A hilly mountainous area vegetable collection and transportation integrated machine compensation trajectory tracking system

Abstract

The present application relates to the technical field of cabbage harvesting and transporting, and particularly relates to a compensation trajectory tracking system suitable for a vegetable harvesting and transporting integrated machine in hilly and mountainous areas, which comprises a slip rate detection module that collects the theoretical rotating speed of a driving wheel and the actual vehicle speed to generate real-time slip rate data; a slip error estimation and compensation module that combines the slip rate, the cabbage field path information and the vehicle speed to construct and compensate the expected trajectory point sequence; a trajectory compensation evaluation and adjustment module that calculates the lateral residual error and adaptively adjusts the slip rate and the lateral error mapping relationship; and a control instruction generation module that generates and issues the speed and steering control instructions based on the compensation trajectory and the vehicle positioning data to realize trajectory tracking control. Through the introduction of the slip rate compensation mechanism and the path dynamic adjustment algorithm, the cabbage harvesting and transporting integrated machine realizes high-precision trajectory tracking and stable operation control in complex farmland environments.

Description

Technical Field

[0001] This invention relates to the field of cabbage harvesting and transportation technology, and in particular to a compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas. Background Technology

[0002] With the continuous advancement of agricultural mechanization and intelligentization, the vegetable planting industry is developing towards large-scale and refined operations. Especially in cash crops such as cabbage, which have high requirements for inter-row operations, the harvesting and transportation process places higher demands on the path tracking accuracy of agricultural machinery. In hilly and mountainous areas, field planting areas, and facility agriculture, the terrain undulations, soil moisture differences, and dense ridge structures under different operating scenarios will significantly affect the actual driving stability of agricultural machinery, making it difficult for traditional path control methods to be stably adapted. For example, in the integrated harvesting and transportation operation of cabbage, the limited path width, dense crops, and slippery inter-rows often cause nonlinear slippage of the tires, resulting in path deviation and crop damage, which has become one of the key difficulties restricting the improvement of operation quality.

[0003] Existing path tracking control methods are mainly based on GNSS navigation and inertial measurement unit (IMU) fusion positioning, which has been widely used in flat or regularly structured fields. However, in typical complex scenarios of vegetable cultivation, such as longitudinal and transverse slopes in hilly areas, weak GPS signal coverage in greenhouses, and muddy and slippery field operation environments, vehicle slippage occurs frequently, which can easily lead to the accumulation of path tracking errors. Traditional models have not fully considered the dynamic evolution characteristics of slippage errors. In particular, they lack a compensation mechanism based on slippage rate feedback in the path feedforward control and trajectory planning stages, making it difficult to effectively suppress lateral deviation trends and affecting the continuity and reliability of precision operations.

[0004] Furthermore, most current slip compensation methods employ static offset correction strategies, neglecting the nonlinear mapping relationship between slip ratio and trajectory error. They lack real-time update capabilities for slip error modeling and struggle to adapt to dynamic changes in soil conditions and load status during operation. Moreover, in the control command generation stage, a closed-loop residual feedback mechanism between trajectory compensation results and vehicle execution response is generally not constructed, leading to a gradual degradation of control accuracy over operation time. This severely restricts the continuous high-precision operation capability of agricultural intelligent equipment under multiple scenarios and tasks. Therefore, it is urgent to propose a trajectory tracking control method that integrates slip ratio perception, compensation trajectory correction, and dynamic residual adjustment mechanisms to achieve accurate correction of path deviation of the cabbage harvesting and transportation machine in complex environments. Summary of the Invention

[0005] This invention provides a compensation trajectory tracking system for integrated vegetable harvesting and transportation machines adapted to hilly and mountainous areas. It constructs a four-level progressive structure comprising a slip rate detection module, a slip error estimation and compensation module, a trajectory compensation evaluation and adjustment module, and a control command generation module. This achieves a closed-loop control process for real-time detection of trajectory slip deviation, error compensation, residual feedback, and control command generation. The system introduces an exponential decay mapping model to establish a dynamic correlation between slip rate and lateral offset, and achieves adaptive parameter adjustment through a residual feedback mechanism. This significantly improves trajectory tracking accuracy and path robustness in complex environments such as soft soil farmland, ensuring the continuity and efficiency of cabbage harvesting and transportation operations.

