Hilly and mountainous area rail-mounted operation equipment offset control method based on position sensor

Abstract

The invention discloses a hilly and mountainous area track type operation equipment offset control method based on a position sensor, and relates to the technical field of agricultural machinery intellectualization. Terrain division is performed on a hilly mountain, commercial crops are planted in multiple rows along the contour line of the mountain, and an operation track of operation equipment is deployed; the operation equipment is loaded to the operation track, connection debugging of the operation equipment is conducted, and a position sensor is configured to conduct initialization setting so as to detect the offset; after the operation equipment is started, the position sensor continuously monitors the position of the operation equipment relative to the track. The running track and the offset of the operation equipment are monitored in real time through the position sensor, operation of the equipment on the track of the hilly and mountainous area is accurately controlled, the phenomenon that the equipment deviates from the track due to topographic relief factors is effectively reduced, and therefore the operation precision is improved, and meanwhile the control strategy is dynamically adjusted, so that the operation efficiency is improved. Deviation is automatically corrected according to real-time feedback, and a stable driving state is kept.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery, and in particular to a method for controlling the offset of track-type operating equipment in hilly and mountainous areas based on a position sensor. Background Art

[0002] The hilly and mountainous areas have complex and changeable terrain, with undulating topography, which places high demands on the stability and safety of operating equipment. Track-type operating equipment has the advantages of good stability and strong adaptability, and can maintain stable operation in complex terrains such as hilly and mountainous areas. However, during actual operations, due to factors such as terrain changes and soil conditions, the equipment may deviate, affecting the accuracy and safety of operations. Position sensors can monitor the position and status of the equipment in real time, providing key data support for deviation control.

[0003] Although guide rails can significantly improve the operating capabilities of operating equipment in hilly and mountainous areas, the adaptability of guide rails and operating equipment will be limited in the face of complex and irregular terrain. The influence of the terrain will cause the operating equipment to be unable to remain stable even if the rails are installed due to the irregularity of the terrain, thereby affecting the effect of offset control. Therefore, how to accurately control the offset to ensure the stability of the operating equipment is the problem we need to solve. To this end, a method for offset control of track-type operating equipment in hilly and mountainous areas based on position sensors is proposed. Summary of the Invention

[0004] The present invention aims to provide a method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor comprises the following steps: Step 1: Divide the hilly terrain, plant cash crops in multiple rows along the contour lines of the hills, and deploy tracks for operating equipment; Step 2: Load the operating equipment onto the running track, perform connection debugging of the operating equipment, and configure the position sensor for initialization to detect the offset; Step 3: After the working equipment is started, the position sensor continuously monitors the position of the working equipment relative to the track, and then calculates the current offset and direction of the working equipment; Step 4: Based on the calculated offset and its direction, implement the offset control strategy to adjust the travel direction of the working equipment so that the working equipment can continuously move forward and operate along the direction of the running track; Step 5: After the deviation control strategy is implemented, the driving status of the operating equipment is continuously monitored, and the control strategy is adjusted and optimized according to the feedback signal.

