CN111766874B - Control method of working equipment and related device - Google Patents
Control method of working equipment and related device Download PDFInfo
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- CN111766874B CN111766874B CN202010537737.2A CN202010537737A CN111766874B CN 111766874 B CN111766874 B CN 111766874B CN 202010537737 A CN202010537737 A CN 202010537737A CN 111766874 B CN111766874 B CN 111766874B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The embodiment of the application provides a control method and a related device of operation equipment, and relates to the field of equipment guiding. The method comprises the following steps: acquiring the current position of the operation equipment; when the distance between the current position and the working path of the working equipment is larger than the guidance distance, determining a reference path between the current position and the working path; determining a reference point on a reference path; and controlling the working equipment to move towards the reference point according to the position of the reference point and the current position. The application can smoothly guide the operation equipment to approach the operation path, improve the efficiency of returning the operation equipment to the operation path and reduce the cost.
Description
Technical Field
The application relates to the field of equipment guiding, in particular to a control method and a related device of operation equipment.
Background
Along with the development of science and technology, people increasingly use automatic operation equipment to replace manual operation, so that the production efficiency is improved. At present, the working device can work along a set working path, but before the working device works along the working path or after the working device accidentally deviates from the working path due to faults, the current position of the working device is often not on the working path, and at this time, the working device needs to be efficiently returned to the working path.
When the existing method is used for controlling the operation equipment to return to the operation path, an angle sensor is usually installed on the operation equipment, and the turning angle of a turning wheel of the operation equipment is detected through the angle sensor to control the turning of the operation equipment in real time, so that the operation equipment returns to the operation path. This approach is disadvantageous in terms of cost reduction due to the higher cost of the angle sensor.
In addition, the work equipment can be returned to the work path by a simple steering control method. However, these methods may cause the operation equipment to have an uneven track, excessive number of times of stopping the direction change, or too long a returning track, which is not efficient.
Disclosure of Invention
The application aims to provide a control method and a related device of a working device, which can smoothly guide the working device to approach to a working path, improve the efficiency of returning the working device to the working path and reduce the cost.
Embodiments of the application may be implemented as follows:
In a first aspect, an embodiment of the present application provides a method for controlling a working device, including: acquiring the current position of the operation equipment; determining a reference path between the current position and a work path of the work equipment when a distance between the current position and the work path is greater than a guidance distance; determining a reference point on the reference path; and controlling the working equipment to move towards the reference point according to the position of the reference point and the current position.
In an alternative embodiment, the step of controlling the movement of the working device to the reference point according to the position of the reference point and the current position includes: acquiring the current direction of the operation equipment; determining a tracking orientation according to the position of the reference point and the current position; controlling the working equipment to move according to the tracking direction and the current direction so as to enable the working equipment to move towards the reference point; judging whether the distance between the current position of the working equipment and the working path is larger than the guidance distance or not; and when the distance between the current position and the working path of the working equipment is larger than the guidance distance, returning to the step of acquiring the current position of the working equipment.
In an alternative embodiment, when the distance between the current position and the work path is less than or equal to the guidance distance, the method further comprises: and controlling the working equipment to move to the working path by adopting an L1 guidance method.
In an alternative embodiment, the step of controlling the movement of the working device to the working path by using the L1 guidance method includes: updating the current position of the operation equipment, and acquiring the current moving speed and the current direction of the operation equipment; determining a regression reference point on the job path; and controlling the working equipment to move towards the regression reference point according to the position of the regression reference point, the current position, the current direction and the current moving speed so as to enable the working equipment to move to the working path and enable the direction of the working equipment to be consistent with the direction of the working path.
In an alternative embodiment, the step of determining a regression reference point on the job path includes: acquiring at least one point to be selected, the distance between the point to be selected and the current position of which is the guidance distance, on the working path; and determining a candidate point close to the end point of the working path from the at least one candidate point as the regression reference point.
In an alternative embodiment, the step of determining a reference point on the reference path includes: acquiring at least one point to be selected, the distance between the point to be selected and the current position of which is the guidance distance, from the reference path; and determining a candidate point close to the end point of the reference path from the at least one candidate point as the reference point.
In an alternative embodiment, the reference path is parallel to the working path, and the distance between the reference path and the current position is less than or equal to the guidance distance.
In a second aspect, an embodiment of the present application provides a control method of a working device, applied to an agricultural unmanned aerial vehicle, where the method includes: judging whether the agricultural unmanned aerial vehicle is positioned on a working path or not; when the agricultural unmanned aerial vehicle leaves the working path, the L1 guidance method is adopted to control the agricultural unmanned aerial vehicle to move to the working path.
In a third aspect, an embodiment of the present application provides a control device for a working device, which is applied to an agricultural unmanned aerial vehicle, including: the acquisition module is used for acquiring the current position of the operation equipment; a tracking module configured to determine a reference path between the current position and a work path of the work equipment when a distance between the current position and the work path is greater than a guidance distance; preferably, the distance between the reference path and the current position is smaller than or equal to the guidance distance; the tracking module is further used for determining a reference point on the reference path; the tracking module is further used for controlling the operation equipment to move towards the reference point according to the position of the reference point and the current position.
In an alternative embodiment, the tracking module is configured to obtain a current direction of the working device; the tracking module is also used for determining a tracking orientation according to the position of the reference point and the current position; the tracking module is further used for controlling the working equipment to move according to the tracking direction and the current direction so as to enable the working equipment to move towards the reference point; the tracking module is also used for judging whether the distance between the current position of the working equipment and the working path is larger than the guidance distance; the tracking module is further configured to notify the acquisition module to execute the step of acquiring the current position of the working device when a distance between the current position and a working path of the working device is greater than a guidance distance.
