Guide rail type operation control method suitable for hilly and mountainous areas

Abstract

The invention discloses a guide rail type operation control method suitable for a hilly and mountainous area, and relates to the technical field of guide rail control, and the method comprises the following steps: collecting topographic data of the hilly and mountainous area, including a gradient, a slope direction, a valley position and a soil type, planning a planting mode of commercial crops, and gradually extending to a mountaintop according to a spiral mode, the method comprises the following steps: setting a track, marking a laying path of the track, configuring operation equipment and a traction device according to the marked laying path, deploying an offset measuring device on the operation equipment, monitoring the offset of the operation equipment in real time, and obtaining offset data. By accurately controlling the running route and the running state of the operation equipment, the safety risk in the operation process is reduced, the running range of the equipment is limited by the guide rail, the equipment is prevented from deviating from a set route due to misoperation or complex terrain, meanwhile, the traction force and the running speed of the equipment are dynamically adjusted according to terrain conditions, and the operation efficiency is improved. And stable running of the equipment in complex terrains is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of guiding track control, and particularly relates to a guiding track type operation control method applicable to hilly and mountainous areas. Background Art

[0002] In hilly and mountainous areas, the agricultural operation environment is complex and changeable, with large terrain undulations, which brings many challenges to the operation of traditional agricultural equipment. The application of traditional track equipment and wheeled or tracked equipment in these areas has obvious limitations and cannot meet the requirements of efficient, stable and safe operation. With the development of intelligent agriculture, guiding track type operation equipment has emerged, providing a new solution for agricultural operations in hilly and mountainous areas. Through ingenious design, the guiding track type operation equipment overcomes the limitations of traditional agricultural equipment, can be applicable to various complex terrains, and through the traction and support of the guiding track, prevents safety accidents such as rollover and capsizing, and can operate continuously at the same time, reducing downtime and manual intervention, and improving agricultural production efficiency.

[0003] In the prior art, due to the complex and changeable terrain in hilly and mountainous areas, there are steep slopes, narrow valleys, variable soil conditions, etc., which are prone to safety accidents such as rollover and slippage due to unstable center of gravity, affecting the stability and safety of operation. Therefore, how to accurately control the guiding track type operation equipment to walk stably along the pre-laid track and ensure that it can continuously operate from the bottom of the slope to the top of the slope has become a key problem to be solved urgently at present. For this reason, a guiding track type operation control method applicable to hilly and mountainous areas is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a guiding track type operation control method applicable to hilly and mountainous areas to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: A guiding track type operation control method applicable to hilly and mountainous areas includes the following steps: Step 1, collect the terrain data of hilly and mountainous areas, including slope, slope direction, valley position and soil type, and plan the planting mode of cash crops, gradually extend towards the top of the mountain in the spiral manner of a mosquito coil, and mark the laying path of the track; Step 2, configure the operation equipment and traction device according to the marked laying path, deploy an offset measurement device on the operation equipment, monitor the offset of the operation equipment in real time, and obtain offset data; Step 3, analyze the abnormal operation state of the operation equipment according to the obtained offset data, including operation position, operation speed and steering direction, and determine the influencing factors of the abnormal operation state; Step 4, based on the influencing factors that determine the abnormal operating state, obtain the magnitude and direction of the offset of the operation of the working equipment, and correct the steering of the working equipment. At the same time, adjust the traction device during the transfer process to cooperate with the transportation operation, ensuring that the working equipment can operate smoothly and efficiently; Step 5, during the transfer process, by monitoring the traction state of the traction device and the operating state of the working equipment in real time, and matching with the terrain data, analyze the operating state of the working equipment under different terrain conditions, and dynamically adjust the operating state of the working equipment, including adjusting parameters such as operating speed, steering angle, and traction force to adapt to terrain changes and equipment requirements.