[0006] A further improvement of the technical solution of the present invention is that in step 1, the deployment process of the operating equipment running track is: Step 101: Use terrain surveying tools (satellite remote sensing and drone mapping) to survey the hills and mountains to obtain terrain data, including the elevation, slope, and relief of the mountains. Based on the terrain data, a topographic map is drawn, including information such as contour lines, slope, and aspect. Step 102: Divide the hilly area into different planting areas and operation areas based on the topographic map. The planting areas are selected in areas with fertile soil, sufficient water resources, and good lighting conditions, and the operation areas are selected in areas that are convenient for the operation and parking of operation equipment, while also considering the impact of the terrain on operation efficiency. Step 103: Based on the hilly terrain demarcation results, contour planting rows and operating tracks for working equipment are planned and designed. Arc-shaped track connection points are designed to ensure smooth transitions between different planting rows, forming a continuous operating channel. The planning considers the appropriate spacing between crops, the operating width of the working equipment, and the turning radius. Step 104: land preparation is performed in the selected planting area, including tilling the soil, leveling the land, and clearing rocks and weeds to prepare for planting and track deployment. The track foundation for the operating equipment is constructed along the contour lines according to the planned design. Step 105: Install a C-shaped guide rail on the constructed running rail to ensure the stability and durability of the rail, and install an arc-shaped rail at the connection point of the rail to connect adjacent planting rows to form a complete operation channel; Step 106, according to the planned design, economic crops are planted in different planting rows. According to the crop growth characteristics and space requirements, the planting density and row spacing are planned to ensure that the planting of crops complies with the principle of contour planting, so as to facilitate soil and water conservation and mechanized operations, and crops are planted near the planting rows where the tracks are installed so that the operating equipment can operate effectively along the tracks.

[0007] A further improvement of the technical solution of the present invention is that in step 2, the loading and connection debugging process of the operating equipment is as follows: Step 201: Perform a comprehensive inspection of the operating equipment to ensure that it is in good working condition and free of faults or damage. The power system (engine, motor, etc.), transmission system (gearbox, drive shaft, etc.), and control system (electronic control unit, sensors, etc.) of the operating equipment are also inspected to ensure normal operation. The operating equipment includes planters, fertilizer spreaders, harvesters, tillers, and weeders. Step 202: Move the working equipment to the predetermined running track position, align the docking portion of the working equipment with the connection point of the track, and use a locking device (bolt, buckle, etc.) to preliminarily fix the working equipment to the track to prevent it from moving or falling off during operation; Step 203: Install elastic connection mechanisms at the front and rear ends of the working equipment. The elastic connection mechanisms play a buffering and stabilizing role. The elastic connection mechanisms are composed of a slider, a track, and a return spring. Adjust the relative positions of the slider and the track wheel to ensure that the working equipment can move smoothly along the track. Install a position sensor on the elastic connection mechanism and adjust the installation position of the position sensor so that the position sensor covers the entire working area.

[0008] A further improvement of the technical solution of the present invention is that in step 3, the calculation process of the working equipment offset and its direction is: Step 301: Start the power supply and control system of the working equipment, perform a self-check to ensure that all systems are functioning properly, and activate the position sensor. The position sensor monitors the position of the working equipment relative to the running track in real time by transmitting and receiving signals. Step 302: Use a position sensor to collect position data of the working equipment relative to the track, and transmit the monitored position information to the control system. The position information is analyzed to obtain various parameters, including the position coordinates of the working equipment on the track, the geometric parameters of the track, the speed of the working equipment, acceleration data, the size parameters and shape parameters of the working equipment, and the center of gravity of the working equipment, to obtain an offset state sequence table; Step 303: Based on the relevant data in the offset state sequence table, calculate the offset of the working equipment relative to the track through data analysis, where the offset is expressed as the horizontal offset of the equipment in the track direction and the vertical offset perpendicular to the track direction; Step 304, preset the offset threshold range, determine the maximum allowable offset, combine the calculated offset of the working equipment relative to the track, calculate the offset evaluation index, determine whether adjustment is needed, and determine the direction of the offset based on the positive or negative value of the offset. If the offset is positive, it means that the working equipment is offset to the right side of the track. If the offset is negative, it means that the working equipment is offset to the left side of the track.

[0009] A further improvement of the technical solution of the present invention is that the calculation expression of the offset of the working equipment relative to the track is: ; in, is the offset of the working equipment relative to the track, v is the speed of the working equipment, r is the curvature radius of the track, is the acceleration of the working equipment, w is the width of the working equipment, h is the height of the working equipment, 、 、 They represent the coordinates of the center of gravity of the working equipment on the x, y and z axes respectively.

