Method and system for measuring and calculating steering data of unmanned agricultural machine and storage medium
By acquiring angle values under motor control to calculate the steering data of unmanned agricultural machinery, the problem of insufficient steering data detection for unmanned agricultural machinery is solved, thus improving control and operation accuracy.
Patent Information
- Application Number
- CN202511999720.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-03-10
AI Technical Summary
The lack of effective methods for detecting steering data in existing technologies leads to a decrease in the control and operational accuracy of unmanned agricultural machinery.
By acquiring the angle value of the motor under motor control and calculating the steering data of the unmanned agricultural machinery, including steering clearance and steering ratio, the calculation is performed using a measurement system composed of components such as steering wheel, motor, encoder, and gyroscope.
The ability to easily calculate the steering data of unmanned agricultural machinery improves the control and operational accuracy of the machinery and provides an important basis for autonomous driving systems.
Smart Images
Figure CN121626264A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to the technical field of unmanned agricultural machines, in particular to an unmanned agricultural machine turning data measuring and calculating method, an unmanned agricultural machine turning data measuring and calculating system and a storage medium. BACKGROUND
[0002] With the rapid development of agricultural automation technology, unmanned agricultural machines are increasingly popular in modern agriculture. Unmanned agricultural machines realize precision operation through automatic driving technology, improve agricultural production efficiency, and reduce labor costs. At present, the mainstream equipment scheme needs to connect an automatic driving system such as a steering wheel to the agricultural machine, which may change the turning data (turning gap, turning ratio, etc.) of the agricultural machine. If the turning data of the agricultural machine after the automatic driving system (or the external steering wheel) is not mastered, the control accuracy and operation accuracy of the unmanned agricultural machine will be reduced. However, there is currently a lack of effective detection method for the turning data of the unmanned agricultural machine. SUMMARY
[0003] The technical problem to be solved by the application is to overcome the defect that there is a lack of detection of the turning data of the unmanned agricultural machine in the prior art, and to provide an unmanned agricultural machine turning data measuring and calculating method, an unmanned agricultural machine turning data measuring and calculating system and a storage medium.
[0004] The application solves the above technical problems by the following technical solutions: An unmanned agricultural machine turning data measuring and calculating method, which is applied to an unmanned agricultural machine controlled in direction by a motor, and comprises the following steps: (1) starting the unmanned agricultural machine and controlling the unmanned agricultural machine to move straight; (2) when the running speed of the unmanned agricultural machine reaches a preset value v, the motor rotates in a first direction to drive the unmanned agricultural machine to rotate in the same direction; (3) when the unmanned agricultural machine rotates to a first position, the motor rotates in a second direction to drive the unmanned agricultural machine to rotate in the same direction to a second position; during the rotation of the unmanned agricultural machine from the first position to the second position, at least a plurality of angle values A of the motor are obtained; (4) calculating the turning data of the unmanned agricultural machine according to at least the plurality of angle values A of the motor; Wherein, the first direction is a clockwise direction or a counterclockwise direction, and the second direction is opposite to the first direction.
[0005] Preferably, in the step (3), when the motor starts to rotate in the second direction, the angle value A1 of the motor is obtained, and when the front wheel of the unmanned agricultural machine starts to rotate, the angle value A2 of the motor is obtained. In the step (4), the steering data of the unmanned agricultural machine comprises a steering gap D, D=|A1-A2 |.
[0006] Preferably, the measuring method further comprises a step (3.1) after the step (3): When the unmanned agricultural machine turns to the second position, the motor rotates in the first direction, and drives the unmanned agricultural machine to rotate in the same direction to the first position; When the motor starts to rotate in the first direction, an angle value A3 of the motor is obtained, and when the front wheel of the unmanned agricultural machine starts to rotate, an angle value A4 of the motor is obtained; In the step (4), the steering gap D of the unmanned agricultural machine comprises a first direction steering gap D1 and a second direction steering gap D2, D1=|A3-A4 |, D2=|A1-A2 |.
[0007] Preferably, the measuring method further comprises a step (3.2) after the step (3.1): The unmanned agricultural machine turns back and forth between the first position and the second position multiple times; In each time of turning the unmanned agricultural machine from the first position to the second position, when the motor starts to rotate in the second direction, an angle value A1 of the motor is obtained, and when the front wheel of the unmanned agricultural machine starts to rotate, an angle value A2 of the motor is obtained; In each time of turning the unmanned agricultural machine from the second position to the first position, when the motor starts to rotate in the first direction, an angle value A3 of the motor is obtained, and when the front wheel of the unmanned agricultural machine starts to rotate, an angle value A4 of the motor is obtained; In the step (4), D1 and D2 in each time of turning the unmanned agricultural machine back and forth between the first position and the second position are calculated, D1=|A3-A4 |, D2=|A1-A2 |, the first direction steering gap D1' is an average value of multiple D1, and the second direction steering gap D2' is an average value of multiple D2.
