A guide rail operation control method suitable for hilly and mountainous areas

Abstract

The present invention discloses a guide track type operation control method suitable for hilly and mountainous areas, which relates to the field of guide track control technology and includes the following steps: collecting terrain data of hilly and mountainous areas, including slope, slope direction, valley location and soil type, and planning the planting pattern of economic crops, gradually extending to the top of the mountain in a spiral manner, and marking the laying path of the track; configuring the operating equipment and traction device according to the marked laying path, and deploying an offset measurement device on the operating equipment to monitor the offset of the operating equipment in real time and obtain offset data. The present invention reduces safety risks during the operation process by accurately controlling the driving route and operating status of the operating equipment. The guide track limits the driving range of the equipment to prevent the equipment from deviating from the established route due to operational 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 stable driving of the equipment in complex terrain.

Description

Technical Field

[0001] The present invention relates to the technical field of guide track control, and in particular to a guide track type operation control method suitable for hilly and mountainous areas. Background Art

[0002] In hilly and mountainous areas, the agricultural operating environment is complex and changeable, and the terrain is undulating, which brings many challenges to the operation of traditional agricultural equipment. The application of traditional track equipment and wheeled or crawler equipment in these areas has obvious limitations and cannot meet the needs of efficient, stable and safe operations. With the development of smart agriculture, guided track operating equipment has emerged, providing new solutions for agricultural operations in hilly and mountainous areas. Through clever design, guided track operating equipment has overcome the limitations of traditional agricultural equipment and can be applied to various complex terrains. The traction and support of the guide track prevents the occurrence of safety accidents such as rollover and overturning. At the same time, it can operate continuously, reduce downtime and manual intervention, and improve agricultural production efficiency.

[0003] In the existing technology, due to the complex and changeable terrain of hilly and mountainous areas, there are steep slopes, narrow valleys, and variable soil conditions. It is easy to cause safety accidents such as rollover and slippage due to unstable center of gravity, affecting the stability and safety of operations. Therefore, how to accurately control the guided track type operation equipment to move stably along the pre-laid track to ensure that it can continue to operate from the bottom of the slope to the top of the slope has become a key problem that needs to be solved urgently. To this end, a guided track type operation control method suitable for hilly and mountainous areas is proposed. Summary of the Invention

[0004] The object of the present invention is to provide a guide track type operation control method suitable for hilly and mountainous areas to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A guide rail operation control method suitable for hilly and mountainous areas comprises the following steps:

[0007] Step 1: Collect terrain data for the hilly and mountainous area, including slope, aspect, valley location, and soil type. Plan a planting pattern for cash crops, gradually extending toward the top of the mountain in the spiral pattern of mosquito coils, and mark the path for laying the track.

[0008] Step 2: Configure the working equipment and traction device according to the marked paving path, and deploy the offset measurement device on the working equipment to monitor the offset of the working equipment in real time and obtain the offset data;

[0009] Step 3: Analyze the abnormal operating status of the operating equipment based on the acquired offset data, including the operating position, operating speed, and steering direction, and determine the influencing factors of the abnormal operating status;

[0010] Step 4: Based on the factors affecting the abnormal operating state, the offset size and direction of the operating equipment are obtained, and the operating equipment is corrected. At the same time, the traction device is adjusted during the transfer process to cooperate with the transportation operation to ensure that the operating equipment can operate smoothly and efficiently.

[0011] Step 5. During the transfer process, by real-time monitoring of the traction status of the traction device and the operating status of the operating equipment, and matching them with the terrain data, the operating status of the operating equipment under different terrain conditions is analyzed, and the operating status of the operating equipment is dynamically adjusted, including adjusting parameters such as operating speed, steering angle, and traction force to adapt to terrain changes and equipment requirements.

[0012] A further improvement of the technical solution of the present invention is that in step 1, the process of acquiring the hilly and mountainous terrain data is as follows:

[0013] Step 101: Use drone aerial photography, satellite remote sensing, and ground surveying equipment to conduct a topographic survey of the hilly and mountainous areas, extracting digital topographic maps and topographic data of the hilly and mountainous areas, including elevation, slope, aspect, and valley locations;

[0014] Step 102: Soil samples are collected from different areas of the hilly and mountainous areas, including mountaintops, slopes, valleys, and foothills, to measure soil texture, fertility, and pH. Soil data is obtained and soil types are determined. The distribution of different soil types in the hilly and mountainous areas is recorded, and a soil type distribution map is drawn. Texture includes sand, loam, and clay; fertility includes nitrogen, phosphorus, and potassium content; and pH includes pH.