In an alternative embodiment, the tracking module is further configured to control the work equipment to move to the work path using an L1 guidance method when the distance between the current position and the work path is less than or equal to the guidance distance.
In an optional embodiment, the tracking module is configured to update a current position of the working device, and obtain a current moving speed and a current direction of the working device; the tracking module is also used for determining a regression reference point on the working path; the tracking module is further configured to control the operation device to move toward the regression reference point according to the position of the regression reference point, the current position, the current direction, and the current movement speed, so that the operation device moves to the operation path, and the direction of the operation device is consistent with the direction of the operation path.
In an optional embodiment, the tracking module is configured to obtain, on the working path, at least one point to be selected, where the distance from the current position is the guidance distance; the tracking module is further used for determining a candidate point close to the end point of the working path from the at least one candidate point as the regression reference point.
In an optional embodiment, the tracking module is configured to acquire at least one candidate point with a distance from the current position being the guidance distance on the reference path; the tracking module is further configured to determine a candidate point close to the end point of the reference path from the at least one candidate point as the reference point.
In a fourth aspect, an embodiment of the present application further provides a control device for a working apparatus, including: the judging module is used for judging whether the agricultural unmanned aerial vehicle is positioned on a working path or not; and the guidance module is used for controlling the agricultural unmanned aerial vehicle to move to the working path by adopting an L1 guidance method when the agricultural unmanned aerial vehicle leaves the working path.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a work apparatus according to any one of the preceding embodiments.
In a sixth aspect, an embodiment of the present application provides a control unit of a working device, including a processor and a memory, where the memory stores machine-readable instructions, and the processor is configured to execute the machine-readable instructions to implement a control method of the working device according to any one of the foregoing embodiments.
In a seventh aspect, an embodiment of the present application provides a working apparatus, including: a body; the power equipment is arranged on the machine body and used for providing power for the working equipment; a work equipment control unit; the work equipment control unit includes a processor and a memory storing machine readable instructions for executing the machine readable instructions to implement a method of controlling a work equipment according to any of the preceding embodiments.
The beneficial effects of the embodiment of the application include, for example: by determining a reference path having a distance from the current position of the work equipment that is less than or equal to the guidance distance between the current position of the work equipment and the work path, and determining a reference point on the reference path, and controlling the movement of the work equipment to the reference point, the work equipment can be moved to the reference point in a determined one of the directions. The above process is repeated to determine the reference points gradually approaching the operation path between the operation device and the operation path, so that the operation device can continuously approach the operation path according to the reference points while moving and steering without stopping the direction change, the track of the operation device returning to the operation path is smoother, and the returning efficiency of the operation device is improved. In addition, the method does not need an angle sensor, so that the implementation cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a prior art regression trajectory of a work tool;
FIG. 2 is a schematic view of another scenario of a regression trajectory of a conventional work tool;
FIG. 3 is a block diagram of a control unit of an operation device according to an embodiment of the present application;
FIG. 4 is a block diagram of a work device according to an embodiment of the present application;
FIG. 5 is a flowchart of a method for controlling a work device according to an embodiment of the present application;
Fig. 6 is a schematic diagram of an application scenario of a control method of an operation device according to an embodiment of the present application;
fig. 7 is another flowchart of a control method of a working device according to an embodiment of the present application;
fig. 8 is another flowchart of a control method of a working device according to an embodiment of the present application;
Fig. 9 is a schematic diagram of another application scenario of a control method of an operation device according to an embodiment of the present application;
fig. 10 is another flowchart of a control method of a working device according to an embodiment of the present application;
fig. 11 is a schematic diagram of another application scenario of a control method of an operation device according to an embodiment of the present application;
fig. 12 is a flowchart of S140B of a control method of the working device in fig. 10 according to an embodiment of the present application;
fig. 13 is a schematic view of another application scenario of a control method of an operation device according to an embodiment of the present application;
Fig. 14 is a control schematic diagram of a control method of a working device according to an embodiment of the present application;
FIG. 15 is a functional block diagram of a control device for a work machine according to an embodiment of the present application;
FIG. 16 is a flowchart of another method for controlling a work device according to an embodiment of the present application;
fig. 17 is a functional block diagram of a control device of another working apparatus according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
In the implementation process of the embodiment of the present application, the inventors of the present application found that:
The method for realizing the return of the operation equipment to the operation path mainly comprises the following steps: a kinematics-based control method and a dynamics-based control method.
Among them, for the kinematics-based control method, a Pure path tracing method (Pure pulse) and a front-wheel feedback method (Stanley) are representative. Taking operation equipment as an automobile, taking the center position of the current rear wheel of the automobile as a reference, a forward pre-aiming point on an operation path is obtained through a set pre-aiming distance Ld by using the pure path tracking method, then a target turning angle of the steering wheel is calculated by means of the pre-aiming point and a kinematic model, and finally the automobile is guided to move to the operation path by controlling the steering wheel to rotate. The front wheel feedback method is to calculate the steering wheel angle by using the deviation amount of the front wheel center relative to the working path, and finally to guide the vehicle body to move towards the working path by controlling the steering wheel to rotate.
