CN110641462B - Automatic steering method for agricultural machinery - Google Patents

Abstract

The invention discloses an automatic steering method for agricultural machinery, comprising: step S1, determining an initial angle; step S2, controlling the agricultural machinery to travel a set distance according to the initial angle to obtain a direction change value; step S3, judging the direction Whether the change value is less than or equal to the direction deviation set value; if the direction change value is less than or equal to the direction deviation set value, control the agricultural machinery to drive according to the initial angle; if the direction change value is greater than the direction deviation set value If it is a fixed value, then analyze the deviation direction according to the direction change value; in steps S4 and S5, perform corresponding deflection according to the deviation direction and according to the set angle; take the deflected angle value as the initial angle, and return to step S2 . The present invention can simply and quickly realize the automatic steering and calibration of the agricultural machinery through the above-mentioned method, and can drive according to the set angle, and has high precision at the same time.

Description

A kind of automatic steering method of agricultural machinery

technical field

The invention relates to the technical field of automatic steering of agricultural machinery, in particular to an automatic steering method of agricultural machinery.

Background technique

The automatic navigation technology of agricultural machinery can ensure the automatic driving of farmland vehicles along the set route, which is one of the key technologies to ensure the quality of farmland operations; in order to make the agricultural machinery move along the set route with the smallest error, the navigation system needs to send the turning angle to the steering device in real time. The accurate execution of the corner command is the premise of realizing high-precision automatic navigation.

Due to the differences in the steering mechanism of different agricultural machinery, the range of its turning angle is also different. When installing the automatic navigation system, the size and range of the turning angle must be calibrated; the calibration process generally adopts manual driving, and the machine is driven by professional operators. Driving according to the prescribed route, the calibration steps are cumbersome and the process is complicated, and it is difficult for non-professionals to successfully calibrate at one time.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a simple, fast, and high-precision automatic steering method for agricultural machinery.

To achieve the above purpose, the present invention provides a method for automatic steering of agricultural machinery, comprising:

Step S1, determine the initial angle;

Step S2, controlling the agricultural machinery to travel a set distance according to the initial angle to obtain a direction change value;

Step S3, judging whether the direction change value is less than or equal to the direction deviation set value; if the direction change value is less than or equal to the direction deviation set value, control the agricultural machinery to drive according to the initial angle; If the direction change value is greater than the direction deviation setting value, the deviation direction is obtained by analyzing the direction change value;

Step S4, if the deviation direction is to the left, control the agricultural machinery to deflect the set angle to the right; use the angle sensor to obtain the deflected angle value, use the deflected angle value as the initial angle, and return step S2;

Step S5, if the deviation direction is to the right, control the agricultural machinery to deflect the set angle to the left, use the angle sensor to obtain the deflected angle value, and use the deflected angle value as the initial value. angle, and return to step S2.

Preferably, the step S1 is specifically:

Step S11, determining the left limit angle and the right limit angle of the agricultural machinery;

Step S12, determining a median angle according to the left limit angle and the right limit angle;

Step S13, taking the median angle as the initial angle.

Preferably, the step S11 is specifically:

Controlling the steering wheel of the agricultural machinery to rotate to the left, when reaching the left limit position, the torque-limiting coupling starts to slip and maintains the action state, and the angle detected by the angle sensor is the left limit angle at this time;

The steering wheel of the agricultural machine is controlled to rotate to the right, and when it reaches the right limit position, the torque-limiting coupling starts to slip and maintains the action state. At this time, the angle value detected by the angle sensor is the right limit angle.

Preferably, for the determination of the median angle, the calculation formula is:

In the formula: φ is the median angle, φ _L is the left limit angle, and φ _R is the right limit angle.

Preferably, the step S2 includes:

Step S21, obtaining the first driving direction at the starting position of the agricultural machine;

Step S22, acquiring the second travel direction at the stop position of the agricultural machine; the stop position is the position where the agricultural machine travels the set distance at the initial angle;

Step S23: Calculate according to the first travel direction and the second travel direction to obtain a direction change value.