[0010] A further improvement of the technical solution of the present invention is that the calculation expression of the deviation evaluation index is: ; Among them, DEI is the deviation evaluation index, is the offset of the working equipment relative to the track, The maximum allowable offset, DEI ranges from 0 to 1. When it is equal to 0, DEI is 1, indicating no offset. Equal to the maximum allowed offset When DEI is 0, it means that the maximum allowable deviation is reached.

[0011] A further improvement of the technical solution of the present invention is that in step 4, the implementation process of the offset control strategy is: Step 401: Analyze the deviation evaluation index to determine the actual deviation of the working equipment, and determine the deviation direction based on the positive or negative value of the deviation, where a positive value indicates a deviation to the right of the track and a negative value indicates a deviation to the left of the track; Step 402: Select an offset control strategy based on the offset magnitude and offset direction, and determine the required adjustment action. The control strategy includes adjusting the steering angle, changing the driving speed, and adjusting the operating mode. If steering control is used, the steering angle of the steering wheel is adjusted based on the offset magnitude and direction. If speed control is used, the offset is adjusted by accelerating or decelerating. If operating mode adjustment is used, the operating state or parameters of the operating equipment are changed to correct the offset. Step 403: Send a control instruction to the actuator to implement the deviation control strategy. The actuator performs corresponding adjustment actions according to the control instruction to adjust the driving direction of the working equipment so that it gradually returns to the correct track. Step 404: Evaluate the effectiveness of the adjustment action and check whether the offset has returned to the preset offset threshold range. If the offset has not returned to the threshold range, continue to adjust the control strategy until the offset reaches the required level. Detect the implementation process of the offset control strategy and calculate the abnormality identification coefficient to identify abnormal conditions in the implementation of the offset control strategy, including failure of the actuator to respond or a sharp change in the offset. Then, initiate the abnormality handling procedure, including suspending the operation, issuing an alarm, or automatically adjusting the operating equipment to a safe state. Step 405: When the offset of the working equipment is controlled within the allowable range, the working equipment travels stably along the direction of the running track, and on the basis of stable travel, the working equipment continuously performs operations such as sowing, fertilizing, harvesting, plowing or weeding.

[0012] A further improvement of the technical solution of the present invention is that the abnormal situation identification process during the implementation of the offset control strategy is as follows: Step 4041: During the execution of the offset control strategy, the real-time position and offset of the working equipment are continuously monitored, the response of the actuator is tracked, data related to the offset, actuator status, and working equipment performance are collected, and the execution results of the offset control strategy are recorded, including the operating status of the actuator and the trend of the offset. Step 4042: Preset abnormal thresholds for actuator response time and offset change rate based on the characteristics and operational requirements of the operating equipment. Step 4043 , by comparing the real-time data with the preset abnormality threshold, the abnormality identification coefficient is calculated to identify the existing abnormality and check whether the offset has changed dramatically or whether the actuator has failed to respond according to the instruction; Step 4044: Further analyze the abnormality identification coefficient to determine the location of the abnormality and the source of the problem. After the abnormality is identified, the operation of the operating equipment is suspended to prevent further deterioration of the situation. An alarm is issued to the operator to notify the abnormality and provide relevant fault information. Step 4045 records the time, type, and location of the abnormal situation. Under the premise of ensuring safety, perform troubleshooting and repair work to restore the normal operation of the operating equipment. After the troubleshooting and repair are completed, perform functional testing on the operating equipment to ensure that the problem has been resolved and restore the normal operation of the operating equipment.

[0013] A further improvement of the technical solution of the present invention is that the calculation expression of the abnormality recognition coefficient is: ; Among them, A is the anomaly identification coefficient, is the actual response time of the actuator, is the abnormal threshold of the actuator response time, is the actual rate of change of the offset, is the abnormal threshold of the offset change rate, and the value range of A is 0 to 1. and When both are 0, A is 1, indicating no abnormality. equal or equal When , A is 0, indicating an abnormal situation.

