CN116699509A - Agricultural machinery course determination method and device and agricultural machinery vehicle - Google Patents
Agricultural machinery course determination method and device and agricultural machinery vehicle Download PDFInfo
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- CN116699509A CN116699509A CN202310678368.2A CN202310678368A CN116699509A CN 116699509 A CN116699509 A CN 116699509A CN 202310678368 A CN202310678368 A CN 202310678368A CN 116699509 A CN116699509 A CN 116699509A
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- 238000004364 calculation method Methods 0.000 description 5
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- 238000012271 agricultural production Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention provides an agricultural machine course determining method and device and an agricultural machine vehicle, and belongs to the technical field of vehicle navigation and positioning, wherein the agricultural machine course determining method comprises the following steps: acquiring the distance between a main antenna and a secondary antenna, the distance between the secondary antenna and the axle center line, the position relationship between the secondary antenna and the axle center line and the position relationship between the main antenna and the secondary antenna; and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna. According to the scheme provided by the embodiment of the invention, complicated operation is reduced, the initialization is performed once, the subsequent initialization is not needed again, and the machine can be started up to be dried and alive; and the professional requirements of operation are reduced, the time can be saved, and the labor and the material consumption cost of multiple initialization are reduced.
Description
Technical Field
The invention relates to the technical field of vehicle navigation and positioning, in particular to an agricultural machine course determining method and device and an agricultural machine vehicle.
Background
At present, automatic driving of agricultural machinery is based on a high-precision Beidou satellite positioning technology, agricultural big data acquisition, processing and decision making are taken as cores, and technologies such as an intelligent control technology, an intelligent data acquisition technology, a geographic information technology (GIS) and the like are comprehensively utilized, so that automatic driving of the agricultural machinery is realized, and the purposes of digitizing, accurately, intelligently and unmanned full processes (tillage, seed, pipe and harvest) of agricultural production are achieved.
The traditional agricultural machinery automatic driving control system generally adopts a single antenna global positioning system (Global Positioning System, GPS)/gyroscope combination to measure a course angle, senses angular speed and linear acceleration in the motion process through a gyroscope and an accelerometer, and obtains the attitude angle course of a motion carrier through an integration and calculation method. Therefore, when the function is started and used each time, the speed of the agricultural machinery is required to be constant to be more than 2km/h, the vehicle runs in front of the agricultural machinery and runs for a distance of 2-3 meters to finish the initialization of the heading, so that the correct attitude and angular heading of the agricultural machinery vehicle can be obtained effectively, the requirements on the manual operation are high, the requirements on the operation environment are high, particularly when the agricultural machinery is in the middle of operation, the machine is stopped and stopped, and when the machine is restarted, the machine is required to be initialized once again according to the process, so that the machine can be used correctly, and the operation is complex.
Disclosure of Invention
The invention provides an agricultural machine course determining method and device and an agricultural machine vehicle, which are used for solving the defect of complex operation when determining a course angle in the prior art and realizing a course determining scheme with simple and convenient operation.
The invention provides an agricultural machinery heading determining method which is applied to an agricultural machinery vehicle, wherein a main antenna and a secondary antenna are arranged on the agricultural machinery vehicle, and the method comprises the following steps:
acquiring the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line of the agricultural vehicle, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna;
and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
According to the method for determining the heading of the agricultural vehicle provided by the invention, the heading angle of the agricultural vehicle is determined according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna, and the method comprises the following steps:
determining a target included angle according to the distance between the main antenna and the auxiliary antenna and the distance between the auxiliary antenna and the axle center line; the target included angle is an included angle between a connecting line between the main antenna and the auxiliary antenna and a perpendicular connecting line between the auxiliary antenna and the axle center line;
and obtaining the course angle according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle.
According to the method for determining the heading of the agricultural machinery provided by the invention, the heading angle is obtained according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle, and the method comprises the following steps:
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the difference between a first preset angle and the target included angle;
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned at the rear of the main antenna, the course angle is the sum of a first preset angle and the angle of the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the sum of a second preset angle and the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned behind the main antenna, the course angle is the difference between a second preset angle and the target included angle; the sum of the first preset angle and the second preset angle is 360 degrees.
According to the agricultural machinery heading determining method provided by the invention, the first preset angle is 90 degrees, and the second preset angle is 270 degrees.
According to the method for determining the heading of the agricultural machine provided by the invention, before the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line of the agricultural machine vehicle, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna are obtained, the method further comprises:
and initializing the agricultural vehicle during the advancing process of the agricultural vehicle.