[0006] A compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas includes a slip rate detection module, a slip error estimation and compensation module, a trajectory compensation evaluation and adjustment module, and a control command generation module, wherein;

[0007] The slip ratio detection module collects the theoretical rotational speed and actual vehicle speed of the drive wheel of the cabbage collection and transportation machine in real time, and generates real-time slip ratio data based on the difference between the theoretical rotational speed and the actual vehicle speed.

[0008] The slip error estimation and compensation module receives the output real-time slip rate data and the pre-stored Ganlong path information, combines the current real-time vehicle speed, constructs the expected trajectory point sequence, calculates the expected trajectory lateral error caused by slip based on the preset mapping relationship between slip rate and lateral error, performs reverse offset compensation on the lateral coordinates of the expected trajectory point sequence, and outputs the compensated trajectory point sequence.

[0009] The trajectory compensation evaluation and adjustment module receives the compensated trajectory point sequence and the actual vehicle driving trajectory data, compares the lateral offset residual between the compensated trajectory point sequence and the actual vehicle driving trajectory data, determines the degree of deviation of the current lateral coordinate offset compensation, and adaptively adjusts the parameters in the mapping relationship between slip ratio and lateral error.

[0010] The control command generation module receives the compensated trajectory point sequence and the current vehicle positioning data, and generates speed control commands and steering control commands for driving the actuator of the collection and transportation machine according to the preset path tracking control algorithm, and sends them to the execution layer in real time for trajectory tracking control.

[0011] Optionally, the slip ratio detection module includes:

[0012] Theoretical speed calculation: The angular velocity of the drive wheels is acquired in real time by onboard sensors, and combined with the wheel spoke radius, the theoretical speed of the vehicle under ideal conditions with no slippage is calculated. ;

[0013] Actual vehicle speed acquisition: The actual vehicle speed is acquired in real time through speed sensors (dual-antenna GNSS or under-wheel inertial units) installed at the center of the vehicle body or on the non-drive wheels. ;

[0014] Slip ratio calculation: The slip ratio is calculated based on the difference between the theoretical vehicle speed and the actual vehicle speed. This indicates whether the tires are slipping. When, it indicates that the drive wheel is slipping freely. This indicates that the drive wheels are experiencing downhill traction.

[0015] Optionally, the slip error estimation and compensation module includes:

[0016] Desired trajectory construction: Based on the pre-stored ridge path information and the current real-time vehicle speed, dynamically generate the desired trajectory point sequence corresponding to the current moment to guide the vehicle to travel along the ridge direction;

[0017] Slip error calculation: Receive real-time slip rate data and calculate the trajectory lateral error caused by tire slip based on the preset mapping relationship between slip rate and lateral error;

[0018] Trajectory coordinate compensation: The calculated lateral error is applied to the desired trajectory point sequence, and the lateral coordinates are offset in reverse to generate a compensated trajectory point sequence for control execution.

[0019] Optionally, the construction of the desired trajectory includes:

[0020] Ganlong Path Data Parsing and Curve Modeling: Parsing pre-stored Ganlong path information and identifying discrete path points. Fit to a continuous path curve;

[0021] Distance prediction based on real-time vehicle speed: Utilizing the vehicle's current actual speed, combined with a preset prediction time window. Calculate the target distance traveled by the vehicle within that time window. , used to determine the trajectory sampling segment;

[0022] Trajectory point sequence sampling generation: Starting from the projection point of the vehicle's current position on the path, along the path curve for a length of... Equal-interval sampling within the range These points form the desired trajectory point sequence.

[0023] Optionally, the mapping relationship between the preset slip ratio and the lateral error adopts an exponential decay model, which is expressed as:

[0024] Get slip ratio input: Receive the real-time slip ratio at the current moment. As input value;

[0025] Set model parameters: Preset the core parameters of the exponential decay model, including the maximum lateral offset limit. Exponential factor controlling the rate of deviation growth ;

[0026] Calculate the lateral error output: Calculate the lateral trajectory error caused by tire slippage based on the exponential decay model. .

[0027] Optionally, the trajectory coordinate compensation includes:

[0028] Obtain the original expected trajectory point sequence: Obtain the original trajectory point sequence generated at the current time. Each trajectory point includes two-dimensional coordinates;

[0029] Calculate the normal direction vector of each point: Based on the geometric relationship between each trajectory point and its neighboring points, estimate its unit normal direction vector to determine the direction of offset compensation.