[0014] Due to the adoption of the above technical solution, the present invention has the following technical advancements compared to the prior art: The present invention provides a method for controlling the offset of track-type working equipment in hilly and mountainous areas based on a position sensor. The method monitors the driving trajectory and offset of the working equipment in real time through the position sensor, accurately controls the operation of the equipment on the track in hilly and mountainous areas, effectively reduces the phenomenon of equipment deviation from the track due to terrain undulations, thereby improving the working accuracy. At the same time, through dynamic adjustment of the control strategy, the offset is automatically corrected according to real-time feedback to maintain a stable driving state.

[0015] The present invention provides a method for controlling the offset of track-type working equipment in hilly and mountainous areas based on a position sensor. By analyzing the changes in the working equipment status and terrain conditions in real time, the control strategy is intelligently adjusted, so that the working equipment can maintain stable driving under different terrain conditions. The working parameters can also be automatically adjusted according to changes in working requirements to realize intelligent operation, further improving the flexibility and adaptability of the working equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 is a flow chart of the method of the present invention; Figure 2 A flow chart for calculating the offset and direction of the working equipment of the present invention; Figure 3 Flowchart for the implementation of the offset control strategy of the present invention; Figure 4 This is a flow chart for identifying abnormal situations during the implementation of the offset control strategy of the present invention. DETAILED DESCRIPTION

[0018] 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.