[0008] Preferably, in the step (3), in the process of turning the unmanned agricultural machine from the first position to the second position, After the front wheel of the unmanned agricultural machine rotates, when the unmanned agricultural machine turns to a third position and a fourth position, an angle value A5 of the motor when the unmanned agricultural machine is at the third position and a front wheel angle a1 of the unmanned agricultural machine, an angle value A6 of the motor when the unmanned agricultural machine is at the fourth position and a front wheel angle a2 of the unmanned agricultural machine are respectively obtained; In step (4), the steering data of the unmanned agricultural machinery also includes the steering ratio R, R=|A5-A6| / |a1-a2|.
[0009] Preferably, the first position and the second position are located on the left and right sides of the straight-line route of the unmanned agricultural machinery, respectively; The third position is located on the side closer to the first position, and the fourth position is located on the side closer to the second position.
[0010] Preferably, the calculation method further includes step (3.1') after step (3): When the unmanned agricultural machine rotates to the second position, the motor rotates along the first direction, driving the unmanned agricultural machine to rotate in the same direction to the first position. The unmanned agricultural machine goes back and forth between the first position and the second position multiple times. During each rotation of the unmanned agricultural machine from the first position to the second position, or during each rotation of the unmanned agricultural machine from the first position to the second position and from the second position to the first position... After the front wheel of the unmanned agricultural machine rotates, when the unmanned agricultural machine rotates to the third position and the fourth position, the angle value A5 of the motor and the front wheel angle a1 of the unmanned agricultural machine at the third position, the angle value A6 of the motor and the front wheel angle a2 of the unmanned agricultural machine at the fourth position are respectively obtained. In step (4), the R value of the unmanned agricultural machine is calculated for each rotation between the first position and the second position, R = |A5-A6| / |a1-a2|, and the steering ratio R' is the average value of multiple R values.
[0011] Preferably, in step (2), after the unmanned agricultural machinery reaches a preset speed v, the unmanned agricultural machinery maintains a constant speed; and / or, In step (3), the unmanned agricultural machine rotates at a constant speed from the first position to the second position.
[0012] A system for calculating steering data of unmanned agricultural machinery, the system comprising: A steering wheel, which is connected to the steering shaft of the unmanned agricultural machine; An electric motor, which is connected to the steering wheel, is used to control the rotation of the steering wheel; The motor also includes an encoder, which is used to obtain the angle value of the motor; A first gyroscope is mounted on the vehicle body of the unmanned agricultural machine. The first gyroscope outputs a first gyroscope angular velocity to at least determine the position of the unmanned agricultural machine rotating between the first position and the second position. A second gyroscope is mounted on the front wheel of the unmanned agricultural machine. The second gyroscope outputs a second gyroscope angular velocity, which is used at least in combination with the first gyroscope angular velocity to determine whether the front wheel of the unmanned agricultural machine has started to rotate. The first gyroscope angular velocity and the second gyroscope angular velocity are also used to calculate the front wheel angle; A control module is electrically connected to the motor, the first gyroscope, and the second gyroscope. The control module is at least used to acquire the output values of the first gyroscope and the second gyroscope, control the rotation of the motor, and is configured to perform the steps in the method for calculating the steering data of unmanned agricultural machinery as described in any one of claims 1 to 8.
[0013] A computer-readable storage medium for storing a program, which, when executed by a processor, implements the steps of the method for calculating the steering data of unmanned agricultural machinery.
[0014] The positive and progressive effects of this invention are at least as follows: In this invention, by obtaining at least the angle value of the motor during the process of controlling the rotation of the unmanned agricultural machine, the steering data of the unmanned agricultural machine can be calculated. The operation is simple and provides an important basis for the control process of the unmanned agricultural machine's automatic driving system, which helps to improve the control accuracy and operation accuracy of the unmanned agricultural machine. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 This is a flowchart illustrating the method for calculating steering data of unmanned agricultural machinery according to a preferred embodiment of the present invention.
[0016] Figure 2 This is a flowchart illustrating the preferred method for calculating steering clearance in a preferred embodiment of the present invention.
[0017] Figure 3 This is a flowchart illustrating the preferred method for calculating the steering ratio in a preferred embodiment of the present invention. DETAILED DESCRIPTION
[0018] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.