Preferably, the set angle, the calculation formula is:

In the formula: i is the number of deflections, and i is a positive integer greater than 0.

Preferably, the specific formula of the direction change value is:

F=F ₁ -F ₂ ;

In the formula: F is the direction change value, F ₁ is the first travel direction, and F ₂ is the second travel direction.

Preferably, the deviation direction is obtained by analyzing according to the direction change value, specifically:

Determine whether the direction change value is greater than 0; if the direction change value is greater than 0, the deviation direction is left; if the direction change value is less than 0, the deviation direction is right.

Preferably, the set distance is 1m.

Preferably, the set angle is 2°.

According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

The invention can preset the driving direction by obtaining the left limit angle and the right limit angle, and can control the steering angle of the agricultural machinery within the set range, which can effectively avoid accidents caused by excessive steering angle; It is judged that if the direction change value is greater than the set value, the subsequent deflection process will be carried out, and it is a cyclic deflection process, and the final determination of the driving direction of the agricultural machinery will not be carried out until the set requirements are met; it is not only simple and easy to operate, but also ensures the driving direction. The accuracy is high, and the whole process does not require manual operation, which solves the drawbacks of traditional methods that require manual operation by more professional operators.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the flow chart of agricultural machinery automatic steering method of the present invention;

FIG. 2 is a flow chart of the deflection process of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a simple, easy-to-operate and high-precision automatic steering method for agricultural machinery.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1, the agricultural machinery automatic steering method of the present invention includes:

Step S1, determine the initial angle.

Step S2, controlling the agricultural machine to travel a set distance according to the initial angle to obtain a direction change value.

Step S3, judging whether the direction change value is less than or equal to the direction deviation set value; if the direction change value is less than or equal to the direction deviation set value, control the agricultural machinery to drive according to the initial angle; If the direction change value is greater than the direction deviation setting value, the deviation direction is obtained by analyzing the direction change value.

Step S4, if the deviation direction is to the left, control the agricultural machinery to deflect the set angle to the right; use the angle sensor to obtain the deflected angle value, use the deflected angle value as the initial angle, and return Step S2.

Step S5, if the deviation direction is to the right, control the agricultural machinery to deflect the set angle to the left, use the angle sensor to obtain the deflected angle value, and use the deflected angle value as the initial value. angle, and return to step S2.

In this embodiment, the deflected angle is specifically used for testing until the direction change value is less than or equal to the direction deviation setting value as shown in FIG. 2 .

As an optional implementation manner, the step S1 of the present invention includes:

In step S11, the left limit angle and the right limit angle of the agricultural machine are determined.

Specifically, the steering wheel of the agricultural machine is controlled to rotate to the left, and when the limit position on the left is reached, the torque-limiting coupling begins to slip and maintains the action state. At this time, the angle value detected by the angle sensor is the left limit angle.

The steering wheel of the agricultural machine is controlled to rotate to the right, and when it reaches the right limit position, the torque-limiting coupling starts to slip and maintains the action state. At this time, the angle value detected by the angle sensor is the right limit angle.

Step S12, determining a median angle according to the left limit angle and the right limit angle. The calculation formula is:

In the formula: φ is the median angle, φ _L is the left limit angle, and φ _R is the right limit angle.

Step S13, taking the median angle as the initial angle.

As an optional implementation manner, the step S2 of the present invention includes:

Step S21, obtaining the first driving direction at the starting position of the agricultural machine through the positioning antenna and the directional antenna.

Step S22, obtaining a second travel direction at the stop position of the agricultural machine through the positioning antenna and the directional antenna; the stop position is the position where the agricultural machine travels the set distance at the initial angle.

The set angle, the calculation formula is:

In the formula: i is the number of deflections, and i is a positive integer greater than 0.

Step S23: Calculate according to the first travel direction and the second travel direction to obtain a direction change value.

The calculation formula of the direction change value is:

F=F ₁ -F ₂ ;

In the formula: F is the direction change value, F ₁ is the first travel direction, and F ₂ is the second travel direction.