[0006] A further improvement of the technical solution of the present invention is that in the said Step 1, the process of obtaining the terrain data of hilly and mountainous areas is as follows: Step 101, use drones for aerial photography, satellite remote sensing, and ground survey equipment to conduct terrain surveys on hilly and mountainous areas, and extract digital topographic maps and terrain data of hilly and mountainous areas, including elevation, slope, slope direction, and valley positions; Step 102, collect soil samples in different areas of hilly and mountainous areas, including different positions on the mountaintop, hillside, valley, and foot of the mountain, measure the texture, fertility, and acidity of the soil, obtain soil data, and determine the soil type. At the same time, record the distribution of different soil types in hilly and mountainous areas, and draw a soil type distribution map, where the texture includes sandy soil, loam, and clay, the fertility includes the content of nitrogen, phosphorus, and potassium, and the acidity includes the pH value; Step 103, analyze the collected terrain data and soil data, determine suitable planting areas and potential obstacles, obtain an analysis report, and divide the hilly and mountainous areas into different slope grades to guide the design of planting patterns; Step 104, based on the analysis report, design the planting pattern of cash crops. Taking the mountaintop as the center, plan the planting path in a spiral manner like a mosquito coil, and mark the laying path of the track. Design the structure and material of the track, and organize the construction team to carry out the track laying and commissioning work.

[0007] A further improvement of the technical solution of the present invention is that in the said Step 2, the process of obtaining the offset data is as follows: Step 201, select appropriate working equipment according to the terrain data and soil data of hilly and mountainous areas, and configure appropriate traction devices according to the type of working equipment, including seeders, fertilizer spreaders, harvesters, etc., and the traction devices include tractors, electric traction machines, etc. At the same time, debug the working equipment and the traction device to ensure its stable performance and flexible operation. The debugging content includes functions such as starting, stopping, steering, and speed adjustment of the equipment, as well as the connection and cooperation between the traction device and the working equipment. The traction device is configured at key nodes of the track, such as at the track turning point, to help the equipment smoothly pass through complex terrains; Step 202: Install a steering correction device on the working equipment, including a front-end steering mechanism and a rear-end steering mechanism. At the same time, install offset measurement devices at the front and rear ends of the working equipment, including laser rangefinders and position sensors, to ensure that the offset of the equipment on the laying path can be monitored in real time. The front-end steering mechanism is used to control the driving direction of the equipment, and the rear-end steering mechanism is used to assist in adjusting the driving trajectory of the equipment to ensure its stability in complex terrains. Step 203: Start the working equipment and the offset measurement device, and begin to monitor the offset data of the working equipment in real time. Transmit the offset data to the monitoring center wirelessly, and record the data transmitted by the offset measurement device in real time, including the offset amount, offset direction, etc.

[0008] A further improvement of the technical solution of the present invention lies in that: in step 3, the process of obtaining the influencing factors of the abnormal operating state is as follows: Step 301: Clean and align the collected offset data, and preset deviation thresholds for the offset amount, running speed, and steering direction, including an offset amount threshold: set the allowable offset range according to the operation requirements, a running speed threshold: define the normal speed range and the definition standard of abnormal speed, and a steering direction threshold: set the normal range of the steering angle or steering frequency. Transmit the actual running position of the working equipment to the monitoring center to obtain the position influencing factor, and at the same time compare it with the preset deviation threshold to identify the positions where the offset amount exceeds the range, observe the change trend of the offset amount, and judge whether the operation continuously deviates from the path and has periodic offsets. Step 302: Analyze the running speed of the working equipment at different positions based on the offset data to obtain the speed influencing factor, and calculate the speed anomaly analysis index. Identify the trend of abnormal speed changes, such as sudden acceleration, deceleration, or irregular fluctuations. Conduct a correlation analysis between the abnormal speed analysis index and the offset data to analyze the impact of speed changes on the offset amount. Step 303: Conduct a correlation analysis based on the change trend of the offset amount and the terrain data of hilly and mountainous areas to obtain the steering influencing factor, and calculate the steering anomaly analysis index. Analyze the impact of terrain changes on the steering of the working equipment. At the same time, compile a report on the abnormal operating state, including the time of occurrence of the anomaly, the duration, and the operating parameters affected. The report should include the influencing factors of the abnormal operating state and possible reasons.