For the dynamics-based control method, which is generally applied to the occasion of tracking the working path in the high-speed driving scene, the dynamics-based control method is a transverse control method. The main idea is to analyze the stress of the tyre of the vehicle according to the inclination angle of the tyre, and build a dynamic model of the vehicle (obtain the state equation of the whole system: describing the relationship between steering wheel angle and vehicle transverse displacement, transverse speed, vehicle angle and angular speed). And further obtains a path tracking deviation state equation (describing the relationship between steering wheel rotation angle and lateral distance deviation, distance deviation change rate, vehicle rotation angle, rotation angle deviation change rate). In actual control, it is generally desirable that the lateral deviation converges quickly and stably while the input to the steering wheel is relatively small. Therefore, multi-objective optimization, such as LQR optimal control, is also introduced on the basis, the target steering wheel angle is finally obtained, and the steering wheel angle is controlled to guide the vehicle body to move towards the working path.
Therefore, both methods need to detect the rotation angle of the steering wheel of the working equipment through the angle sensor to control the steering of the working equipment in real time, so that the return of the working equipment to the working path can be realized. The method is unfavorable for reducing the cost due to the higher cost of the angle sensor, and the angle sensor is easy to break down and unfavorable for the correct regression of the operation equipment. In addition, the vehicle control system is a system with larger time lag, and the automatic driving vehicle control usually adopts a Model Prediction (MPC) method, so that the MPC calculation amount is large, the data required to be stored is relatively more, and the resource requirement on the controller hardware is high, therefore, the existing method also has the problems of large calculation amount and high occupied calculation resource.
For a simple path planning method, when the operation device is controlled to return to the operation path, the existing method does not consider that the direction change of some operation devices and the position movement of the operation devices occur simultaneously (for example, a vehicle using an acarman steering mechanism can only drive a steering wheel to realize steering while controlling the steering wheel to rotate, and the driving track is always smooth), so that a plurality of direction abrupt points (i.e. the shape of the transition path is not smooth) often exist in the planned transition path, as shown in fig. 1, the operation device needs to stop turning at D1 and D2 to return to the operation path, which can cause the unsmooth returning track of the operation device and excessive times of stopping turning.
In addition, in the prior art, when the operation device is controlled to return to the operation path, the operation device cannot return to the operation path once (the direction of the operation path is not consistent with the direction of the operation path when returning to the operation path for the first time) but the direction needs to be continuously adjusted, so that the phenomenon of overlong return track occurs. The first time the work equipment returns to the reference point (as shown in fig. 2), the orientation is not coincident with the direction of the work path. The work equipment has to go around the reference point multiple times before going back to the point to ensure that the orientation coincides with the direction of the work path, which can result in a lengthy regression trajectory.
Therefore, the method can cause that the track is not smooth when the operation equipment is actually returned, the number of times of stopping turning is excessive, or the returning track is too long, and the efficiency is not high.
Further, in order to improve various drawbacks of the prior art, an embodiment of the present application provides a control method and related apparatus for a working device, which can smoothly guide the working device to approach a working path, improve efficiency of returning the working device to the working path, and reduce cost.
It should be noted that, the above technical solutions in the prior art all have various drawbacks, which are the results obtained by the inventor after careful practical study, and therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present application below for the above problems should be all contributions of the inventor to the implementation of the present application.
First, the embodiment of the present application provides a work equipment control unit capable of making a work equipment smoothly approach a work path. Referring to fig. 3, a block diagram of a control unit of an operation device according to an embodiment of the present application is shown. The work equipment control unit 100 may include: the memory 110, the processor 120, the memory 110, the processor 120 may be electrically connected directly or indirectly to the communication interface 130 to enable transmission and interaction of data. For example, the components may be electrically connected to each other via buses and/or signal lines.
Processor 120 may process information and/or data related to the control of work equipment to perform one or more functions described herein. For example, the processor 120 may obtain the current position and current direction of the working device, and control the working device according to the information or data, so as to smoothly guide the working device to approach the working path, improve the efficiency of returning the working device to the working path, and reduce the cost.
The memory 110 may be, but is not limited to: solid state disk (Solid STATE DISK, SSD), mechanical hard disk (HARD DISK DRIVE, HDD), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), random access Memory (Random Access Memory, RAM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), and the like.
The processor 120 described above may be, but is not limited to: a central processor (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but are also not limited to: application SPECIFIC INTEGRATED Circuits (ASICs), digital signal processors (DIGITAL SIGNAL Processing, DSP), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Thus, the processor 120 may be an integrated circuit chip with signal processing capabilities.
It is to be understood that the configuration of work equipment control unit 100 shown in fig. 3 is merely one schematic configuration and that work equipment control unit 100 may also include more or fewer components or modules than the configuration shown in fig. 3 or have a different configuration or construction than the configuration shown in fig. 3. Also, the components shown in FIG. 3 may be implemented in hardware, software, or a combination of both. In addition, it should be further understood that, according to different requirements in practical applications, the working device control unit 100 provided by the present application may be configured or constructed differently, for example, the working device control unit 100 provided by the present application may be a control core device of a working device (for example, a controller inside an agricultural tractor, an unmanned aerial vehicle, an unmanned ship, etc.), or may be an electronic device (for example, a server, a cloud platform, a computer, a mobile phone, a tablet, etc.) with communication, calculation, and storage functions.
Therefore, when the operation device control unit 100 provided by the embodiment of the present application is a control core device of an operation device, the present application further provides an operation device, which can fully automatically operate on an operation land, and improve the working efficiency of the operation device. The type of the working equipment used by the method provided by the application is not limited to vehicles using an acarman steering mechanism, and the method can be applied to unmanned aerial vehicles, agricultural machinery, unmanned vehicles, various types of carriers, unmanned ships and other working equipment.