[0019] like Figure 1As shown, this embodiment discloses a method for calculating the steering data of unmanned agricultural machinery. The calculation method is applied to unmanned agricultural machinery whose direction is controlled by a motor. The calculation method includes the following steps: (1) Turn on the unmanned agricultural machinery and control it to move straight; (2) When the unmanned agricultural machine reaches the preset value v, the motor rotates in the first direction, driving the unmanned agricultural machine to rotate in the same direction; (3) When the unmanned agricultural machine rotates to the first position, the motor rotates in the second direction, driving the unmanned agricultural machine to rotate in the same direction to the second position; during the process of the unmanned agricultural machine rotating from the first position to the second position, at least multiple angle values A of the motor are obtained; (4) Calculate the steering data of the unmanned agricultural machinery based on at least several angle values A of the motor; The first direction is either clockwise or counterclockwise, and the second direction is the opposite of the first direction.
[0020] By obtaining at least the angle value of the motor during the rotation of the unmanned agricultural machine controlled by the motor, the steering data of the unmanned agricultural machine can be calculated. The operation is simple and provides an important basis for the control process of the unmanned agricultural machine's automatic driving system, which helps to improve the control accuracy and operation accuracy of the unmanned agricultural machine.
[0021] To implement the above calculation method, this embodiment also discloses a calculation system for the steering data of unmanned agricultural machinery. The calculation system includes: The steering wheel is connected to the steering shaft of the unmanned agricultural machinery; The motor is connected to the steering wheel and is used to control the rotation of the steering wheel. The motor also includes an encoder, which is used to obtain the angle value of the motor; The first gyroscope is mounted on the body of the unmanned agricultural machine. The first gyroscope outputs the first gyroscope angular velocity, which is used to at least determine the position of the unmanned agricultural machine between the first position and the second position. The second gyroscope is mounted on the front wheel of the unmanned agricultural machine. The second gyroscope outputs a second gyroscope angular velocity, which is used at least in combination with the first gyroscope angular velocity to determine whether the front wheel of the unmanned agricultural machine has started to rotate. The first and second gyroscope angular velocities are also used to calculate the front wheel angle. The control module is electrically connected to the motor, the first gyroscope, and the second gyroscope. The control module is at least used to acquire the output values of the first gyroscope and the second gyroscope, control the rotation of the motor, and is configured to perform the steps in the above-mentioned method for calculating the steering data of unmanned agricultural machinery.
[0022] Firstly, the steering data of unmanned agricultural machinery includes steering clearance D. For example... Figure 2As shown, in step (3), when the motor starts to rotate in the second direction, the angle value A1 of the motor is obtained, and when the front wheel of the unmanned agricultural machine starts to rotate, the angle value A2 of the motor is obtained; in step (4), the steering clearance D of the unmanned agricultural machine is calculated as D=|A1-A2|.
[0023] It is understandable that, due to the existence of steering clearance, when the motor starts to rotate clockwise, the front wheel of the unmanned agricultural machine will not immediately rotate clockwise in sync. In this embodiment, the steering clearance is calculated by comparing the difference between the motor angle value when the motor rotates and the value when the front wheel rotates. This method is simple and the result is reliable.
[0024] The calculation method of this embodiment will be further explained below in conjunction with the calculation system.
[0025] In unmanned agricultural machinery, a steering wheel controlled by a motor is externally connected to the original steering shaft of the machinery to achieve unmanned autonomous driving. The motor is fixedly connected to the steering wheel and rotates coaxially with it; that is, the rotation of the motor drives the rotation of the steering wheel. The motor can rotate clockwise or counterclockwise, thereby causing the steering wheel to rotate to the right or left. In this embodiment, counterclockwise is the first direction, and clockwise is the second direction. The rotation of the motor is controlled by a control module, which can be remote software controlling the motor via electrical signals, or a hardware module integrated into the motor. The specific form of the control module and the specific method of controlling the motor's rotation are existing technologies and will not be elaborated further.
[0026] During the transmission process between motor rotation, steering wheel rotation, and tire rotation, the steering clearance (the clearance between various transmission pairs in the steering system) needs to be calculated as an important parameter for improving the control and operational accuracy of unmanned agricultural machinery. Since the motor and steering wheel are fixedly connected, the steering clearance can be calculated by knowing the rotation of the motor and the rotation of the tires.