According to the method for determining the heading of the agricultural vehicle provided by the invention, after determining the heading angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna, the method further comprises the following steps:
and navigating the agricultural vehicle according to the course angle of the agricultural vehicle.
The invention also provides an agricultural machinery course determining device, which comprises:
the acquisition module is used for acquiring the distance between a main antenna and a secondary antenna of the agricultural machine, the distance between the secondary antenna and the axle center line of the agricultural machine vehicle, the position relationship between the secondary antenna and the axle center line and the position relationship between the main antenna and the secondary antenna;
the processing module is used for determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
The invention also provides an agricultural vehicle, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the agricultural course determining method according to any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of determining the heading of an agricultural machine as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of determining the heading of an agricultural machine as described in any of the above.
The present invention also provides an agricultural vehicle comprising: the agricultural machine course determining device comprises a main antenna, a secondary antenna and a controller respectively connected with the main antenna and the secondary antenna, wherein the controller is used for executing the agricultural machine course determining method.
According to the agricultural machine course determining method, the agricultural machine course determining device and the agricultural machine vehicle, the course angle of the agricultural machine vehicle is determined according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relation between the auxiliary antenna and the axle center line and the position relation between the main antenna and the auxiliary antenna, namely, the main antenna and the auxiliary antenna are taken as two points, and the direction of the connecting line of the main antenna and the auxiliary antenna can be determined according to the two points, so that the course angle of the agricultural machine vehicle can be determined, complicated operation is reduced, one-time initialization is not needed, the professional requirements of users and operators are reduced, the error caused by improper operation is large, the navigation precision is not accurate enough, the time can be saved, and the manpower and multiple-time initialization material consumption cost can be reduced.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow diagram of an agricultural machine heading determination method provided by the invention;
FIG. 2a is a schematic illustration of an agricultural machine heading determination method provided by the present invention;
FIG. 2b is a schematic diagram of a second method for determining the heading of an agricultural machine according to the present invention;
FIG. 3 is a schematic diagram of the agricultural machinery heading determining device provided by the invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First, the nouns and application scenarios related to the embodiments of the present invention are described:
and (3) GNSS: global navigation satellite systems (Global Navigation Satellite System, GNSS), also known as global satellite navigation systems, are space-based radio navigation positioning systems that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the earth's surface or near earth space. Which includes one or more satellite constellations and augmentation systems required for supporting a particular job.
A gyroscope: the body gyroscope is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space. Angular motion detection devices made using other principles are also known as gyroscopes that function as well.
Heading angle is the included angle between the true motion direction of the vehicle (namely the mass center speed of the vehicle) and the transverse axis (the transverse axis is the global reference X axis) under the ground coordinate system.
The method provided by the embodiment of the invention is applied to agricultural machinery navigation and intelligent driving control scenes, and the automatic navigation technology of the agricultural machinery can improve the operation precision and efficiency, is beneficial to increasing the grain yield and reduces the safety risk of agricultural production.
At present, the single antenna/gyroscope combination is used for measuring the heading angle, and is limited by the initial heading initialization stage, for example, before the vehicle starts to operate, the vehicle needs to be guaranteed to be positioned right in front of the road surface, the road surface is flat, the control speed reaches the initialization requirement, the requirement on the manual operation machinery is higher, the operation environment is higher, particularly when the agricultural machinery is operated halfway, the machine is stopped and stopped, and the machine needs to be initialized once again according to the process before being used correctly, so that the labor cost and the material cost are greatly increased, the manual operation with frequent initialization and higher requirements becomes urgent requirement, and the invention mainly relies on the positioning antenna to solve the problem.
In the embodiment of the invention, based on a single-antenna single-gyro mode, a secondary antenna is required to be additionally arranged, but the installation of the secondary antenna is not required, and the secondary antenna can be fixed at any stable position of a vehicle.
It is known that a single point can only define a single position, and there are infinite numbers of straight lines passing through a single point on a plane, so that no direction can be obtained; the line passing through two points on the plane has only one straight line, so two points on the plane are needed for determining one direction, so a double antenna is introduced, the main antenna mainly provides position information, and the auxiliary antenna is used for providing heading information.
Based on the double antennae erected on the agricultural vehicle, real-time position coordinate information of the vehicle can be obtained according to preset vehicle parameters.
The agricultural vehicle provided by the embodiment of the invention can adopt a gyroscope and an accelerometer for navigation. A gyroscope is an instrument for measuring angular velocity, which works by means of inertia. The accelerometer measures the acceleration of movement of the agricultural vehicle.
