Method and device for measuring the angle of rotation of the front wheels of an agricultural machine based on a hall sensor

Abstract

The application discloses a kind of method and device based on hall sensor measurement agricultural machine front wheel rotation angle, it is related to unmanned agricultural machine, front wheel rotation angle field, through GNSS position information and hall sensor output linkage, real-time correction front wheel is right and the voltage calibration value when left and right is dead.The method comprises the following steps: collecting GNSS position and hall voltage;Quadratic curve fitting trajectory;Calculate average distance error and curvature;According to driving state, dynamically update voltage calibration value, realize adaptive correction.The device comprises GNSS antenna, hall sensor, AD acquisition module and data processing unit.The application effectively solves the output drift problem caused by wear of hall sensor, significantly improves the rotation angle detection precision and stability, and is suitable for unmanned agricultural machine precision navigation.

Description

Technical Field

[0001] This invention relates to the fields of unmanned agricultural machinery and front wheel rotation angle, specifically to a method and apparatus for measuring the front wheel rotation angle of agricultural machinery based on a Hall sensor. Background Technology

[0002] With the advancement of automation and intelligent technologies, unmanned agricultural machinery is playing an increasingly important role in modern agriculture. They enable precision operations, such as precision planting, fertilization, and harvesting, and can operate 24 hours a day, improving efficiency and reducing reliance on human labor, especially in aging populations and areas with labor shortages. With technological advancements and cost reductions, unmanned agricultural machinery is expected to be widely used globally.

[0003] Accurate front wheel angle detection is crucial for precise navigation and path planning in unmanned agricultural machinery. Precise angle detection helps unmanned agricultural machinery navigate accurately in complex field environments, avoid obstacles, reduce repetitive or missed tasks, improve efficiency and yield, and protect crops while reducing soil compaction. However, Hall effect sensors, commonly used for measuring front wheel angle, suffer from output signal stability issues. When the front wheels are aligned or at their maximum steering angle, their output voltage changes over time and due to mechanical wear, making it difficult for the control system to accurately determine the front wheel angle. This affects navigation accuracy, increases the risk of obstacle avoidance errors, reduces operational efficiency, and increases maintenance costs. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method and apparatus for measuring the front wheel angle of agricultural machinery based on a Hall sensor. It integrates a GNSS single-antenna positioning unit, a Hall sensor, an AD data acquisition unit, and a data processing module. Based on an online real-time correction Hall sensor detection algorithm, it can improve the stability and accuracy of front wheel angle acquisition for unmanned agricultural machinery, thereby enhancing the precision of agricultural machinery tracking and control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for measuring the front wheel angle of agricultural machinery based on a Hall sensor includes the following steps:

[0007] Step 1: Manually calibrate the front wheel rotation angle of the agricultural machinery and the corresponding Hall sensor output voltage value, and record the voltage value output by the Hall sensor and the corresponding physical angle value when the front wheel rotation angle is straight, fully turned to the left, and fully turned to the right.

[0008] Step 2: During the operation of the agricultural machinery, simultaneously collect the location information of the agricultural machinery transmitted by the GNSS receiver board and the voltage value output by the Hall sensor;

[0009] Step 3: Store the collected agricultural machinery location information and the voltage values ​​output by the Hall sensor in a queue in chronological order, and keep the queue data volume at a fixed value N;

[0010] Step 4, quadratic curve fitting is performed on the agricultural machinery position information in the queue to determine the driving trajectory of the agricultural machinery;

[0011] Step 5, the average distance error of the fitting data points and the fitting straight line is calculated;

[0012] Step 6, it is judged whether the average distance error is less than the set error threshold, if yes, the next step is entered, otherwise, the step 1 is returned;

[0013] Step 7, the average curvature of the driving trajectory of the agricultural machinery is calculated according to the fitted curve;

[0014] Step 8, it is judged whether the agricultural machinery is in a straight driving state or a turning driving state according to the average curvature, if it is in the straight driving state, the voltage value output by the Hall sensor when the front wheel steering angle is adjusted is updated, if it is in the turning driving state and the absolute value of the average curvature is greater than the upper limit of the curvature, the voltage value output by the Hall sensor when the front wheel steering angle is turned to the left or right is updated;

[0015] Step 9, steps 1-8 are repeated to realize real-time correction and update of the voltage output extreme value of the Hall sensor in different driving states of the agricultural machinery.