[0009] A further improvement of the technical solution of the present invention lies in that: the calculation formula of the speed anomaly analysis index is: ; where, VAI is the speed anomaly analysis index, is the actual running speed, is the expected running speed, is the reference speed, is the maximum allowable operating speed, is the standard deviation of the speed, is a very small positive number; The calculation formula of the steering anomaly analysis index is: ; where TAI is the steering anomaly analysis index, is the actual steering angle or steering frequency, is the expected steering angle or steering frequency, is the reference steering value, is the lateral offset, is the steering angle deviation, is the reference lateral offset, is the reference steering angle deviation.

[0010] A further improvement of the technical solution of the present invention lies in: in step 4, the process of steering correction for the working device is as follows: Step 401, determine the current position of the working device, and combine the obtained position influence factor, speed influence factor and steering influence factor to determine the abnormal operating state of the working device, and at the same time obtain the abnormal operating coefficient based on the speed anomaly analysis index and the steering anomaly analysis index; Step 402, based on the current position of the working device and the abnormal operating coefficient, calculate the offsets of the working device in the X-axis and Y-axis directions, determine the device offset direction and the offset angle according to the positive and negative values of the offsets, and formulate a steering strategy in combination with a preset deviation threshold; Step 403, according to the direction and magnitude of the offset, implement steering correction through the front-end steering mechanism and the rear-end steering mechanism on the working device. When it is determined that the front end needs to steer, the front-end steering mechanism steers according to the set angle. Similarly, when the rear end needs to steer, the rear-end steering mechanism performs the corresponding steering operation. During the steering process, continuously monitor the change of the offset to ensure that the steering correction effect meets the expectations; Step 404, based on the terrain data and soil data, determine the magnitude and direction of the traction force required by the traction device during the transfer process of the working device, and monitor the operating states of the working device and the traction device in real time.

[0011] A further improvement of the technical solution of the present invention lies in: the calculation formula of the abnormal operating coefficient is: ; where AAC is the abnormal operating coefficient, VAI is the speed anomaly analysis index, measuring the abnormal degree in terms of speed, and TAI is the steering anomaly analysis index, measuring the abnormal degree in terms of steering, is the reference value of the speed anomaly analysis index, is the benchmark value of the steering anomaly analysis index, is the stability index of the equipment operation, is the threshold value of the stability index, used to judge whether the equipment operation is stable.

[0012] A further improvement of the technical solution of the present invention lies in: the calculation formula of the offset in the X-axis direction: ; wherein, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the working equipment, is the Y-axis coordinate of the current position of the working equipment, and AAC is the abnormal operation coefficient; The calculation formula of the offset in the Y-axis direction: ; wherein, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the working equipment, is the Y-axis coordinate of the current position of the working equipment, and AAC is the abnormal operation coefficient.

[0013] A further improvement of the technical solution of the present invention lies in: in the step 5, the process of dynamically adjusting the operation state of the working equipment is as follows: Step 501, match the real-time position of the working equipment according to the obtained terrain data and soil data, obtain the matching result, and analyze the operation state of the working equipment under different terrain conditions, such as climbing ability, traction efficiency, etc., judge whether the equipment is in an abnormal state, such as excessive traction force, too fast speed, difficult steering, etc., and preset the corresponding traction force threshold value to ensure that the equipment can drive stably under different terrains without excessive energy consumption or damage to the equipment; Step 502, based on the obtained matching result, dynamically adjust the traction force of the traction device and the driving speed of the working equipment. On the sections with larger slopes, increase the traction force to ensure the stable driving of the equipment. On flat terrains or in the case of faster speeds, reduce the traction force to reduce energy consumption. At the same time, when the traction device reaches the preset traction force threshold value, send out a warning signal; Step 503, according to the warning signal, analyze the warning type and severity, take corresponding emergency measures, such as reducing the traction force, adjusting the driving speed, stopping for inspection, etc., and adjust the operation state of the working equipment and the traction device after adjustment.