[0030] Coordinate compensation using lateral error: Based on the lateral error of the output trajectory The original trajectory points are offset laterally in the opposite direction to generate a sequence of compensated trajectory points. .

[0031] Optionally, the trajectory compensation evaluation and adjustment module includes:

[0032] Trajectory residual evaluation: Receive the compensated trajectory point sequence and the actual vehicle driving trajectory data, match them according to time or path point number, calculate the difference between the compensated trajectory point sequence and the actual vehicle driving trajectory data in the horizontal coordinate dimension, and form a horizontal offset residual sequence.

[0033] Adaptive adjustment of mapping parameters: Based on the lateral offset residual sequence, the core parameters in the mapping relationship between slip ratio and lateral error are adaptively adjusted.

[0034] Optionally, the trajectory residual evaluation includes:

[0035] Trajectory point time series synchronization matching: Obtain the trajectory sequence from the control system, including the compensated desired trajectory point sequence. Actual driving trajectory point sequence And through the nearest neighbor method, time-aligned matching pairs are established;

[0036] Extract the horizontal coordinates of the matching points and calculate the residuals: Based on the matching relationship, extract the difference in the horizontal coordinates (x direction) of each pair of matching trajectory points and calculate the horizontal offset residuals;

[0037] Output lateral offset residual sequence: Assemble the lateral offset residual sequence from all the calculated lateral offset residuals. .

[0038] Optionally, the adaptive adjustment of the mapping parameters includes:

[0039] Calculate the lateral offset residual statistics: the lateral offset residual sequence of the received output. And calculate the lateral offset residual sequence. mean And root mean square error (RMSE);

[0040] Compensation Judgment: Judgment is made based on statistical indicators and preset thresholds. If... This indicates the existence of a systematic bias. This indicates that the error is too large (insufficient compensation). This indicates that the error is too small (the compensation range is too strong). The allowable system deviation threshold, The upper limit of the allowed overall offset, A threshold is set to determine if the error is too small (to prevent overcompensation);

[0041] Adjusting core parameters: Based on the compensation judgment results, adaptively adjust the core parameters in the mapping relationship between slip ratio and lateral error, specifically including:

[0042] If the error is too small, increase the response rate or the upper limit of the output.

[0043] If the error is too large, reduce the compensation strength.

[0044] Optionally, the control command generation module includes:

[0045] Trajectory target point selection and status acquisition: Based on the current vehicle positioning data, select the nearest set of target points (look-through points) in the compensated trajectory point sequence. (), serving as a reference target for path tracking control, while simultaneously acquiring the vehicle's current position and heading angle;

[0046] Deviation calculation based on geometric control model: The steering deviation is calculated using the Pure Pursuit model to obtain the required target front wheel steering angle. and forward speed ;

[0047] Generate control commands and issue them in real time: The calculated commands will be used to... and It is encapsulated into a control command format and sent to the underlying execution unit to drive the steering and drive mechanism of the collection and transportation machine.

[0048] The beneficial effects of this invention are:

[0049] This invention constructs a slip rate detection mechanism based on the difference between theoretical and actual vehicle speeds, combines pre-stored cabbage path information with real-time vehicle speed to dynamically generate the desired trajectory, and introduces an exponential decay model to map the slip rate into lateral error. This enables precise quantification and real-time compensation for the trajectory deviation problem caused by slippage of the cabbage harvesting and transportation machine, effectively improving the adaptability of the path tracking system to slip disturbances in complex surface conditions (such as mud and slopes).

[0050] This invention establishes a trajectory compensation evaluation and adjustment module, constructs a lateral error evaluation index based on the residual between the compensated trajectory and the actual driving trajectory in the lateral coordinate dimension, and adaptively adjusts the mapping model parameters between slip ratio and lateral error accordingly. This enables the compensation strategy to dynamically respond to and adjust to factors such as terrain changes and tire wear during operation, and has good long-term accuracy maintenance capability and trajectory correction self-learning capability.