Referring to fig. 4, a block diagram of a working device 200 according to an embodiment of the present application is shown, where the working device 200 may include a machine body 210, a power device 220, and the working device control unit 100 described above.
Wherein power device 220 may be mounted to body 210 as described above for powering work device 200. Since the work equipment may be configured as an agricultural tractor, the power equipment 220 may be a drive module (including an engine, a chassis, etc.) of the tractor, and the body 210 may be a body of the tractor. The memory 110 of the operation device control unit 100 stores machine readable instructions related to a control method of the operation device, and the processor 120 may execute the machine readable instructions to further obtain a current position and a current direction of the operation device, and smoothly guide the operation device 200 to approach the operation path according to the data, thereby improving efficiency of returning the operation device to the operation path and reducing cost.
It should be noted that the configuration shown in fig. 4 is only one illustration, and the working apparatus 200 may further include more or fewer components than those shown in fig. 4, or have a different configuration from that shown in fig. 4.
Further, when the operation device control unit 100 provided by the present application is an electronic device with communication, calculation and storage functions, the electronic devices can obtain the current position and current direction of the operation device, and smoothly guide the operation device 200 to approach the operation path according to the data, so as to improve the efficiency of returning the operation device to the operation path, reduce the cost, and implement the control method of the operation device provided by the present application.
In the following, for ease of understanding, the following embodiments of the present application will take the working apparatus 200 shown in fig. 4 as an example, and the control method of the working apparatus provided in the embodiments of the present application will be described with reference to the accompanying drawings.
Referring to fig. 5, fig. 5 shows a flowchart of a control method of a working device according to an embodiment of the present application. The control method of the working apparatus may be applied to the working apparatus 200 described above, and the control method of the working apparatus may include the steps of:
s100, acquiring the current position of the working equipment.
In some possible embodiments, work device 200 may obtain the current location and current direction of work device 200 via GPS, wifi, bluetooth, base station, etc. positioning techniques. Or work device 200 may obtain the current location and current direction from a memory of other electronic devices (e.g., electronic devices such as servers, staging servers, backend servers, cloud servers, etc.). The application does not limit how to acquire the current position and the current direction.
It should be further noted that, the control method of the operation device provided by the embodiment of the present application may be implemented in a two-dimensional plane or a three-dimensional space, and further, the control process of the operation device shown in the schematic diagram provided by the present application is only one schematic, and those skilled in the art can easily apply the control process to the three-dimensional space without making any creative effort.
S110, when the distance between the current position and the working path of the working equipment is larger than the guidance distance, determining a reference path between the current position and the working path;
Preferably, the reference path is at a distance from the current position that is less than or equal to the guidance distance. In some possible embodiments of the present invention, the distance between the reference path and the current position refers to the distance between the current position and the reference path, i.e. the distance between the reference path and the current position can be determined by making a perpendicular to the reference path at the current position.
In some possible embodiments, the distance between the current location of the work device and the work path may be the shortest distance between the work device and the work path (the shortest distance that may be a reference point to a line). The guidance distance may be a predetermined distance or an optimal regression distance (i.e., L1 guidance distance in the L1 guidance method).
The L1 guidance distance is a distance calculated according to a real-time moving speed of the working device, and a specific calculation mode can refer to an L1 guidance method, which is not described herein. Wherein a point can be found within the L1 guidance distance, the working device can approach the point in a manner of controlling the turning of the steering wheel while driving, and further can smoothly move to or near the point without stopping turning.
Referring to fig. 6, assuming that the current position of the work implement is P, the current direction is vector PQ, the guidance distance is L1, and the work path is AB. In fig. 6, the distance e between the current position P of the work equipment and the work path PQ is larger than the guidance distance L1. At this time, a reference path (e.g., AB1 in fig. 6) may be determined between the current position P and the work path AB, and the reference path AB1 is less than or equal to the guidance distance L1 from the current position.
Wherein the shape of the generated reference path may be a straight line, a curve, etc. Or the shape of the reference path may be consistent with the shape of the working path and non-intersecting with the working path. It will be appreciated that different shaped reference paths may affect whether the location of the selected reference point is reasonable or not, and that the shape of the generated reference path may also be consistent with and parallel to the shape of the working path in order to make the location of the generated reference point more optimal.
The job device 200 may acquire the job path generated by itself, or may acquire the job path from the memory of another electronic device, which is not limited in the present application.
S120, determining a reference point on the reference path.
In some possible embodiments, the reference point may be selected randomly or according to a predetermined rule. The mode of selecting according to the preset rule may be that a point closest to the current position of the operation device on the reference path is taken as a reference point, or a point, which is exactly the L1 guidance distance from the current position of the operation device on the reference path, is taken as a reference point, which is not limited in the present application.
And S130, controlling the working equipment to move towards the reference point according to the position of the reference point and the current position.
Taking the scenario shown in fig. 6 as an example, assuming that the reference point determined on the reference path is Y, the operation device can be controlled to approach the reference point Y in a manner of controlling the turning wheel to rotate while driving according to the position of the reference point Y, the current position and the current direction of the operation device, and obviously, the movement track of the operation device is smooth in the process, and the operation device can approach the reference point without stopping the turning action, so that the movement efficiency is high.
