A method and system for automatic path tracking of a track-type harvester

By generating boundary chains and combining them with track control quantities, the problem of unstable path tracking of tracked harvesters in complex environments is solved. This achieves stable correspondence between the header and the actual harvest boundary and the correctability of control deviations, thereby improving the harvesting efficiency and accuracy of tracked harvesters.

CN122219473BActive Publication Date: 2026-08-25SHANGHAI SHINLINK INTELLECTUAL TECH CO LTD
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Patent Information

Application Number
CN202610685895.X
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-05-19
Publication Date
2026-08-25
Estimated Expiration
2046-05-19

AI Technical Summary

Technical Problem

During the harvesting process, existing tracked harvesters have unstable path tracking, which can easily cause the cutting platform to deviate from the actual harvesting boundary. This is especially true on muddy or straw-covered ground, where the tracks slip and the steering becomes sluggish, leading to repeated corrections of control deviations and distortion of the continuity relationship.

Method used

By acquiring data on the operation boundary, header boundary, machine movement, and track execution, a set of boundary objects is generated and a boundary chain is formed. Combined with the offset direction and offset changes of the left and right ends of the header, track control quantities are generated, and the path tracking control basis is updated when the boundary is interrupted, ensuring the correspondence between the header and the actual harvest boundary.

Benefits of technology

It achieves stability in path tracking of tracked harvesters and correctability of control deviations in complex environments, reduces the risk of the header deviating from the actual harvest boundary, and enhances the adaptability and precision of track control.

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Abstract

The application discloses a caterpillar type harvester path automatic tracking method and system, and relates to the technical field of vehicle path tracking control; boundary object set is generated by obtaining operation boundary data, header boundary data, machine motion data and caterpillar execution data, and boundary chain is formed by filtering according to the direction connection, adjacent connection and header left and right end position change of the boundary object; the header passing area is demarcated along the boundary chain, the advancing zone is limited in combination with the relative relationship of the header, and the caterpillar control amount is generated according to the advancing zone, the machine motion data and the caterpillar execution data; after the execution of the caterpillar control amount, the next caterpillar control deviation is corrected by using the machine, the caterpillar and the header boundary feedback; when the boundary chain is interrupted or the connection is abnormal, the connection boundary is generated, and the boundary chain is connected back after the boundary object is obtained again. The path tracking object is kept corresponding to the actual harvesting boundary of the header, and the continuity of the path tracking control under the boundary abnormal scene is improved.
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