[0051] This invention effectively achieves stable tracking control of the path compensation results of the integrated harvester under dynamic working conditions by inputting the compensated trajectory point sequence and the current vehicle positioning data into the path tracking controller, and using a pure tracking geometric control algorithm to calculate the target steering angle and driving speed in real time, generating control commands and sending them to the execution layer. This ensures the stability of the machine's posture and the accuracy of the working path during cabbage harvesting, thereby significantly improving harvesting efficiency and crop retention rate. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the system functional modules according to an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of the slip error estimation and compensation module in an embodiment of the present invention. Detailed Implementation

[0055] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Those skilled in the art may employ other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0056] like Figures 1-2As shown, a compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas includes a slip rate detection module, a slip error estimation and compensation module, a trajectory compensation evaluation and adjustment module, and a control command generation module, wherein;

[0057] The slip ratio detection module collects the theoretical speed and actual speed of the drive wheel of the cabbage collection and transportation machine in real time, and generates real-time slip ratio data based on the difference between the theoretical speed and the actual speed.

[0058] The slip error estimation and compensation module receives the output real-time slip rate data and the pre-stored Ganlong path information, combines the current real-time vehicle speed, constructs the desired trajectory point sequence, and calculates the expected trajectory lateral error caused by slip based on the preset mapping relationship between slip rate and lateral error. It also performs reverse offset compensation on the lateral coordinates of the desired trajectory point sequence and outputs the compensated trajectory point sequence.

[0059] The trajectory compensation evaluation and adjustment module receives the compensated trajectory point sequence and the actual vehicle driving trajectory data, compares the lateral offset residual between the compensated trajectory point sequence and the actual vehicle driving trajectory data, determines the degree of deviation of the current lateral coordinate offset compensation, and adaptively adjusts the parameters in the mapping relationship between slip ratio and lateral error to improve the dynamic accuracy of the compensated trajectory.

[0060] The control command generation module receives the compensated trajectory point sequence and the current vehicle positioning data. Based on the preset path tracking control algorithm, it generates speed control commands and steering control commands for driving the actuator of the collection and transportation machine, and sends them to the execution layer in real time for trajectory tracking control.

[0061] The slip ratio detection module includes:

[0062] Theoretical speed calculation: The angular velocity of the drive wheels is acquired in real time by onboard sensors, and combined with the wheel spoke radius, the theoretical speed of the vehicle under ideal conditions with no slippage is calculated. , represented as:

[0063] ;

[0064] in, To drive the wheel angular velocity, The radius of the drive wheel;

[0065] Actual vehicle speed acquisition: The actual vehicle speed is acquired in real time through speed sensors (dual-antenna GNSS or under-wheel inertial units) installed at the center of the vehicle body or on the non-drive wheels. ;

[0066] Slip ratio calculation: The slip ratio is calculated based on the difference between the theoretical vehicle speed and the actual vehicle speed. This indicates whether the tires are slipping. When, it indicates that the drive wheel is slipping freely. When this occurs, it indicates that the drive wheels are experiencing downhill traction, as shown below:

[0067] .

[0068] The slip error estimation and compensation module includes:

[0069] Desired trajectory construction: Based on the pre-stored ridge path information and the current real-time vehicle speed, dynamically generate the desired trajectory point sequence corresponding to the current moment to guide the vehicle to travel along the ridge direction;

[0070] Slip error calculation: Receive real-time slip rate data and calculate the trajectory lateral error caused by tire slip based on the preset mapping relationship between slip rate and lateral error;

[0071] Trajectory coordinate compensation: The calculated lateral error is applied to the desired trajectory point sequence, and the lateral coordinates are offset in reverse to generate a compensated trajectory point sequence for control execution.

[0072] The expected trajectory construction includes:

[0073] Ganlong Path Data Parsing and Curve Modeling: Parsing pre-stored Ganlong path information and identifying discrete path points. The fitted path curve is a continuous curve, represented as:

[0074] ;

[0075] in, This is a path function, representing a position of a certain arc length on a curve. The corresponding two-dimensional position, , They are the arc lengths, This is the cumulative arc length parameter of the path curve. For pre-stored discrete point pairs of the Ganlong path;

[0076] Distance prediction based on real-time vehicle speed: Utilizing the vehicle's current actual speed, combined with a preset prediction time window. Calculate the target distance traveled by the vehicle within that time window. , used to determine the trajectory sampling segment, is represented as:

[0077] ;

[0078] in, The distance traveled;

[0079] Trajectory point sequence sampling generation: Starting from the projection point of the vehicle's current position on the path, along the path curve for a length of... Equal-interval sampling within the range These points form a sequence of points on the desired trajectory, represented as:

[0080] ;

[0081] ;

[0082] in, Step size, Let the projected arc length of the vehicle's current position on the path curve be denoted as . For the first The position of each sampling point on the arc length of the path curve For trajectory sampling interval, For the first Two-dimensional coordinates of a trajectory point .

