, so the above-mentioned preview heading angle can be updated in each control cycle. Among them, the above-mentioned control cycle can be a time cycle of 1 second and 2 seconds, etc., which is no longer limited here. It can be understood that the shorter the control cycle, the higher the stability and accuracy of guiding the agricultural machinery online, but the amount of calculation of the controller increases. The best control cycle can be obtained by experiment or verification.

[0051] Step S23: Control the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle.

[0052] Step S24: Return to step S22 of updating the preview heading angle of the agricultural machinery, so that the agricultural machinery enters and travels along the target route.

[0053] In an embodiment of the present application, after obtaining the steering angle control parameters and the preview heading angle, the controller of the agricultural machinery will combine the current heading angle of the agricultural machinery to control the steering of the agricultural machinery during forward driving, so as to gradually enter the target route and finally drive along the target route.

[0054] In some embodiments, the controller of the agricultural machinery returns to execute step S22 at the beginning of each control cycle to continuously update the preview heading angle. It can be understood that when the agricultural machinery finally travels along the target route, the preview heading angle is equal to the target heading angle, and the vertical distance P at this time is e is zero, the controller calculates Make agricultural machinery run stably on the target route.

[0055] In an embodiment of the present application, a kinematic model of agricultural machinery is established using steering delay parameters, and the optimal steering angle control parameters are solved by combining a cost function, ultimately obtaining an optimal control rate for guiding the agricultural machinery to the target route, thereby improving the speed and stability of the agricultural machinery to the target route.

[0056] Please refer to Figure 3 , Figure 3 A flowchart of a method for updating a preview heading angle provided in an embodiment of the present application specifically includes the following steps:

[0057] Step S31: Compare the vertical distance with the preset foresight distance in the current control cycle.

[0058] In the embodiment of the present application, a target point tracked by the agricultural machinery during driving can be defined as the above-mentioned preview point, and the distance from the center point of the agricultural machinery to the preview point is the foresight distance. The foresight distance can be a fixed distance, and after the agricultural machinery obtains the vertical distance of the current control cycle, it will use the vertical distance to compare with the foresight distance.

[0059] Step S32: If the vertical distance is less than or equal to the foresight distance, update the preview heading angle according to the target heading angle, the vertical distance and the foresight distance.

[0060] In an embodiment of the present application, if the vertical distance is less than or equal to the forward-looking distance, it means that the agricultural machinery is currently relatively close to the target route. The controller can update the preview heading angle according to the target heading angle, vertical distance and forward-looking distance in the current control cycle to update the subsequent front-wheel steering control.

[0061] Step S33: If the vertical distance is greater than the foresight distance, update the preview heading angle according to the target heading angle and the preset angle.

[0062] In an embodiment of the present application, if the vertical distance is greater than the forward-sight distance, it means that the agricultural machinery is currently far away from the target heading and requires a larger steering angle to quickly get online. At this time, the controller can update the preview heading angle according to the target heading angle and the preset angle to obtain a preview heading angle corresponding to a larger steering angle.

[0063] In some embodiments, Figure 4 As shown, the method for updating the preview heading angle also includes the following steps:

[0064] Step S34: If the vertical distance is zero, determine that the target heading angle is the preview heading angle.

[0065] In an embodiment of the present application, if the vertical distance is zero, it means that the agricultural machinery is already traveling on the target route. The controller can determine that the target heading angle corresponding to the current point on the target route is the preview heading angle, and continue to use the above-mentioned steering angle control parameters to control the agricultural machinery to travel on the target route.

[0066] It can be understood that in the embodiment of the present application, during the process of agricultural machinery going online, the online process is divided into three stages by comparing the vertical distance and the forward sight distance, thereby reducing the computing power required for the controller to control the agricultural machinery to go online, and further reducing the hardware cost of the controller of the agricultural machinery.

[0067] In some embodiments, Figure 5 As shown, the method for updating the preview heading angle also includes the following steps:

[0068] Step S30: Obtaining the forward sight distance according to the driving speed of the agricultural machinery, where the forward sight distance is proportional to the driving speed.

[0069] It can be understood that the greater the driving speed of the agricultural machinery, the greater the forward sight distance. By adjusting the forward sight distance using the current driving speed, the stability of the front wheel steering angle control can be further improved, thereby improving the stability of the agricultural machinery on the line.

[0070] In some embodiments, the algorithm for updating the preview heading angle includes:

[0071]

[0072] ψ p =ψ t ,|P e |=0;

[0073] In the formula, ψ p is the preview heading angle; ψ t is the target heading angle; P e is the vertical distance, where P is the distance when the agricultural machinery is on the left side of the target route. e is positive, when the agricultural machinery is on the right side of the target route, P e is negative; L is the vertical distance; A is a preset angle. In some embodiments, A may be the maximum steering angle of the agricultural machinery, for example, 90 degrees, which is not limited here.

[0074] Please refer to Figure 6 , Figure 6 A flowchart for controlling the steering of agricultural machinery provided in an embodiment of the present application specifically includes the following steps:

[0075] Step S61: Obtaining a heading angle deviation according to the current heading angle and the preview heading angle.