The following describes the technical solution of the embodiment of the present invention in detail with reference to fig. 1 to 4. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
FIG. 1 is a flow chart of an agricultural machine heading determination method provided by the invention. The method of the embodiment is applied to an agricultural vehicle, and the agricultural vehicle is provided with a main antenna and a secondary antenna, as shown in fig. 1, and the method provided by the embodiment includes:
step 101, obtaining the distance between a main antenna and a secondary antenna, the distance between the secondary antenna and the axle center line of an agricultural vehicle, the position relationship between the secondary antenna and the axle center line and the position relationship between the main antenna and the secondary antenna;
step 102, determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
Specifically, acquiring known vehicle information includes: the distance between the main antenna or the auxiliary antenna and the front axle, the distance between the vehicle axle and the main antenna or the auxiliary antenna and the center distance between the main antenna and the auxiliary antenna are set in front of or behind the main antenna, and the parameters are data for modeling the vehicle;
according to the embodiment of the invention, a single gyro scheme can be used, the vehicle is required to be driven for the first time to finish initialization, and after the initialization is finished, the vehicle body direction, the distance L2 between the auxiliary antenna and the center line of the vehicle axle and the like can be obtained, and the record is stored.
Because the line passing through the two points on the plane is provided with only one straight line, the course angle can be determined according to the main antenna and the auxiliary antenna, and particularly, the course angle of the agricultural vehicle can be determined according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
According to the method, the course angle of the agricultural vehicle is determined according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relation between the auxiliary antenna and the axle center line and the position relation between the main antenna and the auxiliary antenna, namely, the main antenna and the auxiliary antenna are taken as two points, and the direction of the connecting line of the main antenna and the auxiliary antenna can be determined according to the two points, so that the course angle of the agricultural vehicle can be determined, complicated operation is reduced, one-time initialization is not needed, the professional requirements of users and operators are reduced, the error caused by improper operation is large, the navigation precision is not accurate enough, the time can be saved, and the manpower and multiple-time initialization material consumption cost are reduced.
Optionally, before step 101, the method further includes:
and initializing the agricultural vehicle during the advancing process of the agricultural vehicle.
Specifically, the vehicle needs to be driven for the first time, namely, in the advancing process of the agricultural vehicle, initialization is completed, after the initialization is completed, parameters such as the vehicle body direction, the distance L2 between the auxiliary antenna and the center line of the vehicle axle and the like can be obtained, records are stored, and the parameters can be reused after the course angle is determined.
The step is only required to be executed once, and then even if the operation of the agricultural vehicle is in the middle, the machine is stopped and stopped, and the machine is not required to be initialized when the machine is restarted.
Alternatively, step 102 may be specifically implemented as follows:
determining a target included angle according to the distance between the main antenna and the auxiliary antenna and the distance between the auxiliary antenna and the axle center line; the target included angle is an included angle between a connecting line between the main antenna and the auxiliary antenna and a perpendicular connecting line between the auxiliary antenna and the axle center line;
and obtaining the course angle according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle.
Specifically, as shown in fig. 2a, a formula for calculating the distance between the main antenna and the auxiliary antenna is calculated
Then cos a=l2/L1 is obtained according to the trigonometric function formula, so that the target included angle A1 can be obtained;
judging whether the auxiliary antenna point ant2 is on the left side or the right side of the axle center line lineCar according to the cross vector; then determining that the auxiliary antenna is in front of or behind the main antenna according to the auxiliary antenna installation position parameters set in the first step; and further, the course angle is calculated according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle.
In the above embodiment, the course angle is determined by calculating the connecting line between the main antenna and the auxiliary antenna and the perpendicular connecting line between the auxiliary antenna and the axle center line, and further based on the position relationship between the auxiliary antenna and the axle center line, the position relationship between the main antenna and the auxiliary antenna, and the connecting line, so that the implementation scheme is simple.
Optionally, the step of obtaining the heading angle according to the position relationship between the secondary antenna and the axle center line, the position relationship between the primary antenna and the secondary antenna, and the target included angle may be specifically implemented in the following manner:
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the difference between a first preset angle and the target included angle;
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned at the rear of the main antenna, the course angle is the sum of a first preset angle and the angle of the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the sum of a second preset angle and the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned behind the main antenna, the course angle is the difference between a second preset angle and the target included angle; the sum of the first preset angle and the second preset angle is 360 degrees.