[0015] Step 103 : Analyze the collected terrain data and soil data to determine suitable planting areas and potential obstacles, obtain an analysis report, and classify the hilly and mountainous areas into different slope levels to guide the design of planting patterns;

[0016] Step 104, based on the analysis report, designs a planting pattern for cash crops. With the mountain top as the center, plans a planting path in the spiral pattern of mosquito coils, marks the track laying path, designs the track structure and material, and organizes a construction team to carry out track laying and debugging work.

[0017] A further improvement of the technical solution of the present invention is that in step 2, the process of obtaining the offset data is:

[0018] Step 201: Select appropriate working equipment based on the terrain and soil data of the hilly or mountainous area, and configure appropriate traction devices based on the type of working equipment, including seeders, fertilizer spreaders, and harvesters. Traction devices include tractors and electric tractors. Simultaneously, debug the working equipment and traction devices to ensure stable performance and flexible operation. Debugging includes functions such as starting, stopping, steering, and speed adjustment, as well as the connection and coordination between the traction device and the working equipment. Traction devices are deployed at key track nodes, such as track bends, to help the equipment navigate complex terrain smoothly.

[0019] Step 202: Install a steering correction device on the working equipment, including a front steering mechanism and a rear steering mechanism. Also, install offset measurement devices, including a laser rangefinder and a position sensor, at the front and rear ends of the working equipment to ensure real-time monitoring of the equipment's offset along the paving path. The front steering mechanism is used to control the equipment's direction of travel, and the rear steering mechanism is used to assist in adjusting the equipment's trajectory to ensure stability in complex terrain.

[0020] Step 203 , start the operating equipment and the offset measuring device, start real-time monitoring of the offset data of the operating equipment, and transmit the offset data to the monitoring center via wireless means, and record the data transmitted by the offset measuring device in real time, including the offset amount, offset direction, etc.

[0021] A further improvement of the technical solution of the present invention is that in step 3, the process of obtaining the influencing factors of the abnormal operating state is:

[0022] Step 301: Clean and align the collected offset data, and preset deviation thresholds for offset, operating speed, and steering direction. These include an offset threshold that sets the allowable offset range based on operational requirements, an operating speed threshold that defines the normal speed range and the criteria for determining abnormal speeds, and a steering direction threshold that sets the normal range for steering angles or steering frequencies. The actual operating position of the operating equipment is transmitted to the monitoring center, and the position influencing factor is obtained. This factor is then compared with the preset deviation threshold to identify locations where the offset exceeds the range. The offset trend is then observed to determine whether the operation continuously deviates from the path or whether there is periodic deviation.

[0023] Step 302: Analyze the operating speed of the operating equipment at different locations based on the offset data, obtain speed influencing factors, and calculate a speed abnormality analysis index to identify trends in abnormal speed changes, such as sudden acceleration, deceleration, or irregular fluctuations. Correlate the abnormal speed analysis index with the offset data to analyze the impact of speed changes on the offset.

[0024] Step 303: Perform correlation analysis based on the trend of the offset change and the terrain data of the 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 operating equipment and prepare an abnormal operation status report, including the time of occurrence, duration, and affected operating parameters of the abnormality. The report should include the influencing factors and possible causes of the abnormal operation status.

[0025] A further improvement of the technical solution of the present invention is that the calculation formula of the speed anomaly analysis index is:

[0026] ;

[0027] Among them, VAI is the speed anomaly analysis index, is the actual running speed, is the expected running speed, is the base speed, is the maximum allowed operating speed, is the standard deviation of velocity, is a very small positive number;

[0028] The calculation formula of the steering abnormality analysis index is:

[0029] ;

[0030] Among them, TAI is the steering abnormality analysis index, is the actual steering angle or steering frequency, 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.

[0031] A further improvement of the technical solution of the present invention is that in step 4, the process of correcting the steering of the operating equipment is as follows:

[0032] Step 401: Determine the current position of the operating equipment, and determine the abnormal operating state of the operating equipment based on the acquired position influence factor, speed influence factor, and steering influence factor. At the same time, obtain an abnormal operating coefficient based on the speed abnormality analysis index and the steering abnormality analysis index.