[0076] Step S62: Obtain the front wheel steering angle of the agricultural machinery according to the heading angle deviation, the vertical distance and the steering angle control parameters.

[0077] Step S63: Control the steering of the agricultural machinery according to the front wheel angle.

[0078] In an embodiment of the present application, when the controller of the agricultural machinery controls the agricultural machinery to turn toward the target route, the controller can first obtain the heading angle deviation based on the current heading angle and the pre-aim heading angle of the agricultural machinery within the current control cycle. For example, the heading angle deviation can be obtained by subtracting the current heading angle from the pre-aim heading angle.

[0079] It can be understood that after obtaining the heading angle deviation, according to the algorithm: The front wheel steering angle of the current control cycle can be obtained. Among them, α is the position deviation coefficient, β is the heading deviation coefficient, that is, the steering angle control parameter. e is the vertical distance, is the heading angle deviation, and δ is the front wheel steering angle.

[0080] Please refer to Figure 7 , Figure 7 Another flowchart for controlling the steering of agricultural machinery provided in an embodiment of the present application specifically includes the following steps:

[0081] Step S71: Obtain the heading angle deviation according to the current heading angle and the preview heading angle.

[0082] Step S72: Obtain the front wheel steering angle of the agricultural machinery according to the heading angle deviation, the vertical distance and the steering angle control parameters.

[0083] Step S73: Obtain a preview tracking line according to the preview heading angle.

[0084] Step S74: Control the agricultural machinery to steer according to the front wheel angle and drive along the preview tracking straight line.

[0085] In the present application embodiment, Figure 6 The process of controlling the steering of the agricultural machinery shown in the figure is different in that the controller further obtains a preview tracking line based on the preview heading angle. The length of the preview tracking line can be consistent with the forward sight distance. In the current control cycle, the agricultural machinery is controlled to turn according to the front wheel angle and travel along the preview tracking line, thereby further improving the stability of the online process.

[0086] Please refer to Figure 8 , Figure 8 A flowchart of a method for obtaining a steering angle control parameter provided in an embodiment of the present application specifically includes the following steps:

[0087] Step S81: Obtain the state quantity coefficient matrix and control quantity coefficient matrix of the kinematic model.

[0088] It can be understood that according to the above embodiments, the kinematic model can be:

[0089]

[0090] Among them, the kinematic model can be simplified as the expression: e rr is the new state quantity, e rr It represents the lateral and longitudinal errors between the actual position of the vehicle and the target route. A and B are the state coefficient matrix and control coefficient matrix mentioned above respectively.

[0091] Step S82: Establish a cost function according to the kinematic model.

[0092] In the embodiment of the present application, in order to minimize the error as much as possible, let J be the cost function, then Where U is the array of control quantity u in the control sequence, and the diagonal matrices Q and R are the error weight matrix and the control quantity weight matrix, respectively. Under the constraints of the above kinematic model, when the cost function is minimized, the optimal steering angle control parameters can be obtained.

[0093] Step S83: Obtain the error weight matrix and control amount weight matrix of the cost function.

[0094] Step S84: Establish a linear quadratic function based on the state quantity coefficient matrix, the control quantity coefficient matrix, the error weight matrix and the control quantity weight matrix.

[0095] In the embodiment of the present application, since the above-mentioned state quantity coefficient matrix A and control quantity coefficient matrix B are only related to the vehicle parameters and speed v of the agricultural machinery, and the vehicle parameters of the agricultural machinery can be approximately considered unchanged, the state quantity coefficient matrix A and the control quantity coefficient matrix B are only related to the speed v, and the established linear quadratic function: K = lqr (A, B, Q, R) can be obtained after numerical calculation. The relationship comparison table between the feedback coefficient K and the speed v can be obtained.

[0096] Step S85: Obtain steering angle control parameters according to the linear quadratic function.

[0097] In the embodiment of the present application, according to the linear quadratic function K=lqr(A, B, Q, R) and the designed control function of the front wheel steering angle can be: After iterative solution, the optimal steering angle control parameters α and β can be obtained as follows:

[0098] In some embodiments, the steering angle control parameters include a position deviation coefficient, a heading deviation coefficient, and a feedforward control amount, and the algorithm for the front wheel steering angle includes:

[0099]

[0100] In the formula, is the heading angle deviation; ψ c is the current heading angle; ψ p is the preview heading angle; δ is the front wheel turning angle; P e is the vertical distance; k1 is the position deviation coefficient; k2 is the heading deviation coefficient; δ f is the feedforward control quantity based on the yaw angle deviation.

[0101] It is understandable that agricultural machinery has lateral deviation and yaw angle deviation during lateral movement, so e rr and It is impossible for both to be zero at the same time. Therefore, it is necessary to add a suitable feedforward control quantity δ to the original control law. f , to offset the yaw angle deviation in the steady state.

[0102] In the embodiment of the present application, the feedforward control amount is:

[0103] Among them, k3 is an element in the feedback coefficient K.