[0019] Example 1, as Figure 1 、 Figure 2As shown, the present invention provides a method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor, comprising the following steps: Step 1: Divide the hilly mountain into terrain, plant cash crops in multiple rows along the mountain contours, and deploy the operating tracks of the operating equipment. Use terrain mapping tools (satellite remote sensing and drone mapping) to survey the hilly mountain to obtain terrain data, including the elevation, slope, and terrain undulation data of the mountain. Based on the terrain data, draw a terrain map, including information such as contour lines, slope, and slope direction. According to the terrain map, divide the hilly mountain into different planting areas and operating areas. Among them, the planting area is selected in an area with fertile soil, sufficient water resources, and good lighting conditions. The operating area is selected in a place that is convenient for the operation and parking of the operating equipment. At the same time, considering the impact of the terrain on the operating efficiency, based on the division results of the hilly mountain, plan and design the planting rows of the contour lines and the operating tracks of the operating equipment, and design arc-shaped track connection points to ensure a smooth transition between the operating tracks between different planting rows to form a continuous operating channel. Among them, the planning takes into account the reasonable spacing of crop planting, the operating width and turning radius of the operating equipment, and conducts land preparation in the selected planting area, including turning over the soil, leveling the land, and removing stones and weeds to prepare for planting and track deployment. According to the planning and design, the operating track foundation of the operating equipment is constructed along the contour line, and the C-type guide track is installed on the constructed operating track foundation to ensure the stability and durability of the track. Circular arc tracks are installed at the connection points of the tracks to connect adjacent planting rows to form a complete operating channel. According to the planning and design, economic crops are planted on different planting rows. According to the growth characteristics of crops and space requirements, the planting density and row spacing are planned to ensure that the planting of crops complies with the principle of contour planting, which is conducive to soil and water conservation and mechanized operations. Crops are planted near the planting rows where the tracks are installed so that the operating equipment can effectively operate along the tracks. Step 2: Load the operating equipment onto the running track, perform connection debugging on the operating equipment, configure the position sensor for initialization to detect offset, conduct a comprehensive inspection of the operating equipment to ensure that it is in good working condition and free of faults or damage, and inspect the power system (engine, motor, etc.), transmission system (gearbox, drive shaft, etc.), and control system (electronic control unit, sensors, etc.) of the operating equipment to ensure their normal operation. The operating equipment includes planters, fertilizer spreaders, harvesters, tillers, and weeders. Move the operating equipment to the predetermined running track position, align the docking part of the operating equipment with the connection point of the track, and use locking devices (bolts, buckles, etc.) to preliminarily secure the operating equipment to the track to prevent it from moving or falling off during operation. An elastic connection mechanism is installed at the front and rear ends of the operating equipment. The elastic connection mechanism plays a buffering and stabilizing role. The elastic connection mechanism is composed of a slider, a track and a return spring. The relative position of the slider and the track wheel is adjusted to ensure that the operating equipment can move smoothly along the track. A position sensor is installed on the elastic connection mechanism, and the installation position of the position sensor is adjusted so that the position sensor covers the entire operating area. The slider is connected to a vertical hinge shaft with a two-way return spring. The upper and lower guide rails can move up and down to reduce the height difference between the track and the connection point, reduce the upper and lower deflection angles of the track wheel due to the height difference, and avoid jamming. The return spring makes the connection point between the track wheel and the slider relatively in the middle balance position. The slider is connected to the fuselage frame of the operating equipment through a two-way spring damper. The position sensor is used to determine whether it is currently in the neutral position + or neutral position -, and the steering angle of the front and rear steering wheels is adjusted by the deviation signal. If the crawler equipment is connected, the speed difference of the left and right crawlers is controlled to achieve steering. The horizontal hinge shaft and the track wheel component are connected by a quick-release anti-disconnection pin to facilitate the installation and disassembly of the track. Step 3: After starting the operating equipment, the position sensor continuously monitors the position of the operating equipment relative to the track, and then calculates the offset and direction of the current operating equipment. The power supply and control system of the operating equipment are started, and a self-check is performed to ensure that all systems are working properly. The position sensor is activated. The position sensor monitors the position of the operating equipment relative to the running track in real time by transmitting and receiving signals. The position sensor is used to collect the position data of the operating equipment relative to the track, and the monitored position information is transmitted to the control system. The position information is analyzed to obtain multiple parameters, namely the position coordinates of the operating equipment on the track, the geometric parameters of the track, the speed of the operating equipment, the acceleration data, the size parameters and shape parameters of the operating equipment, and the center of gravity position of the operating equipment, to obtain an offset state sequence table. Based on the relevant data in the offset state sequence table, the offset of the operating equipment relative to the track is calculated through data analysis; The offset is expressed as the horizontal offset of the equipment in the direction of the track and the vertical offset perpendicular to the track. The offset threshold range is preset to determine the maximum allowable offset. Combined with the calculated offset of the operating equipment relative to the track, the offset evaluation index is calculated to determine whether adjustment is needed. The direction of the offset is determined based on the positive or negative value of the offset. If the offset is positive, it means that the operating equipment is offset to the right of the track. If the offset is negative, it means that the operating equipment is offset to the left of the track. Furthermore, the calculation expression of the working equipment offset relative to the track is: ; in, is the offset of the working equipment relative to the track, v is the speed of the working equipment, r is the curvature radius of the track, is the acceleration of the working equipment, w is the width of the working equipment, h is the height of the working equipment, 、 、 Respectively represent the coordinates of the center of gravity of the operating equipment on the x, y and z axes. As the speed of the operating equipment increases, Increase, the increase in speed will lead to an increase in the dynamic offset of the operating equipment. If the center of gravity of the operating equipment is far away from the center of the track, will also increase; Furthermore, the calculation expression of the deviation evaluation index is: ; Among them, DEI is the deviation evaluation index, is the offset of the working equipment relative to the track, The maximum allowable offset, DEI ranges from 0 to 1. When it is equal to 0, DEI is 1, indicating no offset. Equal to the maximum allowed offset When DEI is 0, it means that the maximum allowable offset is reached. As the value of DEI increases, it will decrease, indicating that the degree of deviation increases. near When DEI is close to 0, it means that the degree of deviation is close to the maximum allowable value; Step 4: Based on the calculated offset and its direction, implement the offset control strategy to adjust the travel direction of the working equipment so that the working equipment can continuously move forward and operate along the direction of the running track; Step 5: After the deviation control strategy is implemented, the driving status of the operating equipment is continuously monitored, and the control strategy is adjusted and optimized according to the feedback signal.