[0033] Step 402: Based on the current position of the operating equipment and the abnormal operation coefficient, the offset of the operating equipment in the X-axis and Y-axis directions is calculated. Based on the positive and negative values ​​of the offset, the device offset direction and offset angle are determined, and a steering strategy is formulated in combination with a preset deviation threshold.

[0034] Step 403: Based on the direction and magnitude of the offset, steering correction is performed by the front steering mechanism and the rear steering mechanism on the working equipment. When it is determined that front steering is required, the front steering mechanism performs a steering operation according to the set angle. Similarly, when rear steering is required, the rear steering mechanism performs a corresponding steering operation. During the steering process, the changes in the offset are continuously monitored to ensure that the steering correction effect meets the expectations.

[0035] Step 404 : Based on the terrain data and soil data, the traction force and traction direction required by the traction device are determined during the transfer of the working equipment, and the operating status of the working equipment and the traction device are monitored in real time.

[0036] A further improvement of the technical solution of the present invention is that the calculation formula of the abnormal operation coefficient is:

[0037] ;

[0038] Among them, AAC is the abnormal operation coefficient, VAI is the speed abnormal analysis index, which measures the abnormality of speed, and TAI is the steering abnormal analysis index, which measures the abnormality of steering. is the benchmark value of the speed anomaly analysis index, is the benchmark value of the steering anomaly analysis index, It is the stability index of equipment operation. It is the threshold of the stability indicator, used to determine whether the device is running stably.

[0039] A further improvement of the technical solution of the present invention is that the calculation formula of the offset in the X-axis direction is:

[0040] ;

[0041] in, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient;

[0042] The calculation formula of the offset in the Y-axis direction is:

[0043] ;

[0044] in, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient.

[0045] A further improvement of the technical solution of the present invention is that in step 5, the process of dynamically adjusting the operating status of the operating equipment is:

[0046] Step 501: Match the real-time position of the operating equipment based on the acquired terrain data and soil data, obtain the matching results, and analyze the operating status of the operating equipment under different terrain conditions, such as climbing ability and traction efficiency. Determine whether the equipment is in an abnormal state, such as excessive traction, excessive speed, or difficulty turning. Preset corresponding traction thresholds to ensure that the equipment can operate stably under different terrain conditions without excessive energy consumption or damage to the equipment.

[0047] Step 502: Based on the obtained matching results, the traction force of the traction device and the travel speed of the working equipment are dynamically adjusted. On a road with a large slope, the traction force is increased to ensure stable travel of the equipment. On flat terrain or at a high speed, the traction force is reduced to reduce energy consumption. At the same time, when the traction force of the traction device reaches a preset threshold, a warning signal is issued.

[0048] Step 503: Analyze the warning type and severity according to the warning signal, take corresponding emergency measures, such as reducing traction, adjusting driving speed, stopping for inspection, etc., and adjust the operating status of the rear operating equipment and traction device.

[0049] Due to the adoption of the above technical solution, the present invention has the following technical advancements compared to the prior art:

[0050] The present invention provides a guide track type operation control method suitable for hilly and mountainous areas. Through the preset guide track, a stable driving path is provided for the operation equipment, which not only greatly improves the operation efficiency, but also significantly improves the operation accuracy. The equipment runs smoothly along the track, avoiding errors and waste caused by terrain changes. At the same time, by real-time monitoring of the position offset and operating status of the operation equipment, the operation equipment is dynamically adjusted in combination with terrain and soil data to reduce the risk of skidding and overturning.

[0051] The present invention provides a guide track operation control method suitable for hilly and mountainous areas. By optimizing the steering and speed of the operating equipment, it reduces operation interruptions caused by terrain changes, improves operation continuity, and enables the equipment to automatically adjust the driving path according to the actual terrain, avoiding frequent stops and direction adjustments, thereby improving operation efficiency. In addition, through a preset spiral planting mode, continuous operation from the bottom of the slope to the top of the slope is achieved, reducing transition time and labor intensity.

[0052] The present invention provides a guide rail-type operation control method suitable for hilly and mountainous areas. By accurately controlling the driving route and operating status of the operating equipment, the safety risks during the operation process are reduced. The guide rail limits the driving range of the equipment to prevent the equipment from deviating from the established route due to operational 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 stable operation of the equipment in complex terrain.