[0014] Due to the adoption of the above technical solution, the technical progress achieved by the present invention compared with the prior art is: The present invention provides a guiding track type operation control method applicable to hilly and mountainous areas. By means of a preset guiding track, a stable driving path is provided for the operation equipment, which not only greatly improves the operation efficiency, but also significantly enhances the operation accuracy. The equipment runs smoothly along the track, avoiding errors and wastes caused by terrain changes. At the same time, by real-time monitoring the position deviation and operation state of the operation equipment, and dynamically adjusting the operation equipment in combination with terrain and soil data, the risks of sideslip and overturning are reduced.

[0015] The present invention provides a guiding track type operation control method applicable to hilly and mountainous areas. By optimizing the steering and speed of the operation equipment, the operation interruption caused by terrain changes is reduced, and the operation continuity is improved. The equipment automatically adjusts the driving path according to the actual terrain, avoiding frequent stops and direction adjustments, thereby improving the operation efficiency. In addition, through a preset spiral planting mode, continuous operation from the bottom to the top of the slope is realized, reducing the transfer time and labor intensity.

[0016] The present invention provides a guiding track type operation control method applicable to hilly and mountainous areas. By precisely controlling the driving route and operation state of the operation equipment, the safety risks during the operation are reduced. The guiding track restricts the driving range of the equipment, preventing the equipment from deviating from the established route due to operation errors or complex terrain. At the same time, the traction force and driving speed of the equipment are dynamically adjusted according to the terrain conditions to ensure the stable driving of the equipment in complex terrain.

[0017] The present invention provides a guiding track type operation control method applicable to hilly and mountainous areas. The traction force is automatically adjusted according to the slope change to avoid excessive energy consumption. At the same time, due to the guiding effect of the guiding track, the operation equipment does not need to frequently adjust the driving direction, reducing unnecessary energy consumption and wear, and at the same time reducing the equipment failure rate caused by complex terrain, thereby reducing the maintenance cost. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0019] Figure 1 is the flowchart of the method of the present invention; Figure 2 is the flowchart for obtaining the influencing factors of the abnormal operation state of the present invention; Figure 3 is the flowchart for correcting the steering of the operation equipment of the present invention. Detailed Embodiments