[0016] The application also provides a device for measuring the front wheel steering angle of agricultural machinery based on a Hall sensor, which is used to realize the above method, comprising:

[0017] a GNSS antenna measurement module, a front wheel steering angle acquisition module, a front wheel steering angle adaptive correction unit and an AD data processing module;

[0018] The GNSS antenna measurement module comprises a GNSS antenna and a GNSS receiver board, which are used to synchronously acquire GNSS antenna data;

[0019] The front wheel steering angle acquisition module comprises a Hall sensor and an AD acquisition unit, the Hall sensor is mechanically installed on the steering shaft of the agricultural machinery, and the AD acquisition unit is used to acquire the voltage value output by the Hall sensor;

[0020] The GNSS antenna is connected to the GNSS receiver board to obtain the position information of the agricultural machinery; the Hall sensor is connected to the AD acquisition unit, the Hall sensor detects the physical change of the front wheel steering and outputs a voltage value, and the AD acquisition unit converts the voltage value into a digital voltage signal; the digital voltage signal is transmitted into the AD data processing module for data processing to obtain the front wheel steering angle value; the voltage value, the front wheel steering angle value and the position information of the agricultural machinery are transmitted into the front wheel steering angle adaptive correction unit to calculate the Hall sensor voltage calibration value.

[0021] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described method for measuring the front wheel angle of an agricultural machine based on a Hall sensor.

[0022] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method for measuring the front wheel angle of an agricultural machine based on a Hall sensor.

[0023] Beneficial effects:

[0024] (1) This invention provides an adaptive detection and correction method based on GNSS single antenna measurement and Hall sensor output to achieve high-precision detection of the front wheel angle of unmanned agricultural machinery; by linking GNSS position information with Hall sensor output for correction, the problem of the voltage calibration value of traditional Hall sensor changing with time and mechanical wear is overcome.

[0025] (2) By updating and calibrating the voltage output extreme value of the Hall sensor in real time, the present invention significantly improves the stability and accuracy of the corner detection, ensuring the navigation accuracy and path tracking of agricultural machinery under different working conditions; by adopting the real-time adaptive online correction method, the voltage standard value of the front wheel corner at the moment of straightening and left and right lock is dynamically updated, which significantly improves the detection accuracy and control stability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a device for measuring the front wheel angle of agricultural machinery based on a Hall sensor, according to the present invention.

[0027] Figure 2 This is a flowchart of a method for measuring the front wheel angle of agricultural machinery based on a Hall sensor, according to the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0029] like Figure 1 As shown, the device for measuring the front wheel angle of agricultural machinery based on a Hall sensor according to the present invention includes a GNSS antenna measurement module, a front wheel angle acquisition module, a front wheel angle adaptive correction unit, and an AD data processing module.

[0030] The GNSS antenna measurement module comprises a GNSS antenna and a GNSS receiver board card, and is used for synchronously collecting GNSS antenna data.

[0031] The front wheel rotation angle collection module comprises a Hall sensor and an AD collection unit, the Hall sensor is mechanically installed on a steering shaft of the agricultural machine, and the AD collection unit is used for collecting a voltage value output by the Hall sensor.

[0032] The GNSS antenna is connected to the GNSS receiver board card, so as to obtain agricultural machine position information. The agricultural machine position information is represented as , which represents a current position of the agricultural machine in a world coordinate system. The Hall sensor is connected to the AD collection unit, the Hall sensor detects physical changes of front wheel steering and outputs a voltage value (an analog signal), and the AD collection unit converts the analog signal into a digital voltage signal. The digital voltage signal (voltage value) is transmitted into the AD data processing module for data processing, so as to obtain a front wheel rotation angle value. The voltage value, the front wheel rotation angle value and the agricultural machine position information are transmitted into a front wheel rotation angle self-adaptive correction unit, so as to obtain a Hall sensor voltage calibration value.