[0053] The present invention provides a guide rail-type operation control method suitable for hilly and mountainous areas. The method automatically adjusts traction according to changes in slope to avoid excessive energy consumption. At the same time, due to the guiding effect of the guide rail, the operating equipment does not need to frequently adjust the driving direction, which reduces unnecessary energy consumption and wear, and at the same time reduces the equipment failure rate caused by complex terrain, thereby reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0055] Figure 1 is a flow chart of the method of the present invention;

[0056] Figure 2 This is a flow chart for obtaining the influencing factors of the abnormal operating state of the present invention;

[0057] Figure 3 This is a flow chart of the present invention for performing steering correction on operating equipment. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] Example 1, as Figures 1 to 3 As shown, the present invention provides a guide rail operation control method suitable for hilly and mountainous areas, comprising the following steps:

[0060] Step 1: Collect terrain data of hilly and mountainous areas, including slope, aspect, valley location and soil type, and plan the planting pattern of economic crops, gradually extending to the top of the mountain in the spiral manner of mosquito coils, and mark the track laying path; the process of obtaining terrain data of hilly and mountainous areas is as follows: use drone aerial photography, satellite remote sensing and ground measurement equipment to conduct terrain surveys of hilly and mountainous areas, extract digital topographic maps and terrain data of hilly and mountainous areas, including elevation, slope, aspect and valley location; ground measurement equipment includes total stations, RTK, GPS, etc., collect soil samples in different areas of hilly and mountainous areas, including different locations of mountain tops, slopes, valleys and foot of the mountain, measure the texture, fertility and pH 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 texture includes sandy soil, loam, and clay, fertility includes nitrogen, phosphorus, and potassium content, and pH includes pH Analyze the collected terrain 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 area into different slope grades to guide the design of planting patterns. Based on the analysis report, design a planting pattern for cash crops. With the top of the mountain as the center, plan the planting path in the spiral pattern of mosquito coils. If it is a single spiral, start from the foot of the mountain and spiral upward along the hillside. The width of the spiral path is determined by the planting spacing of cash crops and the size of the operating equipment.

[0061] If it is a multi-spiral track, multiple spiral paths can be planned according to the size and shape of the planting area. A certain distance should be maintained between adjacent spiral paths to ensure space for crop growth and passage of operating equipment. During the planning process, the growth characteristics of crops and agricultural production requirements should be considered to ensure that the spiral planting paths can fully utilize land resources and facilitate the operation and management of operating equipment. The track laying path should be marked, and the track structure and material, such as steel rails and concrete sleepers, should be designed. The construction team should be organized to carry out track laying and commissioning work.

[0062] Step 2: Configure the operating equipment and traction devices according to the marked paving path, and deploy offset measurement devices, such as sensors and cameras, on the operating equipment to monitor the offset of the operating equipment in real time and obtain offset data. The process of obtaining offset data is as follows: select appropriate operating equipment based on the terrain data and soil data of the hilly and mountainous area, and configure appropriate traction devices according to the type of operating equipment, including seeders, fertilizer spreaders, harvesters, etc., and traction devices including tractors and electric traction machines. At the same time, debug the operating equipment and traction devices to ensure their stable performance and flexible operation. The debugging content includes the equipment's start, stop, steering, speed adjustment and other functions, as well as the connection and coordination between the traction device and the operating equipment. The traction device is configured at key nodes of the track, such as track bends, to help the equipment smoothly pass through complex terrain.

[0063] Install steering correction devices on the operating equipment, including front and rear steering mechanisms, such as hydraulic power steering systems or electronic steering control systems, to improve steering accuracy and stability. Install offset measurement devices, including laser rangefinders and position sensors, at the front and rear ends of the operating equipment to ensure real-time monitoring of the equipment's offset on the paved path. The front steering mechanism is used to control the equipment's direction of travel, while the rear steering mechanism is used to assist in adjusting the equipment's trajectory to ensure stability in complex terrain. Start the operating equipment and offset measurement devices, begin real-time monitoring of the equipment's offset data, and transmit the offset data wirelessly to the monitoring center. Record the data transmitted by the offset measurement devices, including the offset amount and offset direction, in real time.