[0020] Example 2, as Figure 3 、 Figure 4 As shown, based on Example 1, the present invention provides a technical solution: Preferably, in step 4, the implementation process of the offset control strategy is: Analyze the deviation evaluation index to determine the actual deviation of the operating equipment, and determine the deviation direction according to the positive and negative values ​​of the deviation, where a positive value indicates a deviation to the right side of the track and a negative value indicates a deviation to the left side of the track. Select the deviation control strategy according to the size and direction of the deviation, and determine the adjustment action to be performed. The control strategy includes adjusting the steering angle, changing the driving speed, and adjusting the operating mode. If it is steering control, adjust the steering angle of the steering wheel according to the size and direction of the deviation. If it is speed control, adjust the deviation by accelerating or decelerating. If it is an operating mode adjustment, change the working state or parameters of the operating equipment to correct the deviation, send a control instruction to the actuator to implement the deviation control strategy, and the actuator performs corresponding adjustment actions according to the control instruction to adjust the operating equipment. The driving direction of the working equipment is adjusted so that it gradually returns to the correct track, the effect of the adjustment action is evaluated, and the offset is checked to see if it has returned to the preset offset threshold range. If the offset has not returned to the threshold range, the control strategy is adjusted until the offset reaches the required level. The implementation process of the offset control strategy is detected, and the abnormal identification coefficient is calculated to identify abnormal conditions in the implementation process of the offset control strategy, including failure of the actuator to respond or a sharp change in the offset, and then the abnormality handling procedure is initiated, including suspending the operation, issuing an alarm, or automatically adjusting the working equipment to a safe state. When the offset of the working equipment is controlled within the allowable range, the working equipment travels stably along the direction of the running track, and on the basis of stable driving, the working equipment continuously performs operations such as sowing, fertilizing, harvesting, plowing, or weeding. Furthermore, the abnormal situation identification process during the implementation of the deviation control strategy is as follows: During the execution of the offset control strategy, the real-time position and offset of the operating equipment are continuously monitored, and the response of the actuator is tracked. Data related to the offset, actuator status, and operating equipment performance are collected. The execution results of the offset control strategy, including the operating status of the actuator and the trend of the offset change, are recorded. Based on the characteristics and operating requirements of the operating equipment, abnormal thresholds for the actuator response time and the offset change rate are preset. By comparing the real-time data with the preset abnormal thresholds, an abnormality recognition coefficient is calculated to identify any existing abnormal conditions. It is checked whether there is a sharp change in the offset or whether the actuator fails to respond according to the instruction. The abnormality recognition coefficient is further analyzed to determine the location of the abnormal condition and the source of the problem. After the abnormal condition is identified, the operation of the operating equipment is suspended to prevent further deterioration of the situation. An alarm is issued to the operator to notify the occurrence of the abnormal condition, provide relevant fault information, and record the time, type, and location of the abnormal condition. Under the premise of ensuring safety, troubleshooting and repair work are carried out to restore the normal operation of the operating equipment. After the troubleshooting and repair are completed, the operating equipment is functionally tested to ensure that the problem has been resolved, and the normal operation of the operating equipment is restored. Furthermore, the calculation expression of the abnormal identification coefficient is: ; Among them, A is the anomaly identification coefficient, is the actual response time of the actuator, is the abnormal threshold of the actuator response time, is the actual rate of change of the offset, is the abnormal threshold of the offset change rate, and the value range of A is 0 to 1. and When both are 0, A is 1, indicating no abnormality. equal or equal When A is 0, it means there is an abnormality. or As the value of A increases, it will decrease, indicating that the abnormality increases. or When it approaches or exceeds the abnormal threshold, A is close to 0, indicating a high degree of abnormality.