It will further be appreciated that when the distance between the current position of the work equipment and the work path of the work equipment is greater than the guidance distance, steps S100 to S130 may be repeated continuously to determine reference points between the work equipment and the work path that gradually approach the work path in order to allow the work equipment to continuously approach the work path and ultimately return to the work path accurately. And the operation equipment can continuously approach to the operation path according to the reference points while moving and steering without stopping steering, so that the track of the operation equipment returning to the operation path is smoother, and the returning efficiency of the operation equipment is improved. In addition, the method does not need an angle sensor, so that the implementation cost is reduced.
Further, in order to enable the working device to successfully return to the working path, in a possible implementation manner provided by the present application on the basis of fig. 5, referring to fig. 7, the method provided by the embodiment of the present application may further include:
And S140, when the distance between the current position and the working path is smaller than or equal to the guidance distance, controlling the working equipment to move to the working path by adopting an L1 guidance method.
When the distance between the current position and the working path is smaller than or equal to the guidance distance, a point can be determined on the working path as a reference point, and the L1 guidance method is adopted to control the working equipment to the reference point. And finally returning the working equipment to the working path, and enabling the direction of the working equipment to be consistent with the direction of the working path.
It should be appreciated that the L1 guidance method can avoid the disadvantage of detecting the steering wheel angle during control, eliminate the angle sensor, and avoid the disadvantage of requiring a large amount of computation during model predictive control. Therefore, when the distance between the current position of the working equipment and the working path is smaller than or equal to the guidance distance, the L1 guidance method is adopted to control the working equipment to move to the working path, so that the return efficiency of the working equipment can be further improved.
In some possible embodiments, in order to make the working device return to the working path more efficiently, with reference to fig. 8, S120 may include the following sub-steps for determining the reference point on the reference path:
S120A, at least one candidate point with the distance from the current position being the guidance distance is acquired on the reference path.
When the distance between the reference path and the current position is smaller than or equal to the guidance distance, at least one point to be selected, which is the guidance distance from the current position, can be acquired on the reference path. As shown in fig. 9, assuming that the reference path is ab1, the candidate points on the reference path include y1, y2.
It should be understood that the number of the points to be selected is determined by the shape of the reference path, for example, when the reference path is a straight line segment, the number of the points to be selected is two points to be selected; when the reference path is a curve segment, the number of the points to be selected needs to be determined according to the actual situation.
And S120B, determining a candidate point close to the end point of the reference path from at least one candidate point as a reference point.
In some possible embodiments, the job path generally includes a start point and an end point, and in order to make the location of the generated reference point more optimal, the shape of the reference path preferably coincides with the shape of the job path. The start point and the end point of the reference path also coincide with the work path.
As shown in fig. 9, assuming that the start point is a and the end point is B for the working path AB (i.e., the direction of the working path AB is from a to B), and that the candidate points y1, y2 are the candidate points near the end point of the reference path, the candidate point y2 may be taken as the return reference point.
It should be understood that, since the distance between the reference point actually determined in S120A, S B and the current position of the working device is the guidance distance, the reference point is closer to the end point of the reference path (corresponding to the end point of the working path). Since the distance between the reference point and the current position of the working equipment is the guidance distance, the working equipment can be ensured to move to the point smoothly, and the direction of the working equipment when the reference point is close to the end point of the reference path can be more consistent with the direction of the working path, so that incorrect orientation when the working equipment returns finally is avoided. Further, S120A, S B described above can enable the work equipment to be returned to the work path further more efficiently.
In addition, in order to further improve the efficiency of returning the operation equipment to the operation path, the size of an included angle formed by each point to be selected, the current position of the operation equipment and the current direction can be determined; and then taking the candidate point with the smallest included angle as a reference point. The point to be selected with the smallest included angle is used as the reference point, so that the angle required to be rotated when the operation equipment moves to the reference point is the smallest, the track is the fluent, and the efficiency of returning the operation equipment to the operation path is the highest.
In some possible embodiments, in order to make the working device return to the working path more efficiently, with respect to how to control the working device to move towards the reference point according to the position of the reference point and the current position, referring to fig. 10, S130 may include the following sub-steps:
S130A, acquiring the current direction of the working equipment.
S130B, determining tracking orientation according to the position of the reference point and the current position.
And S130C, controlling the working equipment to move according to the tracking direction and the current direction so as to enable the working equipment to move towards the reference point.
Referring to fig. 9, the reference point is located at y2, the current position is P, and the tracking direction may be determined as Py2. After the tracking direction is determined, the working equipment is controlled to approach the reference point y2 in a mode of controlling the turning wheels to rotate while driving according to the tracking direction and the current direction.
It should be added that, for how to "control the movement of the working device according to the tracking direction and the current direction so as to move the working device toward the reference point", it is possible to: "an initial steering angle is determined according to the tracking direction and the current position of the working equipment, and then the value of the initial steering angle is adjusted according to the current moving speed of the working equipment, so that the working equipment moves towards the reference point, and the current direction approaches to the direction of the working path.
It will be appreciated that the smaller the speed, the greater the change in direction of the work device, due to the same travel distance and the same steering angle, as the work device is moving towards the reference point in a steering-while-moving manner. Therefore, the current direction of the operation equipment is more consistent with the direction of the operation path in the process of moving the operation equipment to the reference point through the process, and the regression efficiency of the operation equipment is further improved.
S130D, judging whether the distance between the current position of the working equipment and the working path is larger than the guidance distance; when the distance between the current position and the work path of the work equipment is greater than the guidance distance, execution returns to S100.