[0064] Step 3: Based on the acquired offset data, analyze the abnormal operating status of the operating equipment, including operating position, operating speed, and steering direction, and determine the influencing factors of the abnormal operating status, such as terrain undulation, soil hardness, equipment failure, etc. The process of acquiring the influencing factors of the abnormal operating status is as follows: data cleaning and data alignment of the collected offset data, preset deviation thresholds for offset, operating speed, and steering direction, including offset threshold: setting the allowable offset range according to the operation requirements, operating speed threshold: defining the normal speed range and the definition standard of abnormal speed, steering direction threshold: setting the normal range of steering angle or steering frequency, and transmitting the actual operating position of the operating equipment to the monitoring center to obtain the position influencing factors;

[0065] At the same time, it is compared with the preset deviation threshold to identify the position where the offset exceeds the range, observe the trend of the offset change, determine whether the operation continuously deviates from the path and periodically deviates, analyze the operating speed of the operating equipment at different positions based on the offset data, obtain the speed influencing factor, and calculate the speed abnormality analysis index, identify the trend of abnormal speed changes, such as sudden acceleration, deceleration or irregular fluctuations, correlate the abnormal speed analysis index with the offset data, analyze the impact of speed changes on the offset, and perform correlation analysis based on the trend of offset changes and the terrain data of hilly and mountainous areas to obtain the steering influencing factor and calculate the steering abnormality analysis index, analyze the impact of terrain changes on the steering of the operating equipment, and prepare an abnormal operation status report, including the time of occurrence of the abnormality, duration, affected operating parameters, etc. The report should include the influencing factors and possible causes of the abnormal operation status;

[0066] Step 4, based on the influencing factors of the abnormal operating state, obtain the offset size and direction of the operating equipment, and make steering corrections to the operating equipment. At the same time, adjust the traction device during the transfer process to cooperate with the transportation operation to ensure that the operating equipment can operate smoothly and efficiently; the process of steering correction of the operating equipment is as follows: determine the current position of the operating equipment, and determine the abnormal operating state of the operating equipment in combination with the obtained position influencing factors, speed influencing factors and steering influencing factors, and at the same time obtain the abnormal operation coefficient based on the speed abnormality analysis index and the steering abnormality analysis index; based on the current position of the operating equipment and the abnormal operation coefficient, calculate the offset of the operating equipment in the X-axis and Y-axis directions; according to the positive and negative values ​​of the offset, determine the equipment offset direction, such as left or right offset, and the offset angle; and formulate a steering strategy in combination with a preset deviation threshold; according to the direction and size of the offset, implement steering correction through the front steering mechanism and the rear steering mechanism on the operating equipment; when it is determined that the front steering is required, the front steering mechanism performs the steering operation according to the set angle;

[0067] Similarly, when the rear of the vehicle needs to turn, the rear steering mechanism performs the corresponding steering operation. During the steering process, the offset changes are continuously monitored to ensure that the steering correction effect meets the expectations. For example, a table of offset threshold ranges is set: when the offset is in the range of 0-1 cm, the steering angle is adjusted by 0.5°-1° each time; when the offset is in 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 terrain data and soil data, the traction force and traction direction required by the traction device are determined during the transfer of the operating equipment. For example, if the transfer area is uphill and the soil is loose, greater traction force is required and the traction direction is consistent with the track direction; if it is downhill and the soil is hard, the traction force can be appropriately reduced, and the traction direction should also be reasonably determined based on the track direction and the direction of equipment movement. The operating status of the operating equipment and traction device, including speed, direction, and traction force, is monitored in real time.

[0068] Step 5: During the transfer process, the traction status of the traction device and the operating status of the operating equipment are monitored in real time and matched with the terrain data. The operating status of the operating equipment under different terrain conditions is analyzed, and the operating status of the operating equipment is dynamically adjusted, including adjusting the operating speed, steering angle, traction force and other parameters to adapt to terrain changes and equipment requirements. The process of dynamically adjusting the operating status of the operating equipment is as follows: the real-time position of the operating equipment is matched according to the acquired terrain data and soil data, the matching results are obtained, and the operating status of the operating equipment under different terrain conditions, such as climbing ability, traction efficiency, etc., is analyzed to determine whether the equipment is in an abnormal state, such as excessive traction, too fast speed, steering The corresponding traction threshold is preset to ensure that the equipment can travel stably under different terrains without excessively consuming energy or damaging the equipment. Based on the obtained matching results, the traction of the traction device and the driving speed of the operating equipment are dynamically adjusted. On sections with larger slopes, the traction is increased to ensure stable driving of the equipment. On flat terrain or at higher speeds, the traction is reduced to reduce energy consumption. At the same time, when the traction device reaches the preset traction threshold, an early warning signal is issued. According to the early warning signal, the warning type and severity are analyzed, and corresponding emergency measures are taken, such as reducing traction, adjusting driving speed, stopping for inspection, etc., and the operating status of the operating equipment and traction device are adjusted.