[0021] 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 method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor, characterized in that: The following steps are involved: Step 1: Divide the hilly terrain, plant cash crops in multiple rows along the contour lines of the hills, and deploy tracks for operating equipment; Step 2: Load the operating equipment onto the running track, perform connection debugging of the operating equipment, and configure the position sensor for initialization to detect the offset; Step 3: After the working equipment is started, the position sensor continuously monitors the position of the working equipment relative to the track, and then calculates the current offset and direction of the working equipment; Step 4: Based on the calculated offset and its direction, implement the offset control strategy to adjust the travel direction of the working equipment so that the working equipment can continuously move forward and operate along the direction of the running track; Step 5: After the deviation control strategy is implemented, the driving status of the operating equipment is continuously monitored, and the control strategy is adjusted and optimized according to the feedback signal.

2. The method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 1, characterized in that: In step 1, the deployment process of the operating equipment running track is as follows: Step 101: Use a topographic surveying tool to survey the hilly mountain to obtain topographic data, including the elevation, slope, and terrain relief data of the mountain. Based on the topographic data, a topographic map is drawn, including contour lines, slope, and aspect information. Step 102: Divide the hilly area into different planting areas and operation areas according to the topographic map; Step 103: Based on the hilly terrain demarcation results, contour planting rows and operating tracks for operating equipment are planned and designed, and arc-shaped track connection points are designed to ensure smooth transitions between different planting rows, forming a continuous operating channel. Step 104: land preparation is performed on the selected planting area, including tilling the soil, leveling the land, clearing rocks and weeds, and constructing a track foundation for the operating equipment along the contour lines according to the planned design; Step 105: Install a C-shaped guide rail on the constructed running rail, and install an arc-shaped rail at the connection point of the rail to connect adjacent planting rows to form a complete operation channel; Step 106 , according to the planning and design, economic crops are planted in different planting rows, the planting density and row spacing are planned according to the crop growth characteristics and space requirements, and the crops are planted near the planting rows where the tracks are installed.

3. The method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 2, characterized in that: In step 2, the loading and connection debugging process of the operating equipment is as follows: Step 201: Perform a comprehensive inspection of the operating equipment, including the power system, transmission system, and control system of the operating equipment, wherein the operating equipment includes a seed drill, a fertilizer spreader, a harvester, a tiller, and a weeder; Step 202: Move the working equipment to a predetermined position on the running track, align the docking portion of the working equipment with the connection point of the track, and use a locking device to preliminarily secure the working equipment to the track. Step 203: Install an elastic connection mechanism at the front and rear ends of the working equipment. The elastic connection mechanism consists of a slider, a track and a return spring, and install a position sensor on the elastic connection mechanism. Adjust the installation position of the position sensor so that the position sensor covers the entire working area.

4. The method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 3, characterized in that: In step 3, the calculation process of the working equipment offset and its direction is: Step 301: Start the power supply and control system of the working equipment and activate the position sensor. The position sensor monitors the position of the working equipment relative to the running track in real time by transmitting and receiving signals. Step 302: Use a position sensor to collect position data of the working equipment relative to the track, and transmit the monitored position information to the control system. The position information is analyzed to obtain various parameters, including the position coordinates of the working equipment on the track, the geometric parameters of the track, the speed of the working equipment, acceleration data, the size parameters and shape parameters of the working equipment, and the center of gravity of the working equipment, to obtain an offset state sequence table; Step 303: Based on the relevant data in the offset state sequence table, calculate the offset of the working equipment relative to the track through data analysis, where the offset is expressed as the horizontal offset of the equipment in the track direction and the vertical offset perpendicular to the track direction; Step 304, preset the offset threshold range, determine the maximum allowable offset, combine the calculated offset of the working equipment relative to the track, calculate the offset evaluation index, determine whether adjustment is needed, and determine the direction of the offset based on the positive or negative value of the offset. If the offset is positive, it means that the working equipment is offset to the right side of the track. If the offset is negative, it means that the working equipment is offset to the left side of the track.