Further, the deviation direction is obtained by analyzing according to the direction change value, specifically:

Determine whether the direction change value is greater than 0; if the direction change value is greater than 0, the deviation direction is left; if the direction change value is less than 0, the deviation direction is right.

In this embodiment, the set distance is 1m. The set angle is 2°.

The present invention first obtains the left limit angle and the right limit angle, which can not only control the steering angle of the agricultural machinery within a safe range, but also use the median value between the two as the initial angle, which can be simply and effectively used as the initial determination of the final driving angle. At the same time, the present invention sets the threshold value of the deviation of the driving direction of the agricultural machinery, and the angle after multiple deflections replaces the original initial data for testing until the direction change value of the agricultural machinery at the set distance is in line with the set value. The threshold requires that the final deflected angle is taken as the driving angle of the agricultural machine. The present invention is as simple and quick as possible, and at the same time ensures the accuracy of the positioning of the final driving angle, and at the same time, the present invention can be applied to various agricultural machinery, and has a wide application range without limitation.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

In this paper, specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present invention; meanwhile, for those skilled in the art, according to the present invention There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (7)

1. an agricultural machinery automatic steering method, is characterized in that, comprises: Step S1, determine the initial angle; Step S2, controlling the agricultural machinery to travel a set distance according to the initial angle to obtain a direction change value; Step S3, judging whether the direction change value is less than or equal to the direction deviation set value; if the direction change value is less than or equal to the direction deviation set value, control the agricultural machinery to drive according to the initial angle; If the direction change value is greater than the direction deviation setting value, the deviation direction is obtained by analyzing the direction change value; Step S4, if the deviation direction is to the left, control the agricultural machinery to deflect the set angle to the right; use the angle sensor to obtain the deflected angle value, use the deflected angle value as the initial angle, and return step S2; Step S5, if the deviation direction is to the right, control the agricultural machinery to deflect the set angle to the left, use the angle sensor to obtain the deflected angle value, and use the deflected angle value as the initial value. angle, and return to step S2; The step S2 includes: Step S21, obtaining the first driving direction at the starting position of the agricultural machine; Step S22, acquiring the second travel direction at the stop position of the agricultural machine; the stop position is the position where the agricultural machine travels the set distance at the initial angle; Step S23, calculating according to the first driving direction and the second driving direction to obtain a direction change value; The set angle, the calculation formula is:

In the formula: i is the number of deflections, and i is a positive integer greater than 0. 2. a kind of agricultural machinery automatic steering method according to claim 1, is characterized in that, described step S1 is specifically: Step S11, determining the left limit angle and the right limit angle of the agricultural machinery; Step S12, determining a median angle according to the left limit angle and the right limit angle; Step S13, taking the median angle as the initial angle. 3. a kind of agricultural machinery automatic steering method according to claim 2, is characterized in that, described step S11 is specifically: Controlling the steering wheel of the agricultural machinery to rotate to the left, when reaching the left limit position, the torque-limiting coupling starts to slip and maintains the action state, and the angle detected by the angle sensor is the left limit angle at this time; The steering wheel of the agricultural machine is controlled to rotate to the right, and when it reaches the right limit position, the torque-limiting coupling starts to slip and maintains the action state. At this time, the angle value detected by the angle sensor is the right limit angle. 4. a kind of agricultural machinery automatic steering method according to claim 2, is characterized in that, described determining median angle, calculation formula is:

In the formula: φ is the median angle, φ _L is the left limit angle, and φ _R is the right limit angle. 5. a kind of agricultural machinery automatic steering method according to claim 1, is characterized in that, described direction change value concrete formula is: F=F ₁ -F ₂ ; In the formula: F is the direction change value, F ₁ is the first travel direction, and F ₂ is the second travel direction. 6. A kind of agricultural machinery automatic steering method according to claim 1, is characterized in that, described analyzing according to described direction change value to obtain deviation direction, specifically: Determine whether the direction change value is greater than 0; if the direction change value is greater than 0, the deviation direction is left; if the direction change value is less than 0, the deviation direction is right. 7 . The automatic steering method for agricultural machinery according to claim 1 , wherein the set distance is 1 m. 8 .

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