[0069] Example 2, as Figures 1 to 3 As shown, based on Example 1, the present invention provides a technical solution: Preferably, the calculation formula of the speed anomaly analysis index is:

[0070] ;

[0071] Among them, VAI is the speed anomaly analysis index, is the actual running speed, is the expected running speed, is the base speed, is the maximum allowed operating speed, is the standard deviation of velocity, is a very small positive number;

[0072] The calculation formula of the steering abnormality analysis index is:

[0073] ;

[0074] Among them, TAI is the steering abnormality analysis index, is the actual steering angle or steering frequency, 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;

[0075] The calculation formula of abnormal operation coefficient is:

[0076] ;

[0077] Among them, AAC is the abnormal operation coefficient, VAI is the speed abnormal analysis index, which measures the abnormality of speed, and TAI is the steering abnormal analysis index, which measures the abnormality of steering. is the benchmark value of the speed anomaly analysis index, is the benchmark value of the steering anomaly analysis index, It is the stability index of equipment operation. It is the threshold value of the stability index, which is used to judge whether the equipment is running stably;

[0078] The calculation formula for the offset in the X-axis direction is:

[0079] ;

[0080] in, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient;

[0081] The calculation formula for the offset in the Y-axis direction is:

[0082] ;

[0083] in, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient.

[0084] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A guide rail operation control method suitable for hilly and mountainous areas, characterized by: The following steps are involved: Step 1: Collect terrain data for the hilly and mountainous area, including slope, aspect, valley location, and soil type. Plan a planting pattern for cash crops, gradually extending toward the top of the mountain in a spiral pattern, and mark the path for laying the track. Step 2: Configure the working equipment and traction device according to the marked paving path, and deploy an offset measurement device on the working equipment to monitor the offset of the working equipment in real time and obtain offset data; Step 3: Analyze the abnormal operating status of the operating equipment based on the acquired offset data, including the operating position, operating speed, and steering direction, and determine the influencing factors of the abnormal operating status; 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, preset deviation thresholds for offset, operating speed, and steering direction, and transmit the actual operating position of the operating equipment to the monitoring center to obtain the position influencing factor. This factor is compared with the preset deviation threshold to identify locations where the offset exceeds the range. The trend of the offset is observed to determine whether the operation continuously deviates from the path or periodically deviates. Step 302: Analyze the operating speed of the operating equipment at different locations based on the offset data, obtain the speed influencing factor, calculate the speed abnormality analysis index, identify the trend of abnormal speed changes, and correlate the abnormal speed analysis index with the offset data to analyze the impact of speed changes on the offset. Step 303: Perform correlation analysis based on the offset change trend and the hilly and mountainous terrain data to obtain the steering influencing factor and calculate the steering anomaly analysis index to analyze the impact of terrain changes on the steering of the operating equipment and prepare an abnormal operation status report; The calculation formula of speed anomaly analysis index is: ； Among them, VAI is the speed anomaly analysis index, is the actual running speed, is the expected running speed, is the base speed, is the maximum allowed operating speed, is the standard deviation of velocity, is a very small positive number; The calculation formula of the steering abnormality analysis index is: ； Among them, TAI is the steering abnormality 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; Step 4: Based on the factors affecting the abnormal operating state, the offset size and direction of the operating equipment are obtained, and the steering of the operating equipment is corrected. At the same time, the traction device is adjusted during the transfer process to cooperate with the transportation operation; In step 4, the process of correcting the steering of the operating equipment is as follows: Step 401: Determine the current position of the operating equipment, and determine the abnormal operating state of the operating equipment based on the acquired position influence factor, speed influence factor, and steering influence factor. At the same time, obtain an abnormal operating coefficient based on the speed abnormality analysis index and the steering abnormality analysis index. Step 402: Based on the current position of the operating equipment and the abnormal operation coefficient, the offset of the operating equipment in the X-axis and Y-axis directions is calculated. Based on the positive and negative values ​​of the offset, the device offset direction and offset angle are determined, and a steering strategy is formulated in combination with a preset deviation threshold. Step 403: Based on the direction and magnitude of the offset, steering correction is performed by the front steering mechanism and the rear steering mechanism on the working equipment. When it is determined that front steering is required, the front steering mechanism performs a steering operation according to a set angle. When rear steering is required, the rear steering mechanism performs a corresponding steering operation. During the steering process, changes in the offset are continuously monitored. Step 404, based on the terrain data and soil data, during the operation equipment transfer process, determine the traction force and traction direction required by the traction device, and monitor the operating status of the operation equipment and the traction device in real time; The calculation formula of abnormal operation coefficient is: ； Among them, AAC is the abnormal operation coefficient, VAI is the speed abnormal analysis index, TAI is the steering abnormal analysis index, is the benchmark value of the speed anomaly analysis index, is the benchmark value of the steering anomaly analysis index, It is the stability index of equipment operation. is the threshold value of the stability indicator; Step 5: During the transfer process, the traction status of the traction device and the operating status of the working equipment are monitored in real time, and matched with the terrain data to analyze the operating status of the working equipment under different terrain conditions and dynamically adjust the operating status of the working equipment; In step 5, the process of dynamically adjusting the operating status of the operating equipment is as follows: Step 501: Match the real-time position of the working equipment based on the acquired terrain data and soil data, obtain a matching result, analyze the operating status of the working equipment under different terrain conditions, and preset corresponding traction thresholds; Step 502: Dynamically adjust the traction force of the traction device and the travel speed of the working equipment based on the obtained matching result, and issue a warning signal when the traction force of the traction device reaches a preset threshold value; Step 503: Analyze the warning type and severity according to the warning signal, take corresponding emergency measures, and adjust the operating status of the operating equipment and traction device.