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1, as Figures 1 to 3 shown, the present invention provides a guiding rail type operation control method applicable to hilly and mountainous areas, including the following steps: Step 1: Collect topographic data of hilly and mountainous areas, including slope, aspect, valley location, and soil type, and plan the planting pattern of cash crops, gradually extending towards the mountaintop in the spiral manner of a mosquito coil, and mark the laying path of the track; the acquisition process of the topographic data of hilly and mountainous areas is as follows: Use unmanned aerial vehicle (UAV) aerial photography, satellite remote sensing, and ground measurement equipment to conduct topographic surveys on hilly and mountainous areas, extract the digital topographic maps and topographic data of hilly and mountainous areas, including elevation, slope, aspect, and valley location; the ground measurement equipment includes total station, RTK, GPS, etc. Collect soil samples at different regions in hilly and mountainous areas, including different positions at the mountaintop, hillside, valley, and foot of the mountain, determine the texture, fertility, and pH value of the soil, obtain soil data, and determine the soil type. At the same time, record the distribution of different soil types in hilly and mountainous areas, draw a soil type distribution map, where the texture includes sandy soil, loam, and clay, the fertility includes the contents of nitrogen, phosphorus, and potassium, and the pH value includes the pH value. Analyze the collected topographic data and soil data to determine suitable planting areas and potential obstacles, such as steep slopes and rocks, obtain an analysis report, and divide the hilly and mountainous areas into different slope grades to guide the design of the planting pattern. Based on the analysis report, design the planting pattern of cash crops, with the mountaintop as the center, plan the planting path in the spiral manner of a mosquito coil. If it is a single spiral, start from the foot of the mountain and spiral upwards along the hillside. The width of the spiral path is determined according to the planting spacing of cash crops and the size of the operation equipment; If it is a multi-spiral, according to the size and shape of the planting area, multiple spiral paths can be planned, and a certain distance is maintained between adjacent spiral paths to ensure the growth space of crops and the passage space of operation equipment. During the planning process, consider the growth characteristics of crops and agricultural production requirements to ensure that the spiral planting path can make full use of land resources and is convenient for the operation and management of operation equipment, and mark the laying path of the track, design the structure and material of the track, such as steel rails, concrete sleepers, etc., and organize the construction team to carry out the track laying and commissioning work; Step 2: According to the marked laying path, configure the working equipment and the traction device, and deploy offset measurement devices such as sensors and cameras on the working equipment to monitor the offset of the working equipment in real time and obtain offset data. The process of obtaining offset data is as follows: Select appropriate working equipment according to the terrain data and soil data of the hilly and mountainous areas, and configure appropriate traction devices according to the type of working equipment, including seeders, fertilizer spreaders, harvesters, etc., and the traction devices include tractors, electric traction machines, etc. At the same time, debug the working equipment and the traction device to ensure its stable performance and flexible operation. The debugging content includes functions such as starting, stopping, turning, and speed adjustment of the equipment, as well as the connection and cooperation between the traction device and the working equipment. The traction device is configured at the key nodes of the track, such as the track turning point, to help the equipment pass through complex terrain smoothly; Install a steering correction device on the working equipment, including a front-end steering mechanism and a rear-end steering mechanism, such as a hydraulic power steering system or an electronic steering control system, to improve steering accuracy and stability. At the same time, install offset measurement devices at the front and rear ends of the working equipment, including laser rangefinders and position sensors, to ensure that the offset of the equipment on the laying path can be monitored in real time. The front-end steering mechanism is used to control the driving direction of the equipment, and the rear-end steering mechanism is used to assist in adjusting the driving trajectory of the equipment to ensure its stability in complex terrain. Start the working equipment and the offset measurement device, start monitoring the offset data of the working equipment in real time, and transmit the offset data to the monitoring center wirelessly, and record the data transmitted by the offset measurement device in real time, including the offset amount, offset direction, etc.; Step 3: According to the obtained offset data, analyze the abnormal operating state of the working equipment, including the operating position, operating speed, and steering direction, and determine the influencing factors of the abnormal operating state, such as terrain undulation, soil hardness, equipment failure, etc. The process of obtaining the influencing factors of the abnormal operating state is as follows: Clean and align the collected offset data, preset the deviation thresholds of the offset amount, operating speed, and steering direction, including the offset amount threshold: Set the allowable offset range according to the operation requirements, the operating speed threshold: Define the normal speed range and the definition standard of abnormal speed, the steering direction threshold: Set the normal range of the steering angle or steering frequency, and transmit the actual operating position of the working equipment to the monitoring center to obtain the position influencing factor; Compare with the preset deviation threshold at the same time, identify the positions where the offset exceeds the range, observe the change trend of the offset, judge whether the operation continuously deviates from the path and periodically deviates, analyze the running speed of the operation equipment at different positions based on the offset data, obtain the speed influence factor, and calculate the speed anomaly analysis index. Identify the trend of abnormal speed changes, such as sudden acceleration, deceleration or irregular fluctuations. Conduct correlation analysis between the abnormal speed analysis index and the offset data to analyze the impact of speed changes on the offset. Conduct correlation analysis based on the change trend of the offset and the terrain data of the hilly and mountainous areas to obtain the steering influence factor, and calculate the steering anomaly analysis index to analyze the impact of terrain changes on the steering of the operation equipment. At the same time, compile a report on the abnormal operation status, including the time of occurrence of the anomaly, the duration, the operating parameters affected, etc. The report should include the influence factors and possible causes of the abnormal operation status; Step 4, based on the influence factors determining the abnormal operation status, obtain the magnitude and direction of the offset of the operation equipment during operation, and perform steering correction on the operation equipment. At the same time, adjust the traction device during the transfer process to cooperate with the transportation operation to ensure that the operation equipment can operate smoothly and efficiently. The process of performing steering correction on the operation equipment is as follows: Determine the current position of the operation equipment, and combine the obtained position influence factor, speed influence factor and steering influence factor to determine the abnormal operation status of the operation equipment. At the same time, obtain the abnormal operation coefficient based on the speed anomaly analysis index and the steering anomaly analysis index. Based on the current position of the operation equipment and the abnormal operation coefficient, calculate the offset of the operation equipment in the X-axis and Y-axis directions. According to the positive and negative values of the offset, determine the offset direction of the equipment, such as offset to the left or right, and the offset angle, and formulate a steering strategy in combination with the preset deviation threshold. According to the direction and magnitude of the offset, implement steering correction through the front-end steering mechanism and the rear-end steering mechanism on the operation equipment. When it is determined that the front end needs to be steered, the front-end steering mechanism performs a steering operation according to the set angle; Similarly, when the rear end needs to be steered, the rear-end steering mechanism performs the corresponding steering operation. During the steering process, continuously monitor the change of the offset to ensure that the steering correction effect meets the expectations. For example, set an offset threshold range table: when the offset is within the range of 0 - 1 cm, the steering angle is adjusted by 0.5° - 1° each time; when the offset is within the range of 1 - 3 cm, the steering angle is adjusted by 1° - 3° each time; when the offset is greater than 3 cm, the steering angle is adjusted by 3° - 10° each time. Based on the terrain data and soil data, determine the magnitude and direction of the traction force required for the traction device during the transfer process of the operation equipment. For example, if the transfer area is uphill and the soil is soft, a larger traction force is required and the traction direction is consistent with the track direction; if it is downhill and the soil is relatively hard, the traction force can be appropriately reduced, and the traction direction should also be reasonably determined according to the track direction and the equipment movement direction. And continuously monitor the operating status of the operation equipment and the traction device, including speed, direction and traction force, etc.; Step 5, during the transition process, by real-time monitoring the traction state of the traction device and the operating state of the working equipment, and matching with the terrain data, analyze the operating state of the working equipment under different terrain conditions, and dynamically adjust the operating state of the working equipment, including adjusting parameters such as operating speed, steering angle, and traction force, to adapt to terrain changes and equipment requirements; the process of dynamically adjusting the operating state of the working equipment is as follows: match the real-time position of the working equipment according to the obtained terrain data and soil data, obtain the matching result, and analyze the operating state of the working equipment under different terrain conditions, such as climbing ability, traction efficiency, etc., judge whether the equipment is in an abnormal state, such as excessive traction force, too fast speed, difficult steering, etc., preset the corresponding traction force threshold, ensure that the equipment can drive stably under different terrains without excessive energy consumption or equipment damage, based on the obtained matching result, dynamically adjust the traction force of the traction device and the driving speed of the working equipment, increase the traction force on the section with a large slope to ensure the stable driving of the equipment, reduce the traction force on flat terrain or when the speed is relatively fast to reduce energy consumption, and at the same time, when the traction device reaches the preset traction force threshold, send out a warning signal, according to the warning signal, analyze the warning type and severity, take corresponding emergency measures, such as reducing the traction force, adjusting the driving speed, stopping for inspection, etc., and adjust the operating state of the working equipment and the traction device after adjustment.