[0083] The preset mapping relationship between slip ratio and lateral error adopts an exponential decay model, which is expressed as:

[0084] Get slip ratio input: Receive the real-time slip ratio at the current moment. As input value;

[0085] Set model parameters: Preset the core parameters of the exponential decay model, including the maximum lateral offset limit. Exponential factor controlling the rate of deviation growth ;

[0086] Calculate the lateral error output: Calculate the lateral trajectory error caused by tire slippage based on the exponential decay model. , represented as:

[0087] ;

[0088] in, It is a natural constant.

[0089] Trajectory coordinate compensation includes:

[0090] Obtain the original expected trajectory point sequence: Obtain the original trajectory point sequence generated at the current time. Each trajectory point includes two-dimensional coordinates, represented as:

[0091] ;

[0092] in, For the first The horizontal coordinates of the trajectory points For the first The vertical coordinates of each trajectory point;

[0093] Calculate the normal direction vector for each point: Based on the geometric relationship between each trajectory point and its neighboring points, estimate its unit normal direction vector to determine the direction of offset compensation, expressed as:

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] in, For trajectory points The local normal direction vector, , Points arrive directional increment, For trajectory points The unit normal direction vector, Normal direction vector The Euclidean norm;

[0100] Coordinate compensation using lateral error: Based on the lateral error of the output trajectory The original trajectory points are offset laterally in the opposite direction to generate a sequence of compensated trajectory points. , represented as:

[0101] .

[0102] The trajectory compensation assessment and adjustment module includes:

[0103] Trajectory residual evaluation: Receive the compensated trajectory point sequence and the actual vehicle driving trajectory data, match them according to time or path point number, calculate the difference between the compensated trajectory point sequence and the actual vehicle driving trajectory data in the horizontal coordinate dimension, and form a horizontal offset residual sequence.

[0104] Adaptive adjustment of mapping parameters: Based on the lateral offset residual sequence, the core parameters in the mapping relationship between slip ratio and lateral error are adaptively adjusted.

[0105] Trajectory residual assessment includes:

[0106] Trajectory point time series synchronization matching: Obtain the trajectory sequence from the control system, including the compensated desired trajectory point sequence. Actual driving trajectory point sequence And using the nearest neighbor method, time-aligned matching pairs are established, represented as:

[0107] ;

[0108] in, To and Index of the actual trajectory point closest in time. For the first Each compensated trajectory point and its timestamp For the first Each actual trajectory point and its timestamp;

[0109] Extracting the lateral coordinates of matching points and calculating the residuals: Based on the matching relationship, extract the difference in lateral coordinates (x-direction) for each pair of matching trajectory points, and calculate the lateral offset residuals, expressed as:

[0110] ;

[0111] in, For the first The offset residuals of the trajectory points in the horizontal coordinate, For the first The horizontal coordinates of each compensation trajectory point The horizontal coordinates of the actual trajectory points that are matched with it;

[0112] Output lateral offset residual sequence: Assemble the lateral offset residual sequence from all the calculated lateral offset residuals. , represented as:

[0113] ;

[0114] in, This is the number of trajectory points in the expected trajectory point sequence after compensation.

[0115] Adaptive adjustment of mapping parameters includes:

[0116] Calculate the lateral offset residual statistics: the lateral offset residual sequence of the received output. And calculate the lateral offset residual sequence. mean The root mean square error (RMSE) is expressed as:

[0117] ;

[0118] ;

[0119] in, The root mean square error of the lateral offset residual sequence. For the first Lateral offset residuals at each point;

[0120] Compensation Judgment: Judgment is made based on statistical indicators and preset thresholds. If... This indicates the existence of a systematic bias. This indicates that the error is too large (insufficient compensation). This indicates that the error is too small (the compensation range is too strong). The allowable system deviation threshold, The upper limit of the allowed overall offset, A threshold is set to determine if the error is too small (to prevent overcompensation);

[0121] ;

[0122] in, For the width of the ridge, Tolerance factor;

[0123] ;

[0124] in, To control the scaling factor, This represents the maximum lateral compensation value in the mapping relationship between slip ratio and lateral error;

[0125] ;

[0126] in, This represents the upper bound of the positioning error of GNSS or positioning systems in field operation environments. Implement precision limits for the path controller;

[0127] Adjusting core parameters: Based on the compensation judgment results, adaptively adjust the core parameters in the mapping relationship between slip ratio and lateral error, specifically including:

[0128] If the error is too small, then increase the response rate or the upper limit of the output, as follows:

[0129] ;

[0130] ;

[0131] If the error is too large, the compensation strength is reduced, as shown below:

[0132] ;

[0133] ;

[0134] in, , These are the adjusted core parameters. , , , These are the corresponding adaptive adjustment coefficients.