[0027] Therefore, in steps (1) and (2) of the calculation method, the unmanned agricultural machine is started to travel in a straight line. After the travel speed reaches the preset value v, the motor rotates in the counterclockwise direction, driving the steering wheel, or the unmanned agricultural machine, to rotate in the same direction (that is, to rotate to the left).
[0028] In step (3) of the calculation method, when the unmanned agricultural machine turns to the first position, the motor changes to rotate clockwise, driving the steering wheel, or the unmanned agricultural machine to rotate in the same direction (i.e., to the right) to the second position.
[0029] Here, the first position and the second position refer to the dynamic, virtual positions of the unmanned agricultural machinery during its rotation, rather than a fixed position. They represent the extreme positions of the unmanned agricultural machinery rotating in a certain direction in the calculation method. The determination of the first position and the second position depends on the first gyroscope mounted on the unmanned agricultural machinery. During the unmanned agricultural machinery's rotation to the left or right, the first gyroscope will output different angular velocities as the unmanned agricultural machinery rotates to different positions.
[0030] In this embodiment, it is specified that the angular velocity value of the first gyroscope is negative when rotating counterclockwise and positive when rotating clockwise. Therefore, in steps (2) and (3) of the calculation method, a threshold value for the angular velocity of the first gyroscope is preset. When the angular velocity of the first gyroscope reaches this threshold value, it can be determined that the unmanned agricultural machinery has turned to the first position. In this embodiment, when the control module acquires and detects that the angular velocity of the first gyroscope is less than or equal to -8° / s, it has reached the first position. At this moment, the control module controls the motor to switch from rotating in the counterclockwise direction to rotating in the clockwise direction. When the motor starts to rotate in the clockwise direction, the angle value A1 of the motor is acquired.
[0031] The motor's angle value is obtained using an encoder, which is a rotary sensor that converts the physical quantities of the position and displacement of a rotating component into a series of digital pulse signals. In this embodiment, the motor's angle value can be obtained by acquiring the encoder's encoded value as the unmanned agricultural machinery rotates to different positions.
[0032] In this embodiment, whether the front wheels of the unmanned agricultural machine start to rotate is determined by the rotational angular velocity of the front wheels. The rotational angular velocity of the front wheels changes from positive to negative, indicating that the front wheels have started to rotate. Specifically, the rotational angular velocity of the front wheels is the difference between the angular velocity of the second gyroscope and the angular velocity of the first gyroscope. At the instant the motor starts rotating clockwise, the rotational angular velocity of the front wheels is still negative. The motor continues to rotate, driving the front wheels to rotate to the right. When the control module calculates and detects that the rotational angular velocity of the front wheels becomes positive, that is, when the front wheels of the unmanned agricultural machine start to rotate, the control module obtains the motor angle value A2 at this time. Furthermore, the control module calculates the steering clearance D=|A1-A2| of the unmanned agricultural machine and retains and outputs this value.
[0033] Since the counterclockwise direction is taken as the first direction in this embodiment, the turning clearance of the unmanned agricultural machine in the second direction (clockwise direction), i.e., the right turn turning clearance, can be obtained during the rotation of the unmanned agricultural machine in the second direction. It is easy to understand that when the clockwise direction is taken as the first direction, the turning clearance of the unmanned agricultural machine in the second direction (counterclockwise direction), i.e., the left turn turning clearance, can be obtained during the rotation of the unmanned agricultural machine in the second direction.
[0034] Preferably, in order to reduce the number of times the unmanned agricultural machinery is started and stopped during the calculation process, this embodiment further includes step (3.1) after step (3): When the unmanned agricultural machinery rotates to the second position, the motor rotates in the first direction, driving the unmanned agricultural machinery to rotate in the same direction to the first position; When the motor starts to rotate in the first direction, the angle value A3 of the motor is obtained; when the front wheel of the unmanned agricultural machine starts to rotate, the angle value A4 of the motor is obtained. In step (4), the steering clearance D of the unmanned agricultural machinery includes the first direction steering clearance D1 and the second direction steering clearance D2, where D1 = |A3-A4| and D2 = |A1-A2|.
[0035] The principle and process of obtaining the motor angle values A3 and A4 are basically the same as those of the motor angle values A1 and A2 mentioned above, with only the difference in direction change and positive / negative value change, which will not be repeated here.
[0036] Therefore, the right-turn steering clearance of the unmanned agricultural machine can be calculated from the motor angle values A1 and A2 obtained during the clockwise rotation to the second position; and the left-turn steering clearance of the unmanned agricultural machine can be calculated from the motor angle values A3 and A4 obtained during the counterclockwise rotation back to the first position.