[0104] It can be understood that the embodiment of the present application establishes a kinematic model of agricultural machinery based on steering delay, and solves the optimal steering angle control parameters by combining the cost function, and finally obtains the optimal control rate for guiding the agricultural machinery to the target route, thereby improving the speed and stability of the agricultural machinery to the target route.

[0105] Please refer to Fig. 9 , Fig. 9 This is an example diagram of an agricultural machinery going online provided in an embodiment of the present application.

[0106] In the online environment 900, point P1 is the center point of the agricultural machinery, line AB is the target route, ψ t is the target heading angle of the target route AB in the navigation plane coordinate system, point P2 is a preview point from the agricultural machinery to the target route AB, then the straight line P1P2 can be the above-mentioned preview tracking straight line, ψ p Draw a perpendicular line from point P1 to AB, and the length of the perpendicular line is the vertical distance P e , among which, when the agricultural machinery is on the left side of the target route AB, P e When the agricultural machinery is on the right side of the target route AB, P e is negative. The distance between P1 and P2 is the foresight distance L. δ is the front wheel turning angle of the agricultural machinery, ψ c is the current heading angle of the agricultural machinery.

[0107] It can be understood that when the agricultural machinery in the embodiments of the present application goes online to the target route AB, the controller of the agricultural machinery will execute the online control method in any of the above embodiments, thereby improving the speed and stability of the agricultural machinery going online to the target route.

[0108] An embodiment of the present application further provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the above-mentioned online control method.

[0109] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer storage medium or transmitted through the computer storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0110] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0111] The embodiments described above are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the protection scope determined by the claims of the present application.

Claims

1. An online control method for agricultural machinery, characterized in that: include: Obtaining a steering angle control parameter of the agricultural machinery against steering delay according to a kinematic model and a cost function, wherein the kinematic model is established based on a steering delay parameter and a motion parameter of the agricultural machinery; updating the preview heading angle of the agricultural machinery according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route; Controlling the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle; Return to the step of updating the preview heading angle of the agricultural machinery so that the agricultural machinery enters and travels along the target route.

2. The online control method according to claim 1, characterized in that: The updating of the preview heading angle of the agricultural machinery according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route comprises: Comparing the vertical distance with a preset foresight distance in the current control cycle; If the vertical distance is less than or equal to the foresight distance, updating the preview heading angle according to the target heading angle, the vertical distance and the foresight distance; If the vertical distance is greater than the foresight distance, the preview heading angle is updated according to the target heading angle and a preset angle.

3. The online control method according to claim 2, characterized in that: The updating of the preview heading angle of the agricultural machinery according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route also includes: If the vertical distance is zero, the target heading angle is determined to be the preview heading angle.

4. The online control method according to claim 2, characterized in that: The updating of the preview heading angle of the agricultural machinery according to the target heading angle of the target route and the vertical distance between the agricultural machinery and the target route also includes: The forward sight distance is obtained according to the driving speed of the agricultural machinery, and the forward sight distance is proportional to the driving speed.

5. The online control method according to claim 2, characterized in that: The algorithm for updating the preview heading angle includes: ψ p =ψ t ,|P e |=0; In the formula, ψ p is the preview heading angle; t is the target heading angle; e is the vertical distance, wherein the agricultural machinery is on the left side of the target route. e is positive, the agricultural machinery is on the right side of the target route when P e is negative; L is the vertical distance; A is the preset angle.

6. The online control method according to claim 1, characterized in that: The method of controlling the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle comprises: Obtaining a heading angle deviation according to the current heading angle and the preview heading angle; Obtaining a front wheel steering angle of the agricultural machinery according to the heading angle deviation, the vertical distance and the steering angle control parameter; The agricultural machine is controlled to turn according to the front wheel angle.

7. The online control method according to claim 6, characterized in that: The method of controlling the steering of the agricultural machinery according to the steering angle control parameter, the current heading angle of the agricultural machinery and the preview heading angle further includes: Obtaining a preview tracking straight line according to the preview heading angle; The agricultural machinery is controlled to steer according to the front wheel turning angle and travel along the preview tracking straight line.

8. The online control method according to claim 6, characterized in that: The steering angle control parameters include a position deviation coefficient, a heading deviation coefficient and a feedforward control amount, and the algorithm of the front wheel steering angle includes: In the formula, is the heading angle deviation; ψ c is the current heading angle; ψ p is the preview heading angle; δ is the front wheel turning angle; P e is the vertical distance; k1 is the position deviation coefficient; k2 is the heading deviation coefficient; δ f is the feedforward control quantity based on the yaw angle deviation.

9. The online control method according to claim 1, characterized in that: The method of obtaining the steering angle control parameter of the agricultural machinery against steering delay according to the kinematic model and the cost function includes: Obtaining a state quantity coefficient matrix and a control quantity coefficient matrix of the kinematic model; Establishing the cost function according to the kinematic model; Obtaining an error weight matrix and a control amount weight matrix of the cost function; Establishing a linear quadratic function according to the state quantity coefficient matrix, the control quantity coefficient matrix, the error weight matrix and the control quantity weight matrix; The steering angle control parameter is obtained according to the linear quadratic function.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the online control method according to any one of claims 1 to 9.

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