In some possible embodiments, the determining whether the distance between the current position of the work equipment and the work path is greater than the guidance distance may be triggered after a preset period of time. For example, assuming that the preset period is 2S, as shown in fig. 11, the working device moves to R after 2S, at this time, the distance between the working device and the working path is still greater than the guidance distance, so it is also necessary to return to sequentially execute S100-S130.
It should be understood that by performing the determination of S130D, the above steps S100 to S130 may be repeated continuously when the distance between the current position and the working path of the working device is greater than the guidance distance, so as to determine the reference points gradually approaching the working path between the working device and the working path, so that the working device may continuously approach the working path while moving and steering according to the reference points without stopping the direction change. The track of the operation equipment returning operation path is smoother, and the returning efficiency of the operation equipment is improved.
It can be understood that, in order to better apply the method provided by the application, the preset period duration can be adaptively changed according to the actual application scenario.
Further, in some possible embodiments, please continue with fig. 10, when the distance between the current position and the working path is less than or equal to the guidance distance, in order to make the working device return to the working path correctly and efficiently, S140 may include the following sub-steps:
and S140A, updating the current position of the working equipment, and acquiring the current moving speed and the current direction of the working equipment.
Since the work equipment is constantly moving and changing direction, the current position, current direction and current moving speed of the work equipment in the present application are acquired in real time.
S140B, determining a regression reference point on the working path.
The regression reference point may be selected randomly or according to a predetermined rule. The mode of selecting according to the preset rule may be that a point closest to the current position of the operation device on the operation path is used as a regression reference point, or a point with a distance exactly equal to the L1 guidance distance from the current position of the operation device on the operation path is used as a regression reference point, which is not limited in the present application.
Wherein, in order to make the working device return to the working path more efficiently, for determining the regression reference point on the working path, please refer to fig. 12 on the basis of fig. 10, S140B may include the following sub-steps:
S140B-1, acquiring at least one point to be selected, which is the guidance distance from the current position, on the working path.
Since the distance between the working path and the current position is smaller than or equal to the guidance distance, at least one candidate point with the guidance distance from the current position can be acquired on the working path. As shown in fig. 13, assuming that the job path is AB, the candidate points on the job path include x1 and x2.
It should be understood that the number of the points to be selected is determined by the shape of the working path, for example, when the working path is a straight line segment, the number of the points to be selected is two points to be selected; when the working path is a curve segment, the number of the candidate points needs to be determined according to actual conditions.
And S140B-2, determining a candidate point close to the end point of the working path from at least one candidate point as a regression reference point.
As shown in fig. 13, assuming that the start point is a and the end point is B for the working path AB (i.e., the direction of the working path AB is from a to B), and that the candidate points x1 and x2 on the working path are candidate points near the end point of the working path, the candidate point x1 may be used as a regression reference point.
It should be appreciated that the distance between the regression reference point actually determined by the above-described S140B-1, S140B-2 and the current position of the work equipment is the guidance distance, and is closer to the end point of the work path. Since the distance between the regression reference point and the current position of the working equipment is the guidance distance, the working equipment can be ensured to move to the point smoothly, the direction of the regression reference point, which is close to the end point of the working path, can be more consistent with the direction of the working path when the working equipment returns, and incorrect orientation when the working equipment returns finally is avoided. Further, the above-described S140B-1, S140B-2 enable the work equipment to be returned to the work path even more efficiently.
In addition, in order to further improve the efficiency of returning the operation equipment to the operation path, the size of an included angle formed by each point to be selected, the current position of the operation equipment and the current direction can be determined; and then taking the point to be selected with the smallest included angle as a regression reference point. As the point to be selected with the minimum included angle is used as the regression reference point, the angle required to be rotated when the operation equipment moves to the regression reference point is minimum, the track is the fluent, and the efficiency of returning the operation equipment to the operation path is the highest.
Referring to fig. 10 again, S140C controls the operation device to move toward the regression reference point according to the position, the current direction and the current moving speed of the regression reference point, so as to move the operation device to the operation path, and to make the direction of the operation device coincide with the direction of the operation path.
In some possible embodiments, first, the guidance orientation may be determined from the location of the regression reference point and the current location of the work equipment; and then controlling the working equipment to move towards the regression reference point according to the guiding direction, the current position and the current moving speed of the working equipment.
Further, in order to make the process of returning the working device to the working path smoother and to ensure that the direction of the working device coincides with the direction of the working path when the working device moves to the working path, the processes of S100 to S130 may be repeatedly performed with reference to the above in the process of controlling the movement of the working device to the return reference point according to the guiding direction and the current position of the working device.
That is, after a preset period of time, it may be determined whether the working device correctly returns to the working path; if the work equipment does not return to the work path correctly, execution returns to S140. Therefore, the operation equipment can continuously approach to the operation path and finally return to the operation path according to the regression reference points in a steering way while moving without stopping steering, so that the track of the operation equipment returning to the operation path is smoother, and the return efficiency of the operation equipment is improved.
The steps in S140A to S140C may refer to the following control scheme 14.
It should be added that, as to how to "control the movement of the working device to the return reference point according to the guiding direction and the current direction, current position, current movement speed of the working device", it is possible to: "an initial steering angle is determined according to the guiding direction and the current position of the working equipment, and then the value of the initial steering angle is adjusted according to the current moving speed of the working equipment, so that the working equipment moves towards the regression reference point, and the current direction approaches to the direction of the working path.
It will be appreciated that the magnitude of the change in direction over a distance is different for work equipment of different speeds when moving at the same steering angle as the work equipment is moving towards the return reference point in a steering-while-moving manner. The smaller the speed, the greater the change in direction of the work equipment under the same travel distance and the same steering angle. Therefore, the operation equipment can be enabled to be oriented to more accord with the orientation of the operation path in the process of moving to the regression reference point through the process, and the regression efficiency of the operation equipment is improved.