[0037] Furthermore, the calculation method in this embodiment, after step (3.1), also includes step (3.2): The unmanned agricultural machinery moved back and forth between the first and second positions multiple times. During each rotation of the unmanned agricultural machine from the first position to the second position, when the motor starts to rotate in the second direction, the angle value A1 of the motor is obtained; when the front wheel of the unmanned agricultural machine starts to rotate, the angle value A2 of the motor is obtained. During each rotation of the unmanned agricultural machine from the second position to the first position, when the motor starts to rotate in the first direction, the angle value A3 of the motor is obtained; when the front wheel of the unmanned agricultural machine starts to rotate, the angle value A4 of the motor is obtained. In step (4), calculate D1 and D2 for each round trip between the first and second positions of the unmanned agricultural machine, D1=|A3-A4|, D2=|A1-A2|, the first direction steering clearance D1' is the average of multiple D1, and the second direction steering clearance D2' is the average of multiple D2.
[0038] Therefore, by controlling the unmanned agricultural machinery to move back and forth between the first and second positions multiple times, multiple sets of first-direction steering clearance data and multiple sets of second-direction steering clearance data can be obtained. The average of the multiple sets of data results is then used to obtain the final first-direction steering clearance and second-direction steering clearance, thereby improving the accuracy of the data.
[0039] Secondly, in this embodiment, the steering data of the unmanned agricultural machinery also includes the steering ratio R. For example... Figure 3 As shown, in step (3) above, during the process of the unmanned agricultural machinery rotating from the first position to the second position, After the front wheel of the unmanned agricultural machine rotates, when the unmanned agricultural machine rotates to the third position and the fourth position, the angle value of the motor A5 and the front wheel angle a1 of the unmanned agricultural machine at the third position, the angle value of the motor A6 and the front wheel angle a2 of the unmanned agricultural machine at the fourth position are obtained respectively. In step (4) above, the steering ratio of the unmanned agricultural machinery is R = |A5-A6| / |a1-a2|.
[0040] Steering ratio is the ratio between the angle of steering wheel rotation and the angle of wheel rotation. In this embodiment, the change in the motor angle is used as the variable of steering wheel rotation angle, which is more accurate and more measurable.
[0041] Specifically, the third and fourth positions, like the first and second positions, refer to the dynamic, virtual positions of the unmanned agricultural machinery during rotation. The determination of the third and fourth positions also relies on the first gyroscope. Two preset angular velocity thresholds for the first gyroscope are used. When the angular velocity of the first gyroscope reaches the threshold, it can be determined that the unmanned agricultural machinery has rotated to the third and fourth positions, respectively. The principle for obtaining the motor angle values A5 and A6 is the same as above and will not be repeated. The front wheel angles a1 and a2 are calculated by the control module based on the angular velocities of the first and second gyroscopes, as well as the wheelbase and travel speed of the unmanned agricultural machinery. This calculation step is existing technology and will not be elaborated here.
[0042] The third and fourth positions are located between the first and second positions. In this embodiment, the first and second positions are preferably located on the left and right sides of the unmanned agricultural machinery's straight-line route, respectively; the third position is located on the side closer to the first position, and the fourth position is located on the side closer to the second position.
[0043] Specifically, in this embodiment, when the control module acquires and detects that the first gyroscope angular velocity is greater than or equal to 8° / s, the unmanned agricultural machine has reached the second position. That is, compared to the straight path of the unmanned agricultural machine, the second position is located on a different side from the first position, thereby increasing the rotation distance of the unmanned agricultural machine and providing more sufficient selection space for data acquisition. In addition, in this embodiment, it is preferable that when the control module acquires and detects that the first gyroscope angular velocity is greater than or equal to -4° / s, the unmanned agricultural machine is determined to have reached the third position; and when the first gyroscope angular velocity is greater than or equal to 4° / s, the unmanned agricultural machine is determined to have reached the fourth position.
[0044] Furthermore, to improve the accuracy of the steering ratio R, it can be achieved by averaging multiple measurements. In this embodiment, the calculation method includes step (3.1') after step (3): When the unmanned agricultural machine moves to the second position, the motor rotates in the first direction, driving the unmanned agricultural machine to rotate in the same direction to the first position. The unmanned agricultural machine goes back and forth between the first and second positions multiple times. During each rotation of the unmanned agricultural machinery from the first position to the second position, or during each rotation of the unmanned agricultural machinery from the first position to the second position and from the second position to the first position, After the front wheel of the unmanned agricultural machine rotates, when the unmanned agricultural machine rotates to the third position and the fourth position, the angle value of the motor A5 and the front wheel angle a1 of the unmanned agricultural machine at the third position, the angle value of the motor A6 and the front wheel angle a2 of the unmanned agricultural machine at the fourth position are obtained respectively. In step (4), the R value of the unmanned agricultural machine is calculated for each rotation between the first and second positions, R = |A5-A6| / |a1-a2|, and the steering ratio R' is the average value of multiple R values.