[0022] Example 2, as Figures 1 to 3 shown, on the basis of Example 1, the present invention provides a technical solution: Preferably, the calculation formula of the speed anomaly analysis index is: ; wherein, VAI is the speed anomaly analysis index, is the actual operating speed, is the expected operating speed, is the reference speed, is the maximum allowable operating speed, is the standard deviation of the speed, is a very small positive number; The calculation formula of the steering anomaly analysis index is: ; wherein, TAI is the steering anomaly analysis index, is the actual steering angle or steering frequency, is the expected steering angle or steering frequency, is the reference steering value, is the lateral offset, is the steering angle deviation, is the reference lateral offset, is the reference steering angle deviation; The calculation formula for the abnormal operation coefficient is as follows: ; Among them, AAC is the abnormal operation coefficient, VAI is the speed abnormal analysis index, which measures the degree of abnormality in terms of speed, and TAI is the steering abnormal analysis index, which measures the degree of abnormality in terms of steering. is the reference value of the speed abnormal analysis index, is the reference value of the steering abnormal analysis index, is the stability index of the equipment operation, is the threshold value of the stability index, which is used to judge whether the equipment operation is stable; The calculation formula for the offset in the X-axis direction: ; Among them, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the working equipment, is the Y-axis coordinate of the current position of the working equipment, and AAC is the abnormal operation coefficient; The calculation formula for the offset in the Y-axis direction: ; Among them, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the working equipment, is the Y-axis coordinate of the current position of the working equipment, and AAC is the abnormal operation coefficient.