[0135] The control command generation module includes:

[0136] Trajectory target point selection and status acquisition: Based on the current vehicle positioning data, select the nearest set of target points (look-through points) in the compensated trajectory point sequence. ), serving as a reference target for path tracking control, while simultaneously acquiring the vehicle's current position and heading angle, represented as:

[0137] ;

[0138] ;

[0139] in, The current trajectory target point, The x and y coordinates of the target point, The vehicle's current location status, including position and heading angle. The vehicle's current coordinates, This is the vehicle's current heading angle;

[0140] Deviation calculation based on geometric control model: The steering deviation is calculated using the Pure Pursuit model to obtain the required target front wheel steering angle. and forward speed , represented as:

[0141] ;

[0142] ;

[0143] ;

[0144] in, This refers to the vehicle's wheelbase. Let be the Euclidean distance between the vehicle and the target point. For the heading error angle, It is the signed arctangent function;

[0145] Generate control commands and issue them in real time: The calculated commands will be used to... and The control command is encapsulated into a control command format and sent to the underlying execution unit to drive the steering and drive mechanisms of the integrated collection and transportation machine. The control command structure is represented as follows:

[0146] ControlCmd .

[0147] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0148] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas, characterized in that, It includes a slip ratio detection module, a slip error estimation and compensation module, a trajectory compensation evaluation and adjustment module, and a control command generation module, among which; The slip ratio detection module collects the theoretical rotational speed and actual vehicle speed of the drive wheel of the cabbage collection and transportation machine in real time, and generates real-time slip ratio data based on the difference between the theoretical rotational speed and the actual vehicle speed. The slip error estimation and compensation module receives the output real-time slip rate data and pre-stored Ganlong path information, combines it with the current real-time vehicle speed, constructs a desired trajectory point sequence, and calculates the expected trajectory lateral error caused by slip based on a preset mapping relationship between slip rate and lateral error. The preset mapping relationship between slip rate and lateral error adopts an exponential decay model, which is expressed as: Get slip ratio input: Receive the real-time slip ratio at the current moment. As input value; Set model parameters: Preset the core parameters of the exponential decay model, including the maximum lateral offset limit. Exponential factor controlling the rate of deviation growth ; Calculate the lateral error output: Calculate the lateral trajectory error caused by tire slippage based on the exponential decay model. , is represented as: ； in, It is a natural constant; Then, reverse offset compensation is performed on the lateral coordinates of the desired trajectory point sequence, and the compensated trajectory point sequence is output, specifically including: Obtain the original expected trajectory point sequence: Obtain the original trajectory point sequence generated at the current time. Each trajectory point includes two-dimensional coordinates; Calculate the normal direction vector of each point: Based on the geometric relationship between each trajectory point and its neighboring points, estimate its unit normal direction vector to determine the direction of offset compensation. Coordinate compensation using lateral error: Based on the lateral error of the output trajectory The original trajectory points are offset laterally in the opposite direction to generate a sequence of compensated trajectory points. ; The trajectory compensation evaluation and adjustment module receives the compensated trajectory point sequence and the actual vehicle driving trajectory data, compares the lateral offset residual between the compensated trajectory point sequence and the actual vehicle driving trajectory data, determines the degree of deviation of the current lateral coordinate offset compensation, and adaptively adjusts the parameters in the mapping relationship between slip ratio and lateral error. The control command generation module receives the compensated trajectory point sequence and the current vehicle positioning data, and generates speed control commands and steering control commands for driving the actuator of the collection and transportation machine according to the preset path tracking control algorithm, and sends them to the execution layer in real time for trajectory tracking control.

2. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 1, characterized in that, The slip ratio detection module includes: Theoretical speed calculation: The angular velocity of the drive wheels is acquired in real time by onboard sensors, and combined with the wheel spoke radius, the theoretical speed of the vehicle under ideal conditions with no slippage is calculated. ; Actual vehicle speed acquisition: The actual vehicle speed is acquired in real time through speed sensors installed at the center of the vehicle body or on non-drive wheels. ; Slip ratio calculation: The slip ratio is calculated based on the difference between the theoretical vehicle speed and the actual vehicle speed. This indicates whether the tires are slipping. When, it indicates that the drive wheel is slipping freely. This indicates that the drive wheels are experiencing downhill traction.

3. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 1, characterized in that, The slip error estimation and compensation module includes: Desired trajectory construction: Based on the pre-stored ridge path information and the current real-time vehicle speed, dynamically generate the desired trajectory point sequence corresponding to the current moment to guide the vehicle to travel along the ridge direction; Slip error calculation: Receive real-time slip rate data and calculate the trajectory lateral error caused by tire slip based on the preset mapping relationship between slip rate and lateral error; Trajectory coordinate compensation: The calculated lateral error is applied to the desired trajectory point sequence, and the lateral coordinates are offset in reverse to generate a compensated trajectory point sequence for control execution.

4. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 3, characterized in that, The construction of the desired trajectory includes: Ganlong Path Data Parsing and Curve Modeling: Parsing pre-stored Ganlong path information and identifying discrete path points. Fit to a continuous path curve; Distance prediction based on real-time vehicle speed: Utilizing the vehicle's current actual speed, combined with a preset prediction time window. Calculate the target distance traveled by the vehicle within that time window. , used to determine the trajectory sampling segment; Trajectory point sequence sampling generation: Starting from the projection point of the vehicle's current position on the path, along the path curve for a length of... Equal-interval sampling within the range These points form the desired trajectory point sequence.

5. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 4, characterized in that, The trajectory compensation evaluation and adjustment module includes: Trajectory residual evaluation: Receive the compensated trajectory point sequence and the actual vehicle driving trajectory data, match them according to time or path point number, calculate the difference between the compensated trajectory point sequence and the actual vehicle driving trajectory data in the horizontal coordinate dimension, and form a horizontal offset residual sequence. Adaptive adjustment of mapping parameters: Based on the lateral offset residual sequence, the core parameters in the mapping relationship between slip ratio and lateral error are adaptively adjusted.

6. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 5, characterized in that, The trajectory residual evaluation includes: Trajectory point time series synchronization matching: Obtain the trajectory sequence from the control system, including the compensated desired trajectory point sequence. Actual driving trajectory point sequence And through the nearest neighbor method, time-aligned matching pairs are established; Extract the horizontal coordinates of the matching points and calculate the residuals: Based on the matching relationship, extract the difference in the horizontal coordinates of each pair of matching trajectory points and calculate the horizontal offset residuals; Output lateral offset residual sequence: Assemble the lateral offset residual sequence from all the calculated lateral offset residuals. .

7. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 6, characterized in that, The adaptive adjustment of the mapping parameters includes: Calculate the lateral offset residual statistics: the lateral offset residual sequence of the received output. And calculate the lateral offset residual sequence. mean and root mean square error ; Compensation Judgment: Judgment is made based on statistical indicators and preset thresholds. If... This indicates the existence of a systematic bias. This indicates that the error is too large. This indicates that the error is relatively small. The allowable system deviation threshold, The upper limit of the allowed overall offset, The threshold is determined when the error is too small; Adjusting core parameters: Based on the compensation judgment results, adaptively adjust the core parameters in the mapping relationship between slip ratio and lateral error, specifically including: If the error is too small, increase the response rate or the upper limit of the output. If the error is too large, reduce the compensation strength.

8. The compensation trajectory tracking system for an integrated vegetable harvesting and transportation machine adapted to hilly and mountainous areas according to claim 7, characterized in that, The control command generation module includes: Trajectory target point selection and status acquisition: Based on the current vehicle positioning data, select the nearest set of target points in the compensated trajectory point sequence as the reference target for path tracking control, and at the same time acquire the vehicle's current position and heading angle; Deviation calculation based on geometric control model: Steering deviation is calculated using a pure tracking model to obtain the required target front wheel steering angle. and forward speed ; Generate control commands and issue them in real time: The calculated commands will be used to generate control commands. and It is encapsulated into a control command format and sent to the underlying execution unit to drive the steering and drive mechanism of the collection and transportation machine.

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