[0045] It is understandable that during the multiple back-and-forth movements of the unmanned agricultural machinery between the first and second positions, a steering ratio R can be calculated by acquiring relevant data during the transition from the first to the second position. Similarly, a steering ratio R can also be calculated by acquiring relevant data during the transition from the second to the first position. (During this process, the principle for selecting the third and fourth positions remains unchanged; only the direction of the determination of the first gyroscope's angular velocity changes. For example, when the first gyroscope's angular velocity is less than or equal to 4° / s, the unmanned agricultural machinery is determined to have reached the third position; when the first gyroscope's angular velocity is less than or equal to -4° / s, the unmanned agricultural machinery is determined to have reached the fourth position.) If the transition from the first position to the second position and back to the first position is considered as one cycle, it is possible to choose to acquire only the relevant data during the transition from the first to the second position, or to acquire the relevant data during both the transition from the first to the second position and the transition from the second to the first position simultaneously. In this embodiment, the former is preferred to reduce the complexity of the calculation method.
[0046] It should be noted that the first gyroscope angular velocity selected for determining the first, second, third, and fourth positions in this embodiment is a preferred value. In other optional embodiments, without changing the basic principle and steps of the measurement method, the first gyroscope angular velocity value can be different from that in this embodiment, depending on the actual situation. In particular, the second position can also be set to be located on one side of the unmanned agricultural machinery's straight-line route, along with the first position; or, the third and fourth positions can also be located on the same side closer to the first position, or on the same side closer to the second position.
[0047] More preferably, in step (2), once the unmanned agricultural machinery reaches a preset speed v, it maintains a constant speed. In this embodiment, the preset speed v is preferably between 2 and 3 km / h. In other alternative embodiments, the preset speed v can be selected differently.
[0048] Furthermore, in step (3), the unmanned agricultural machinery rotates uniformly from the first position to the second position to reduce measurement errors that may be caused by changes in speed. Since the steering wheel is controlled by a motor, it is sufficient to keep the motor rotating at a uniform speed. In this embodiment, the motor speed is preferably kept at 120° / s. In other optional embodiments, other suitable motor speeds can be selected according to the actual situation.
[0049] Furthermore, the calculation of steering clearance D and steering ratio R do not interfere with each other, and the acquisition of relevant data also does not interfere with each other. During the rotation of the unmanned agricultural machinery between the first and second positions, the calculation steps of steering clearance D and steering ratio R can be performed simultaneously. Figure 2 as well as Figure 3 The flowchart shown is intended to clearly illustrate the calculation methods for steering clearance and steering ratio, and does not imply that the calculation steps for the two data points can only be performed independently.
[0050] The following will illustrate the calculation methods for simultaneously performing the calculation steps for steering clearance D and steering ratio R in this embodiment with examples: Overall, the measurement method consists of two interwoven parts: the unmanned agricultural machinery's operation and the data collection.
[0051] The driving mechanism of the unmanned agricultural machinery: After parking the unmanned agricultural machinery and straightening the steering wheel, start the unmanned agricultural machinery and control it to move straight. When the unmanned agricultural machinery moves forward and the speed reaches 2.5km / h, control the motor to rotate counterclockwise, causing the unmanned agricultural machinery steering wheel to rotate to the left; when the angular velocity of the first gyroscope output is less than or equal to -8° / s, control the motor to rotate clockwise, causing the steering wheel to rotate to the right; when the angular velocity of the first gyroscope is greater than or equal to 8° / s, control the motor to rotate counterclockwise, causing the steering wheel to rotate to the left; repeat the above process to make the unmanned agricultural machinery complete multiple left and right turns.