[0033] As shown in Figure 2 , the present application also provides a method for measuring a front wheel rotation angle of an agricultural machine based on a Hall sensor, comprising the following steps:

[0034] Step 1, manually calibrating a front wheel rotation angle and a corresponding voltage value output by a Hall sensor, recording voltage values output by the Hall sensor and physical angle values corresponding to the front wheel rotation angle when the front wheel rotation angle is straight, left and right dead, that is, , respectively represent angle values corresponding to the front wheel rotation angle being straight, left dead and right dead, respectively represent voltage values output by the Hall sensor corresponding to the front wheel rotation angle being straight, left dead and right dead.

[0035] Step 2, collecting agricultural machine position information , that is, GNSS unit position information of Figure 2 , wherein , respectively represent coordinate values of the agricultural machine in an x direction and a y direction in a world coordinate system, and saving voltage values obtained by the AD collection unit at a corresponding moment.

[0036] Step 3, packing collected data and sequentially saving the data in a queue, maintaining a data amount in the queue at N, wherein N represents how many data exist in the queue, and constantly updating iteration (that is, Figure 2the order storage update position, voltage data in the step 3) ;

[0037] Step 4, the collected data Carry out quadratic curve fitting, set the curve form as Wherein Indicates the independent variable of the curve, the agricultural machinery position Coordinate, Indicates the dependent variable, i.e. the agricultural machinery position Coordinate, a, b, c represent the curve coefficients. When Approaching to 0, it is considered that the agricultural machinery is in straight driving. The curve coefficients .

[0038] Step 5, calculate the position information in the queue The absolute value of the error of the distance fitting straight line, then sum the absolute value, and then divide by the number of data in the queue N. The average distance error of the original fitting data from the fitting straight line (i.e. the average distance error of the data points in Figure 2 from the fitting straight line) is as follows:

[0039] (1)

[0040] Wherein, and Indicate the coordinate of the i-th agricultural machinery position in the queue, The curve coefficients obtained by least square fitting in step 4.

[0041] Step 6, set the distance error threshold to If is less than , it is considered that the fitting effect is good, and the next calculation can be carried out, otherwise return to step 1 to recalculate (i.e. the judgment of whether Figure 2 is within the error threshold).

[0042] Step 7, if is less than , according to the fitted curve, the average curvature of the fitting data points on the curve is calculated, denoted as (i.e. the average curvature of the curve of Figure 2 ), the formula is as follows:

[0043] curv = 1 N ∑ i = 1 N 2 | a | [ 1 + ( 2 ax c , i + b ) 2 ] 3 / 2 .

[0044] At the same time, set the upper limit of the curvature and the lower limit of the curvature, respectively If or wherein represents the absolute value, the next step is calculated, if not meet the above conditions to return to step 1 to recalculate (ie Figure 2 the average curvature and the relationship between the set curvature threshold).

[0045] Step 8, if , the agricultural machinery in a straight line walking, to find the average value of the voltage value in the fitting data points , the formula is as follows:

[0046] ;

[0047] wherein, represents the voltage value in the jth fitting data point, that is, the voltage value of the jth collected hall sensor.

[0048] The average value is assigned to the voltage value output by the hall sensor corresponding to the front wheel steering correction , the voltage value of the corresponding hall sensor is updated in the process of the front wheel steering straight line (ie Figure 2 the calculation of the hall sensor voltage calibration value).

[0049] If , the agricultural machinery is in a turning travel, and the curvature is close to the maximum curvature of the agricultural machinery, and the voltage value of the hall sensor corresponding to the left and right dead moment of the front wheel steering angle is calculated according to the following formula:

[0050] (2)

[0051] wherein, represents the current voltage value, represents the calculated front wheel steering angle.

[0052] According to the physical model of the vehicle itself, the front wheel steering angle calculation formula is:

[0053] (3)

[0054] wherein, is the wheelbase of the agricultural vehicle, is the turning radius of the vehicle, and the relationship is: . Combined with formula (2) and formula (3), the maximum value of the voltage output by the hall sensor corresponding to the left and right dead moment of the front wheel steering angle can be obtained, that is, formula (4) is shown:

[0055] (4)

[0056] According to formula (4), the real-time updating of the theoretical output voltage value of the Hall sensor at the moment when the front wheel turns left or right can be completed.

[0057] Preferably, according to the positive and negative of the average curvature , the direction of left and right turning is artificially set, for example, when > 0, left turning driving can be set, <0, right turning driving can be set, cannot be equal to 0.