In order to execute the corresponding steps in the foregoing embodiments and the various possible manners, an implementation manner of a control device of a working device is given below, referring to fig. 15, and fig. 15 is a functional block diagram of a control device of a working device according to an embodiment of the present application. It should be noted that, the basic principle and the technical effects of the control device 300 for a working apparatus provided in this embodiment are the same as those of the foregoing embodiments, and for brevity, reference may be made to the corresponding contents of the foregoing embodiments. The control device 300 of the working equipment may include: an acquisition module 310, a tracking module 320.
Alternatively, the above module may be stored in a memory in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the working device provided in the present application, and may be executed by a processor in the working device. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory.
The acquisition module 310 may be used to acquire the current location of the work equipment.
It is to be appreciated that the acquisition module 310 can be utilized to support the work equipment to perform S100 and the like described above, and/or other processes for the techniques described herein.
The tracking module 320 may be configured to determine a reference path between the current position and the work path of the work device when the distance between the current position and the work path is greater than the guidance distance.
It is to be appreciated that tracking module 320 can be utilized to support a work device to perform S110 and/or the like described above, and/or other processes for the techniques described herein.
The tracking module 320 may also be used to determine a reference point on a reference path.
It is to be appreciated that tracking module 320 can be utilized to support a work device to perform S120, etc., described above, and/or other processes for the techniques described herein, such as S120A, S a and 120B.
The tracking module 320 may also be used to control movement of the work equipment toward the reference point based on the location of the reference point and the current location.
It is to be appreciated that tracking module 320 can be utilized to support the work device to perform S130, etc., described above, and/or other processes for the techniques described herein, such as S130A-S130D.
The tracking module 320 may also be configured to control the work device to move to the work path using the L1 guidance method when the distance between the current position and the work path is less than or equal to the guidance distance.
It is to be appreciated that tracking module 320 can be utilized to support the work device to perform S140, etc., described above, and/or other processes for the techniques described herein, e.g., S140A-S140C, S140B-1, S140B-2.
Further, when the operation device 200 is an agricultural unmanned aerial vehicle, the embodiment of the application further provides a control method of the operation device, referring to fig. 16, the method may include the following steps:
s200, judging whether the agricultural unmanned aerial vehicle is located on a working path.
For example, the agricultural unmanned aerial vehicle determines that the agricultural unmanned aerial vehicle is located on the operation path when the current position is located on the operation path according to the relation between the current position and the operation path in real time; and when the current position is not located on the working path, determining that the agricultural unmanned aerial vehicle leaves the working path.
S210, when the agricultural unmanned aerial vehicle leaves the working path, controlling the agricultural unmanned aerial vehicle to move to the working path by adopting an L1 guidance method.
It is to be understood that S210 may refer to S140 and the sub-steps that may be included in the foregoing, and are not described herein.
In order to execute the corresponding steps in the foregoing embodiments and the various possible manners, an implementation manner of a control device of another operation device is given below, referring to fig. 17, and fig. 17 is a functional block diagram of a control device of another operation device provided in an embodiment of the present application. It should be noted that, the basic principle and the technical effects of the control device 400 for another working apparatus provided in this embodiment are the same as those of the above embodiment, and for brevity, reference may be made to the corresponding contents of the above embodiment. The control device 400 of the other work equipment may include: a judging module 410 and a guiding module 420.
Alternatively, the above module may be stored in a memory in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the working device provided in the present application, and may be executed by a processor in the working device. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory.
The determination module 410 may be used to determine whether the agricultural drone is located on a job path.
It is to be appreciated that the determination module 410 may be utilized to support the work equipment to perform S200 and the like described above, and/or other processes for the techniques described herein.
The guidance module 420 may be used to control movement of the drone to the work path using the L1 guidance method when the drone exits the work path.
It is to be appreciated that guidance module 420 may be utilized to support the work equipment to perform S210 and the like described above, and/or other processes for the techniques described herein.
Based on the above method embodiments, the present application further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the method for controlling a working apparatus described above.
Specifically, the storage medium may be a general storage medium, such as a mobile disk, a hard disk, etc., and when the computer program on the storage medium is run, the control method of the working device can be executed, so as to solve the problems in the prior art that when the working device actually returns, the track is not smooth, the number of times of stopping turning is too large, or the returning track is too long and the efficiency is not high, and achieve the purposes of smoothly guiding the working device to approach to the working path, improving the efficiency of returning the working device to the working path, and reducing the cost.
In summary, the embodiments of the present application provide a control method and related apparatus for a working device, which can smoothly guide the working device to approach to a working path, improve the efficiency of returning the working device to the working path, and reduce the cost. The method comprises the following steps: acquiring the current position of the operation equipment; when the distance between the current position and the working path of the working equipment is larger than the guidance distance, determining a reference path between the current position and the working path; determining a reference point on a reference path; and controlling the working equipment to move towards the reference point according to the position of the reference point and the current position.