[0052] Data acquisition section: Data acquisition begins the moment the motor first starts rotating clockwise. At the instant the motor switches from counter-clockwise to clockwise rotation, record the motor angle value A1 (e.g., -180°). As the motor continues to rotate, when the front wheel's rotational angular velocity changes from negative to positive, the motor drives the front wheel to rotate in the same direction; record the motor angle value A2 (e.g., -160°). As the motor continues to rotate, when the first gyroscope's angular velocity is detected to be greater than or equal to -4° / s, record the motor angle value A5 (e.g., -90°), and record the front wheel angle a1' (e.g., -7°) at this moment. As the motor continues to rotate, when the first gyroscope's angular velocity is detected... When the angular velocity is greater than or equal to 4° / s, record the motor angle value A6 (e.g., 80°) and the front wheel angle a2 (e.g., 6°) at this moment. The motor continues to rotate. When the angular velocity of the first gyroscope is detected to be greater than or equal to 8° / s, control the motor to rotate counterclockwise. When the motor switches from clockwise to counterclockwise rotation, record the motor angle value A3 (e.g., 170°). The motor continues to rotate. When the front wheel's rotational angular velocity changes from positive to negative, the motor drives the front wheel to rotate in the same direction. Record the motor angle value A4 (e.g., 145°) at this moment.
[0053] Therefore, the steering data of the unmanned agricultural machinery during this rotation process can be calculated: Left turn clearance of unmanned agricultural machinery D1=|170-145|, D1=25°; The right turn clearance of the unmanned agricultural machinery is D2 = |-180-(-160)|, D2 = 20°; The steering ratio of the unmanned agricultural machinery is R = |-90-80| / |-7-6|, R≈13.1.
[0054] By repeatedly turning left and right, the unmanned agricultural machinery can obtain multiple data points A1, A2, A3, A4, A5, A6, a1, and a2. From these data points, multiple values of D1, D2, and R can be calculated. By averaging the multiple D1 values, the final left-turn steering clearance D1' of the unmanned agricultural machinery can be obtained. Similarly, by averaging the values, the final right-turn steering clearance D2' and the steering ratio R' of the unmanned agricultural machinery can be obtained.
[0055] This embodiment also discloses a computer-readable storage medium for storing a program that, when executed by a processor, implements the steps of the above-described method for calculating the steering data of unmanned agricultural machinery. In some possible implementations, various aspects of this disclosure can also be implemented as a program product comprising program code, which, when executed on a terminal device, causes the terminal device to perform the steps described in the calculation method section of this specification according to various exemplary embodiments of this disclosure.
[0056] The program product for implementing the above-described method according to the embodiments of this application may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be executed on a terminal device, such as a personal computer. However, the program product of this disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.
[0057] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.
[0058] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.
[0059] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java and C++, and conventional procedural programming languages such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).
[0060] When the program in the computer storage medium is executed by the processor, it implements the steps of the above-described measurement method. Therefore, the computer storage medium can also achieve the technical effects of the above-described measurement method.
[0061] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.
[0062] Unless otherwise defined, the technical or scientific terms used in this invention should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an," "a," or "the" do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. The terms "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.
Claims
1. A method for calculating the steering data of unmanned agricultural machines, characterized in that, The measuring method is applied to an unmanned agricultural machine, and the unmanned agricultural machine is controlled in direction by a motor; the measuring method comprises the following steps: (1) starting the unmanned agricultural machine and controlling the unmanned agricultural machine to move straightly; (2) when the moving speed of the unmanned agricultural machine reaches a preset value v, the motor rotates in a first direction to drive the unmanned agricultural machine to rotate in the same direction; (3) when the unmanned agricultural machine rotates to a first position, the motor rotates in a second direction to drive the unmanned agricultural machine to rotate in the same direction to a second position; during the process that the unmanned agricultural machine rotates from the first position to the second position, at least a plurality of angle values A of the motor are acquired; (4) calculating turning data of the unmanned agricultural machine according to at least the plurality of angle values A of the motor; wherein the first direction is a clockwise direction or an anticlockwise direction, and the second direction is opposite to the first direction.
2. The method of claim 1, wherein, In the step (3), when the motor starts to rotate in the second direction, an angle value A1 of the motor is acquired, and when a front wheel of the unmanned agricultural machine starts to rotate, an angle value A2 of the motor is acquired; In the step (4), the turning data of the unmanned agricultural machine comprises a turning gap D, and D=|A1-A2 |.
3. The method for calculating the steering data of unmanned agricultural machinery as described in claim 2, characterized in that, The measuring method further comprises a step (3.1) after the step (3): when the unmanned agricultural machine rotates to the second position, the motor rotates in the first direction to drive the unmanned agricultural machine to rotate in the same direction to the first position; when the motor starts to rotate in the first direction, an angle value A3 of the motor is acquired, and when a front wheel of the unmanned agricultural machine starts to rotate, an angle value A4 of the motor is acquired; In the step (4), the turning gap D of the unmanned agricultural machine comprises a first direction turning gap D1 and a second direction turning gap D2, D1=|A3-A4 |, and D2=|A1-A2 |.