[0058] Step 9, repeat steps 1-8 to realize real-time correction and updating of the extreme value of the Hall sensor voltage output of the agricultural machine in different driving states.

[0059] Example (straight line driving):

[0060] (1) Prepare simulation data, a total of 50 data points, the simulation data is shown as follows, the four columns of data are respectively time_s representing time, v_raw represents the collected voltage value of the Hall sensor, and it is assumed that the original front wheel turning angle is adjusted, ;

[0061] | time_s | | | v_raw |

[0062] | 0 | 0 | 0 | 2.632 |

[0063] | 1 | 0.4 | 8.00E-05 | 2.636974 |

[0064] | 2 | 0.8 | 0.00032 | 2.641635 |

[0065] | 3 | 1.2 | 0.00072 | 2.645691 |

[0066] | 4 | 1.6 | 0.00128 | 2.648887 |

[0067] | 5 | 2 | 0.002 | 2.651021 |

[0068] | 6 | 2.4 | 0.00288 | 2.651961 |

[0069] | 7 | 2.8 | 0.00392 | 2.651646 |

[0070] | 8 | 3.2 | 0.00512 | 2.650097 |

[0071] | 9 | 3.6 | 0.00648 | 2.64741 |

[0072] | 10 | 4 | 0.008 | 2.643756 |

[0073] | 11 | 4.4 | 0.00968 | 2.639362 |

[0074] | 12 | 4.8 | 0.01152 | 2.634507 |

[0075] | 13 | 5.2 | 0.01352 | 2.629493 |

[0076] | 14 | 5.6 | 0.01568 | 2.624638 |

[0077] | 15 | 6 | 0.018 | 2.620244 |

[0078] | 16 | 6.4 | 0.02048 | 2.61659 |

[0079] | 17 | 6.8 | 0.02312 | 2.613903 |

[0080] | 18 | 7.2 | 0.02592 | 2.612354 |

[0081] | 19 | 7.6 | 0.02888 | 2.612039 |

[0082] | 20 | 8 | 0.032 | 2.612979 |

[0083] | 21 | 8.4 | 0.03528 | 2.615113 |

[0084] | 22 | 8.8 | 0.03872 | 2.618309 |

[0085] | 23 | 9.2 | 0.04232 | 2.622365 |

[0086] | 24 | 9.6 | 0.04608 | 2.627026 |

[0087] | 25 | 10 | 0.05 | 2.632 |

[0088] | 26 | 10.4 | 0.05408 | 2.636974 |

[0089] | 27 | 10.8 | 0.05832 | 2.641635 |

[0090] | 28 | 11.2 | 0.06272 | 2.645691 |

[0091] | 29 | 11.6 | 0.06728 | 2.648887 |

[0092] | 30 | 12 | 0.072 | 2.651021 |

[0093] | 31 | 12.4 | 0.07688 | 2.651961 |

[0094] | 32 | 12.8 | 0.08192 | 2.651646 |

[0095] | 33 | 13.2 | 0.08712 | 2.650097 |

[0096] | 34 | 13.6 | 0.09248 | 2.64741 |

[0097] | 35 | 14 | 0.098 | 2.643756 |

[0098] | 36 | 14.4 | 0.10368 | 2.639362 |

[0099] | 37 | 14.8 | 0.10952 | 2.634507 |

[0100] | 38 | 15.2 | 0.11552 | 2.629493 |

[0101] | 39 | 15.6 | 0.12168 | 2.624638 |

[0102] | 40 | 16 | 0.128 | 2.620244 |

[0103] | 41 | 16.4 | 0.13448 | 2.61659 |

[0104] | 42 | 16.8 | 0.14112 | 2.613903 |

[0105] | 43 | 17.2 | 0.14792 | 2.612354 |

[0106] | 44 | 17.6 | 0.15488 | 2.612039 |

[0107] | 45 | 18 | 0.162 | 2.612979 |

[0108] | 46 | 18.4 | 0.16928 | 2.615113 |

[0109] | 47 | 18.8 | 0.17672 | 2.618309 |

[0110] | 48 | 19.2 | 0.18432 | 2.622365 |

[0111] | 49 | 19.6 | 0.19208 | 2.627026 |

[0112] (2) According to step 4 above, the simulation data is fitted with a quadratic curve to obtain the fitted curve coefficients ;