5. The method for controlling the deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 4, characterized in that: The calculation expression of the offset of the working equipment relative to the track is: ； in, is the offset of the working equipment relative to the track, v is the speed of the working equipment, r is the curvature radius of the track, is the acceleration of the working equipment, w is the width of the working equipment, h is the height of the working equipment, 、 、 Represents the coordinates of the center of gravity of the working equipment on the x, y and z axes respectively.

6. The method for controlling deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 5, characterized in that: The calculation expression of the deviation evaluation index is: ； Among them, DEI is the deviation evaluation index, is the offset of the working equipment relative to the track, The maximum allowable offset, DEI ranges from 0 to 1. When it is equal to 0, DEI is 1, indicating no offset. Equal to the maximum allowed offset When DEI is 0, it means that the maximum allowable deviation is reached.

7. The method for controlling deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 6, characterized in that: In step 4, the implementation process of the offset control strategy is: Step 401: Analyze the deviation evaluation index to determine the actual deviation of the working equipment, and determine the deviation direction according to the positive or negative value of the deviation; Step 402: selecting an offset control strategy based on the offset amount and offset direction, and determining an adjustment action to be performed, wherein the control strategy includes adjusting the steering angle, changing the driving speed, and adjusting the operating mode; Step 403: Sending a control instruction to the actuator to implement the offset control strategy. The actuator performs corresponding adjustment actions according to the control instruction to adjust the driving direction of the working equipment. Step 404: Evaluate the effectiveness of the adjustment action and check whether the offset has returned to the preset offset threshold range. If the offset has not returned to the threshold range, continue to adjust the control strategy until the offset reaches the required level. Detect the implementation process of the offset control strategy and calculate the abnormality identification coefficient to identify abnormal conditions in the implementation process of the offset control strategy, including failure of the actuator to respond or a sharp change in the offset, and then initiate the abnormality handling procedure. Step 405: When the offset of the working equipment is controlled within the allowable range, the working equipment travels stably along the direction of the running track, and on the basis of stable travel, the working equipment continuously performs operations such as sowing, fertilizing, harvesting, plowing or weeding.

8. The method for controlling deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 7, characterized in that: The abnormal situation identification process of the deviation control strategy implementation process is as follows: Step 4041: During the execution of the offset control strategy, the real-time position and offset of the working equipment are continuously monitored, the response of the actuator is tracked, data related to the offset, actuator status, and working equipment performance are collected, and the execution results of the offset control strategy are recorded, including the operating status of the actuator and the trend of the offset. Step 4042: Preset abnormal thresholds for actuator response time and offset change rate based on the characteristics and operation requirements of the operating equipment. Step 4043 , by comparing the real-time data with the preset abnormality threshold, the abnormality identification coefficient is calculated to identify the existing abnormality and check whether the offset has changed dramatically or whether the actuator has failed to respond according to the instruction; Step 4044: Further analyze the abnormality identification coefficient to determine the location of the abnormality and the source of the problem. After the abnormality is identified, the operation of the operating equipment is suspended to prevent further deterioration of the situation. An alarm is issued to the operator to notify the abnormality and provide relevant fault information. Step 4045 records the time, type, and location of the abnormal situation, and performs troubleshooting and repair work while ensuring safety. After the troubleshooting and repair are completed, perform functional testing on the operating equipment to restore normal operation of the operating equipment.

9. The method for controlling deviation of track-type working equipment in hilly and mountainous areas based on a position sensor according to claim 8, characterized in that: The calculation expression of the abnormality identification coefficient is: ； Among them, A is the anomaly identification coefficient, is the actual response time of the actuator, is the abnormal threshold of the actuator response time, is the actual rate of change of the offset, is the abnormal threshold of the offset change rate, and the value range of A is 0 to 1. and When both are 0, A is 1, indicating no abnormality. equal or equal When , A is 0, indicating an abnormal situation.

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