4. The method for calculating the steering data of unmanned agricultural machinery as described in claim 3, characterized in that, The measuring method further comprises a step (3.2) after the step (3.1): the unmanned agricultural machine repeatedly moves between the first position and the second position for multiple times; during the process that the unmanned agricultural machine rotates from the first position to the second position each time, when the motor starts to rotate in the second direction, an angle value A1 of the motor is acquired, and when a front wheel of the unmanned agricultural machine starts to rotate, an angle value A2 of the motor is acquired; during the process that the unmanned agricultural machine rotates from the second position to the first position each time, when the motor starts to rotate in the first direction, an angle value A3 of the motor is acquired, and when a front wheel of the unmanned agricultural machine starts to rotate, an angle value A4 of the motor is acquired; In the step (4), D1 and D2 in each time that the unmanned agricultural machine moves between the first position and the second position are calculated, D1=|A3-A4 |, and D2=|A1-A2 |, the first direction turning gap D1' is an average value of a plurality of D1, and the second direction turning gap D2' is an average value of a plurality of D2.
5. The method of claim 1-4, wherein, In the step (3), during the process that the unmanned agricultural machine rotates from the first position to the second position, When the front wheel of the unmanned agricultural machine rotates, the angle value A5 of the motor and the front wheel angle a1 of the unmanned agricultural machine at the third position and the angle value A6 of the motor and the front wheel angle a2 of the unmanned agricultural machine at the fourth position are obtained when the unmanned agricultural machine turns to the third position and the fourth position respectively. In the step (4), the steering data of the unmanned agricultural machine further includes a steering ratio R, R=|A5-A6| / |a1-a2|.
6. The method of claim 5, wherein, The first position and the second position are respectively located on the left and right sides of the straight line of the unmanned agricultural machine. The third position is located on one side close to the first position, and the fourth position is located on one side close to the second position.
7. The method of claim 5, wherein the steering data is calculated by the unmanned agricultural machine based on the steering data of the agricultural machine. The measurement method further includes a step (3.1') after the step (3): When the unmanned agricultural machine turns to the second position, the motor rotates in the first direction to drive the unmanned agricultural machine to rotate in the same direction to the first position, and the unmanned agricultural machine repeatedly turns between the first position and the second position multiple times. In the process of the unmanned agricultural machine turning from the first position to the second position each time, or in the process of the unmanned agricultural machine turning from the first position to the second position and from the second position to the first position each time, When the front wheel of the unmanned agricultural machine rotates, the angle value A5 of the motor and the front wheel angle a1 of the unmanned agricultural machine at the third position and the angle value A6 of the motor and the front wheel angle a2 of the unmanned agricultural machine at the fourth position are obtained when the unmanned agricultural machine turns to the third position and the fourth position respectively. In the step (4), the steering data of the unmanned agricultural machine further includes a steering ratio R, R=|A5-A6| / |a1-a2|.
8. The method of claim 1, wherein, In the step (2), when the driving speed of the unmanned agricultural machine reaches a preset value v, the unmanned agricultural machine maintains uniform speed driving; and / or, In the step (3), the unmanned agricultural machine uniformly rotates from the first position to the second position.
9. An unmanned agricultural machine turning data measurement system, characterized by, The measurement system comprises: A steering wheel connected with the steering shaft of the unmanned agricultural machine; A motor connected with the steering wheel, the motor being used to control the rotation of the steering wheel; The motor further comprises an encoder for obtaining the angle value of the motor; A first gyroscope installed on the vehicle body of the unmanned agricultural machine, the first gyroscope outputting a first gyroscope angular velocity, which is used at least to determine the position of the unmanned agricultural machine turning between the first position and the second position; A second gyroscope installed on the front wheel of the unmanned agricultural machine, the second gyroscope outputting a second gyroscope angular velocity, which is used at least to determine whether the front wheel of the unmanned agricultural machine starts to rotate in combination with the first gyroscope angular velocity; The first gyroscope angular velocity and the second gyroscope angular velocity are further used to calculate a front wheel angle. A control module is electrically connected with the motor, the first gyroscope and the second gyroscope, and is used to acquire output values of the first gyroscope and the second gyroscope, control rotation of the motor, and execute steps in the method for measuring and calculating steering data of the unmanned agricultural machine according to any one of claims 1 to 8.
10. A computer readable storage medium for storing a program, characterized in that, The program is executed by the processor to implement steps in the method for measuring and calculating steering data of the unmanned agricultural machine according to any one of claims 1 to 8.