[0023] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A guiding track type operation control method applicable to hilly and mountainous areas, characterized in that: Including the following steps: Step 1: Collect the topographic data of hilly and mountainous areas, including slope, aspect, valley location, and soil type, and plan the planting pattern of cash crops, gradually extending towards the mountaintop in a spiral manner, and mark the laying path of the track; Step 2: According to the marked laying path, configure the operation equipment and traction device, and deploy an offset measurement device on the operation equipment to monitor the offset of the operation equipment in real time and obtain offset data; Step 3: Analyze the abnormal operation status of the operation equipment based on the obtained offset data, including running position, running speed, and steering direction, and determine the influencing factors of the abnormal operation status; Step 4: Based on the influencing factors determining the abnormal operation status, obtain the magnitude and direction of the offset of the operation equipment, and perform steering correction on the operation equipment. At the same time, adjust the traction device during the transfer process to cooperate with the transportation operation; Step 5: During the transfer process, monitor the traction status of the traction device and the operation status of the operation equipment in real time, match them with the topographic data, analyze the operation status of the operation equipment under different topographic conditions, and dynamically adjust the operation status of the operation equipment.

2. The guiding rail type operation control method applicable to hilly mountainous areas according to claim 1, characterized in that: In the said Step 1, the process of obtaining the topographic data of hilly and mountainous areas is as follows: Step 101: Use drones for aerial photography, satellite remote sensing, and ground measurement equipment to conduct topographic surveys on hilly and mountainous areas, extract the digital topographic maps and topographic data of hilly and mountainous areas, including elevation, slope, aspect, and valley location; Step 102: Collect soil samples in different areas of hilly and mountainous areas, including different positions on the mountaintop, hillside, valley, and foot of the mountain, measure the texture, fertility, and pH value of the soil, obtain soil data, determine the soil type, and record the distribution of different soil types in hilly and mountainous areas at the same time, and draw a soil type distribution map; Step 103: Analyze the collected topographic data and soil data, determine the suitable planting areas and potential obstacles, obtain an analysis report, and divide the hilly and mountainous areas into different slope grades; Step 104: Based on the analysis report, design the planting pattern of cash crops, with the mountaintop as the center, plan the planting path in a spiral manner like a mosquito coil, mark the laying path of the track, design the structure and material of the track, and organize the construction team to carry out the track laying and commissioning work.

3. The guiding track type operation control method applicable to hilly and mountainous areas according to claim 2, wherein: In the said Step 2, the process of obtaining offset data is as follows: Step 201: Select suitable operation equipment according to the topographic data and soil data of hilly and mountainous areas, configure a suitable traction device according to the type of operation equipment, and debug the operation equipment and traction device at the same time; Step 202: Install a steering correction device on the operation equipment, including a front-end steering mechanism and a rear-end steering mechanism, and install offset measurement devices at both the front and rear ends of the operation equipment; Step 203: Start the operation equipment and the offset measurement device, start to monitor the offset data of the operation equipment in real time, and transmit the offset data to the monitoring center wirelessly, and record the data transmitted by the offset measurement device in real time.