By determining a reference path having a distance from the current position of the work equipment that is less than or equal to the guidance distance between the current position of the work equipment and the work path, and determining a reference point on the reference path, and controlling the movement of the work equipment to the reference point, the work equipment can be moved to the reference point in a determined one of the directions. The above process is repeated to determine the reference points gradually approaching the operation path between the operation device and the operation path, so that the operation device can continuously approach the operation path according to the reference points while moving and steering without stopping the direction change, the track of the operation device returning to the operation path is smoother, and the returning efficiency of the operation device is improved. In addition, the method does not need an angle sensor, so that the implementation cost is reduced. When the distance between the current position of the working equipment and the working path is smaller than or equal to the guidance distance, the L1 guidance method is adopted to control the working equipment to move to the working path, so that the return efficiency of the working equipment can be further improved.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A control method of a working device, comprising:
acquiring the current position of the operation equipment;
determining a reference path between the current position and a work path of the work equipment when a distance between the current position and the work path is greater than a guidance distance; the distance between the reference path and the current position is smaller than or equal to the guidance distance; the shape of the reference path is consistent with the shape of the working path and the reference path and the working path are not intersected;
Determining a reference point on the reference path; the distance between the reference point and the current position is smaller than or equal to the guidance distance;
controlling the operation equipment to move towards the reference point according to the position of the reference point and the current position;
After a preset period, judging whether the distance between the current position of the operation equipment and the operation path is larger than a guidance distance or not;
When the distance between the current position and the working path of the working equipment is larger than the guidance distance, returning to execute the step of acquiring the current position of the working equipment;
And when the distance between the current position and the working path is smaller than or equal to the guidance distance, controlling the working equipment to move to the working path by adopting an L1 guidance method.
2. The method of claim 1, wherein the step of controlling the movement of the work equipment to the reference point based on the position of the reference point and the current position comprises:
acquiring the current direction of the operation equipment;
determining a tracking orientation according to the position of the reference point and the current position;
And controlling the working equipment to move according to the tracking direction and the current direction so as to enable the working equipment to move towards the reference point.
3. The method of claim 1, wherein the step of controlling the movement of the work equipment to the work path using the L1 guidance method comprises:
Updating the current position of the operation equipment, and acquiring the current moving speed and the current direction of the operation equipment;
Determining a regression reference point on the job path;
And controlling the working equipment to move towards the regression reference point according to the position of the regression reference point, the current position, the current direction and the current moving speed so as to enable the working equipment to move to the working path and enable the direction of the working equipment to be consistent with the direction of the working path.
4. A method according to claim 3, wherein the step of determining a regression reference point on the job path comprises:
Acquiring at least one point to be selected, the distance between the point to be selected and the current position of which is the guidance distance, on the working path;
And determining a candidate point close to the end point of the working path from the at least one candidate point as the regression reference point.
5. The method according to any one of claims 1 to 4, wherein the step of determining a reference point on the reference path comprises:
Acquiring at least one point to be selected, the distance between the point to be selected and the current position of which is the guidance distance, from the reference path;
And determining a candidate point close to the end point of the reference path from the at least one candidate point as the reference point.
6. A control device for a working machine, comprising:
the acquisition module is used for acquiring the current position of the operation equipment;
A tracking module configured to determine a reference path between the current position and a work path of the work equipment when a distance between the current position and the work path is greater than a guidance distance; the distance between the reference path and the current position is smaller than or equal to the guidance distance; the shape of the reference path is consistent with the shape of the working path and the reference path and the working path are not intersected;
The tracking module is further used for determining a reference point on the reference path; the distance between the reference point and the current position is smaller than or equal to the guidance distance;
the tracking module is further used for controlling the operation equipment to move towards the reference point according to the position of the reference point and the current position;
The tracking module is further used for judging whether the distance between the current position of the operation equipment and the operation path is larger than the guidance distance after a preset period;
The tracking module is further configured to notify the acquisition module to execute the step of acquiring the current position of the working device when the distance between the current position and the working path of the working device is greater than a guidance distance;
The tracking module is further used for controlling the operation equipment to move to the operation path by adopting an L1 guidance method when the distance between the current position and the operation path is smaller than or equal to the guidance distance.
7. The apparatus of claim 6, wherein the tracking module is configured to obtain a current direction of the work device;
the tracking module is also used for determining a tracking orientation according to the position of the reference point and the current position;
The tracking module is also used for controlling the working equipment to move according to the tracking direction and the current direction so as to enable the working equipment to move towards the reference point.
8. The apparatus of claim 6, wherein the tracking module is configured to update a current location of the work device and obtain a current movement speed and a current direction of the work device;
the tracking module is also used for determining a regression reference point on the working path;
The tracking module is further configured to control the operation device to move toward the regression reference point according to the position of the regression reference point, the current position, the current direction, and the current movement speed, so that the operation device moves to the operation path, and the direction of the operation device is consistent with the direction of the operation path.
9. The apparatus of claim 8, wherein the tracking module is configured to obtain, on the work path, at least one candidate point that is at the guidance distance from the current location;
the tracking module is further used for determining a candidate point close to the end point of the working path from the at least one candidate point as the regression reference point.
10. The apparatus according to any one of claims 6 to 9, wherein the tracking module is configured to obtain at least one candidate point on the reference path at the guidance distance from the current position;
The tracking module is further configured to determine a candidate point close to the end point of the reference path from the at least one candidate point as the reference point.
11. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-5.
12. A work equipment control unit comprising a processor and a memory, the memory storing machine readable instructions, the processor configured to execute the machine readable instructions to implement the method of any one of claims 1-5.
13. A work apparatus, comprising:
A body;
the power equipment is arranged on the machine body and used for providing power for the working equipment;
A work equipment control unit; the work equipment control unit comprises a processor and a memory, the memory storing machine readable instructions for executing the machine readable instructions to implement the method of any one of claims 1-5.
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