2. The guide rail operation control method suitable for hilly and mountainous areas according to claim 1, characterized in that: In step 1, the process of acquiring hilly and mountainous terrain data is as follows: Step 101: Use drone aerial photography, satellite remote sensing, and ground surveying equipment to conduct a topographic survey of the hilly and mountainous areas, extracting digital topographic maps and topographic data of the hilly and mountainous areas, including elevation, slope, aspect, and valley locations; Step 102: Collect soil samples from different areas of the hilly and mountainous areas, including mountain tops, slopes, valleys, and different locations at the foot of the mountain. The soil texture, fertility, and pH are measured to obtain soil data and determine the soil type. The distribution of different soil types in the hilly and mountainous areas is also recorded, and a soil type distribution map is drawn. Step 103 : Analyze the collected terrain data and soil data to determine suitable planting areas and potential obstacles, obtain an analysis report, and classify the hilly and mountainous areas into different slope levels; Step 104, based on the analysis report, designs a planting pattern for cash crops. With the mountain top as the center, plans a planting path in the spiral pattern of mosquito coils, marks the track laying path, designs the track structure and material, and organizes a construction team to carry out track laying and debugging work.

3. The guide rail operation control method suitable for hilly and mountainous areas according to claim 2, characterized in that: In step 2, the process of obtaining the offset data is as follows: Step 201: Select appropriate working equipment based on the terrain and soil data of the hilly or mountainous area, configure appropriate traction devices based on the type of working equipment, and debug the working equipment and traction devices. Step 202: Install a steering correction device on the working equipment, including a front steering mechanism and a rear steering mechanism, and install an offset measurement device at the front and rear ends of the working equipment. Step 203 , starting the operating equipment and the offset measuring device, starting to monitor the offset data of the operating equipment in real time, transmitting the offset data to the monitoring center via wireless means, and recording the data transmitted by the offset measuring device in real time.

4. The guide rail operation control method suitable for hilly and mountainous areas according to claim 1, characterized in that: The calculation formula of the offset in the X-axis direction is: ； in, is the offset in the X-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient; The calculation formula of the offset in the Y-axis direction is: ； in, is the offset in the Y-axis direction, is the X-axis coordinate of the current position of the operating equipment, is the Y-axis coordinate of the current position of the operating equipment, and AAC is the abnormal operation coefficient.

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