4. A guiding track type operation control method applicable to hilly mountainous areas according to claim 3, characterized in that: In the said Step 3, the process of obtaining the influencing factors of the abnormal operation status is as follows: Step 301: Clean and align the collected offset data, preset the deviation thresholds for the offset, running speed, and steering direction, transmit the actual running position of the working equipment to the monitoring center, obtain the position influence factor, and at the same time compare it with the preset deviation threshold to identify the positions where the offset exceeds the range, observe the change trend of the offset, and judge whether the running continuously deviates from the path and periodic offset; Step 302: Analyze the running speed of the working equipment at different positions based on the offset data, obtain the speed influence factor, calculate the speed anomaly analysis index, identify the trend of abnormal speed change, and conduct a correlation analysis between the abnormal speed analysis index and the offset data to analyze the impact of speed change on the offset; Step 303: Conduct a correlation analysis based on the change trend of the offset and the terrain data of the hilly and mountainous areas, obtain the steering influence factor, calculate the steering anomaly analysis index, analyze the impact of terrain change on the steering of the working equipment, and at the same time compile an abnormal running state report.

5. The guiding rail type operation control method applicable to hilly mountainous areas according to claim 4, characterized in that: The calculation formula of the speed anomaly analysis index is: ； Among them, VAI is the velocity anomaly analysis index, is the actual running speed, is the expected running speed, is the reference speed, is the maximum allowable running speed, is the standard deviation of the speed, is a very small positive number; The calculation formula of the steering anomaly analysis index is: ； where TAI is the steering anomaly analysis index, is the actual steering angle, is the desired steering angle or steering frequency, is the reference steering value, is the lateral offset, is the steering angle deviation, is the reference lateral offset, is the reference steering angle deviation.

6. The guiding rail type operation control method applicable to hilly and mountainous areas according to claim 5, wherein: In Step 4, the process of steering correction for the working equipment is as follows: Step 401: Determine the current position of the working equipment, and determine the abnormal running state of the working equipment in combination with the obtained position influence factor, speed influence factor, and steering influence factor. At the same time, obtain the abnormal running coefficient based on the speed anomaly analysis index and the steering anomaly analysis index; Step 402: Based on the current position of the working equipment and the abnormal running coefficient, calculate the offset of the working equipment in the X-axis and Y-axis directions. According to the positive and negative values of the offset, determine the offset direction of the equipment and the offset angle, and formulate a steering strategy in combination with the preset deviation threshold; Step 403: Implement steering correction through the front-end steering mechanism and the rear-end steering mechanism on the working equipment according to the direction and magnitude of the offset. When it is determined that the front end needs to steer, the front-end steering mechanism steers according to the set angle. When the rear end needs to steer, the rear-end steering mechanism conducts the corresponding steering operation. During the steering process, continuously monitor the change of the offset; Step 404: Based on the terrain data and soil data, determine the magnitude and direction of the traction force required for the traction device during the transfer process of the working equipment, and monitor the running states of the working equipment and the traction device in real time.

7. A guiding track type operation control method applicable to hilly mountainous areas according to claim 6, characterized in that: The calculation formula of the abnormal running coefficient is: ； Among them, AAC is the abnormal operation coefficient, VAI is the speed anomaly analysis index, and TAI is the steering anomaly analysis index. is the reference value of the speed anomaly analysis index. is the reference value of the steering anomaly analysis index. is the stability index of equipment operation. is the threshold value of the stability index.

8. A guiding track type operation control method applicable to hilly and mountainous areas according to claim 7, characterized in that: The calculation formula of the offset in the X-axis direction: ； Among them, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the working device, is the Y-axis coordinate of the current position of the working device, and AAC is the abnormal operation coefficient; The calculation formula of the offset in the Y-axis direction: ； Among them, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the working device, is the Y-axis coordinate of the current position of the working device, and AAC is the abnormal operation coefficient.

9. The guiding rail type operation control method applicable to hilly and mountainous areas according to claim 8, characterized in that: In Step 5, the process of dynamically adjusting the running state of the working equipment is as follows: Step 501: Match the real-time position of the working equipment according to the obtained terrain data and soil data, obtain the matching result, analyze the running state of the working equipment under different terrain conditions, and preset the corresponding traction force threshold; Step 502: Dynamically adjust the traction force of the traction device and the running speed of the working equipment based on the obtained matching result, and at the same time issue a warning signal when the traction device reaches the preset traction force threshold; Step 503: Analyze the warning type and severity based on the warning signal, take corresponding emergency measures, and adjust the operating status of the operating equipment and the traction device.

Images