[0113] (3) According to the formula in step 5, the average value of the absolute value of the distance error of the simulation point from the fitted curve is calculated: ;

[0114] (4) Set the error threshold , , and calculate the average curvature of the data points: curv = 1 50 ∑ i = 1 N 2 | a | [ 1 + ( 2 ax c , i + b ) 2 ] 3 / 2 = 1 . 46 × 10 − 6 ;

[0115] (5) Set , then , it is considered that the vehicle is driving in a straight line, and the average value of the corresponding voltage value in the data points is calculated as follows:

[0116] ;

[0117] (6) Assign the average value of the latest voltage value to the voltage value output by the front wheel turning angle correction corresponding to the Hall sensor = 2.632, to update the voltage value of the corresponding Hall sensor during the front wheel correction straight line process.

[0118] Example (left turn):

[0119] (1) Prepare simulation data, a total of 50 data points, the simulation data is shown as follows, the four columns of data are time_s representing time, v_raw represents the voltage value of the collected hall sensor.

[0120]

[0121]

[0122] (2) According to step 4 above, the simulation data is fitted with a quadratic curve, and the fitted curve coefficients are obtained

[0123] (3) According to the formula in step 5, the average value of the absolute value of the distance error of the simulation point from the fitted curve is calculated:

[0124] (4) Set the error threshold , , calculate the average curvature of the data points: curv = 1 50 ∑ i = 1 N 2 a [ 1 + ( 2 ax c , i + b ) 2 ] 3 / 2 = 2 . 48 × 10 − 1

[0125] (5) Set , , and > 0, it is considered that the vehicle is turning left, and the average value of the corresponding voltage value in the data points is calculated as follows:

[0126]

[0127] (6) Assign the calculated average value of the latest voltage value to the voltage value output by the hall sensor corresponding to the left dead = 3.29, to update the voltage value of the corresponding hall sensor during the left turn of the front wheel.

[0128] Example (right turn):

[0129] (1) Prepare simulation data, a total of 50 data points, the simulation data is shown as follows, the four columns of data are time_s representing time, v_raw represents the voltage value of the collected hall sensor.

[0130]

[0131]

[0132] ​​​​(2) According to the above step 4, the simulation data is quadratic curve fitting, and the fitting curve coefficient is obtained ;

[0133] (3) According to the formula in step 5, the average value of the absolute value of the distance error of the simulation point from the fitting curve is obtained: ;

[0134] (4) Set the error threshold , , the average curvature of the data points is calculated: curv = 1 50 ∑ i = 1 N 2 a [ 1 + ( 2 ax c , i + b ) 2 ] 3 / 2 =− 2 . 49 × 10 − 1 ;

[0135] (5) Set , then , and <0 think the vehicle is turning right, and the average value of the corresponding voltage value in the data points is as follows:

[0136] ;

[0137] (6) Assign the average value of the latest voltage value to the voltage value of the Hall sensor output corresponding to the right dead = 1.34, to update the voltage value of the corresponding Hall sensor during the right turning of the front wheel.

[0138] The present application updates the voltage calibration value of the Hall sensor in real time, reduces the navigation errors caused by sensor errors, and reduces the frequency of manual intervention. The present application is verified by simulation data, which proves that the present application can correct the voltage output extreme value of the Hall sensor in real time during vehicle movement, ensure that the agricultural machine can maintain high-precision angle measurement in different driving states, and improve the work efficiency and reliability.

[0139] The present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to realize the steps of the above-mentioned method for measuring the front wheel angle of the agricultural machine based on the Hall sensor.

[0140] The present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to realize the steps of the above-mentioned method for measuring the front wheel angle of the agricultural machine based on the Hall sensor.

[0141] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code thereon for use by or in connection with an instruction execution system. The program code can comprise one or more instructions enabling a computer system to carry out one or more of the methods described herein. The program code can be in any form suitable for use in the implementation and adapted for the computer system where the application is practiced.

Claims

1. A method for measuring the turning angle of the front wheel of an agricultural machine based on a Hall sensor, characterized in that, The method comprises the following steps: Step 1, manually calibrate the front wheel angle of the agricultural machine and the corresponding output voltage value of the Hall sensor, record the voltage value and the corresponding physical angle value output by the Hall sensor when the front wheel angle is straight, left dead and right dead; Step 2, during the driving of the agricultural machine, the GNSS receiver board synchronously collects the position information of the agricultural machine and the voltage value output by the Hall sensor; Step 3, store the collected position information of the agricultural machine and the voltage value output by the Hall sensor in the queue in chronological order, and keep the queue data amount as a fixed value N; Step 4, perform quadratic curve fitting on the position information of the agricultural machine in the queue to determine the driving trajectory of the agricultural machine; Step 5, calculate the average distance error between the fitting data points and the fitting straight line; Step 6, determine whether the average distance error is less than the set error threshold, if yes, proceed to the next step, otherwise return to step 1; Step 7, calculate the average curvature of the driving trajectory of the agricultural machine according to the fitted curve; Step 8, determine whether the agricultural machine is in a straight driving state or a turning driving state according to the average curvature, if it is in a straight driving state, update the voltage value output by the Hall sensor when the front wheel angle is straight, if it is in a turning driving state and the absolute value of the average curvature is greater than the upper limit of the curvature, update the voltage value output by the Hall sensor when the front wheel angle is left dead and right dead; Step 9, repeat steps 1-8 to realize real-time correction and update of the voltage output extreme value of the Hall sensor in different driving states of the agricultural machine.

2. The method for measuring the turning angle of the front wheel of an agricultural machine based on a Hall sensor according to claim 1, characterized in that, In step 4, the least square algorithm is used to perform quadratic curve fitting on the position information of the agricultural machine.

3. The method of claim 1, wherein the method comprises: In step 6, the error threshold is adjusted according to the actual measurement accuracy requirement to ensure the reliability of the fitting effect.

4. The method of claim 1, wherein the method is characterized by: In step 8, the upper limit and the lower limit of the average curvature are set to determine whether the agricultural machine is in a turning driving state, if the average curvature exceeds the set range, recalibration is performed.

5. The method of claim 1, wherein the method is characterized by: In step 8, the average value of the voltage values in the fitting data points is calculated to update the voltage values.

6. The method of claim 1, wherein the method is characterized by: In step 8, the voltage values output by the Hall sensor when the front wheel angle is left dead and right dead are calculated by combining the physical model of the agricultural machine and the wheelbase of the vehicle.

7. The method of claim 1, wherein the method is characterized by: In step 9, the voltage calibration value of the Hall sensor is updated iteratively to ensure that the agricultural machine can maintain high-precision angle measurement in different driving states.

8. A device for measuring the turning angle of the front wheel of an agricultural machine based on a Hall sensor, characterized in that, A method for measuring the front wheel angle of an agricultural machine based on a Hall sensor for realizing any one of claims 1-7, comprising: a GNSS antenna measurement module, a front wheel angle acquisition module, a front wheel angle self-adaptive correction unit, and an AD data processing module; The GNSS antenna measurement module comprises a GNSS antenna and a GNSS receiver board, which is used for synchronously collecting GNSS antenna data; The front wheel angle acquisition module comprises a Hall sensor and an AD acquisition unit, the Hall sensor is mechanically installed on the steering shaft of the agricultural machine, and the AD acquisition unit is used to acquire the voltage value output by the Hall sensor; The GNSS antenna is connected to a GNSS receiver board card to obtain agricultural machinery position information; the Hall sensor is connected to an AD acquisition unit, the Hall sensor detects the physical change of the front wheel steering and outputs a voltage value, and the AD acquisition unit converts the voltage value into a digital voltage signal; the digital voltage signal is transmitted into an AD data processing module for data processing to obtain a front wheel steering angle value; the voltage value, the front wheel steering angle value and the agricultural machinery position information are transmitted into a front wheel steering angle self-adaptive correction unit to calculate a Hall sensor voltage calibration value.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of a method for measuring the front wheel steering angle of agricultural machinery based on a Hall sensor according to any one of claims 1 to 7 when executing the program. 10.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the steps of a method for measuring the front wheel steering angle of agricultural machinery based on a Hall sensor according to any one of claims 1 to 7 when executed by the processor.

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