Specifically, the auxiliary antenna point ant2 is determined to be on the left and right sides of the axle center line lineCar, for example, m1 is marked to be the left side, and m2 is marked to be the right side; then determining that the auxiliary antenna is in front of or behind the main antenna according to the auxiliary antenna mounting position parameters, wherein the front is n1, and the rear is n2;
there are four combinations:
1) In the case of n1 and m1, the calculation mode is heading angle b=a first preset angle A1-A1;
2) In the case of n1 and m2, the calculation mode is heading angle b=a second preset angle a2+a1;
3) In the case of n2 and m1, the calculation is the heading angle b=a1+a1;
4) In the case of n2 and m2, the calculation is heading angle b=a2-A1;
wherein a1+a2=360 degrees.
Optionally, the first preset angle a1 is 90 degrees, and the second preset angle a2 is 270 degrees.
Alternatively, assume that the heading angle is a straight line rotated counterclockwise along the x-axis as shown in fig. 2b, and an included angle with the x-axis. Assuming that the position of the main antenna is the origin O of the coordinate system in fig. 2b, the x-axis is the axle center line, the included angle between the connecting line of the auxiliary antenna and the main antenna and the x-axis is the quadrant angle, and the magnitude of the quadrant angle can be obtained based on the target included angle, so that the course angle can be obtained.
Line 1 in fig. 2b shows the secondary antenna in front of the primary antenna and to the right of the axle centerline (R o1 Representing quadrant angle); line 2 indicates that the secondary antenna is behind the primary antenna and to the right of the axle centerline (R o2 Representing quadrant angle); line 3 represents the secondary antenna behind the primary antenna and to the left of the axle centerline (R o3 Representing quadrant angle); line 4 represents the secondary antenna in front of the primary antenna and in the axle centerlineRight side (R) o4 Representing quadrant angle).
And finally, transmitting the angle value of the heading angle to a gyroscope, obtaining real car body heading data by the gyroscope, and carrying out agricultural machinery automatic driving navigation based on the real car body heading data.
And after the vehicle is used, the vehicle is not required to be started again to be driven for initialization according to the requirement, and the step 102 is directly carried out according to the parameters calculated and set by the first initialization, so that the heading angle information of the vehicle body can be obtained.
Optionally, step 102 may further include the following steps:
and navigating the agricultural vehicle according to the course angle of the agricultural vehicle.
Specifically, the agricultural machine according to the embodiment of the invention may include a gyroscope, and the gyroscope may participate in the automatic driving navigation of the agricultural machine based on the real vehicle body heading data after acquiring the determined heading angle.
In summary, in the method for determining the heading of the agricultural machine, the method can be suitable for automatic navigation of a single-gyro agricultural machine, has no influence of rolling data, is suitable for more navigation terrains, such as flat terrain, sloping terrain and the like, reduces complicated operations, is initialized once, and can be started up for a long time without being initialized again; and the professional requirements of users and operators are reduced, the problems of large error and insufficient navigation precision caused by improper operation are reduced, the time can be saved, and the labor and the material consumption cost for multiple initialization are reduced.
The agricultural machine course determining device provided by the invention is described below, and the agricultural machine course determining device described below and the agricultural machine course determining method described above can be correspondingly referred to each other.
FIG. 3 is a schematic diagram of the agricultural machinery heading determining device provided by the invention. The device of this embodiment may be applied to an agricultural vehicle, where a main antenna and a sub-antenna are disposed on the agricultural vehicle, as shown in fig. 3, and the agricultural heading determining device provided in this embodiment includes:
an obtaining module 110, configured to obtain a distance between a main antenna and a sub antenna of an agricultural vehicle, a distance between the sub antenna and an axle center line of the agricultural vehicle, a positional relationship between the sub antenna and the axle center line, and a positional relationship between the main antenna and the sub antenna;
the processing module 120 is configured to determine a heading angle of the agricultural vehicle according to a distance between the primary antenna and the secondary antenna, a distance between the secondary antenna and the axle center, a positional relationship between the secondary antenna and the axle center, and a positional relationship between the primary antenna and the secondary antenna.
Optionally, the processing module 120 is specifically configured to:
determining a target included angle according to the distance between the main antenna and the auxiliary antenna and the distance between the auxiliary antenna and the axle center line; the target included angle is an included angle between a connecting line between the main antenna and the auxiliary antenna and a perpendicular connecting line between the auxiliary antenna and the axle center line;
and obtaining the course angle according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle.
Optionally, the processing module 120 is specifically configured to:
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the difference between a first preset angle and the target included angle;
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned at the rear of the main antenna, the course angle is the sum of a first preset angle and the angle of the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the sum of a second preset angle and the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned behind the main antenna, the course angle is the difference between a second preset angle and the target included angle; the sum of the first preset angle and the second preset angle is 360 degrees.
Optionally, the first preset angle is 90 degrees, and the second preset angle is 270 degrees.
Optionally, the processing module 120 is further configured to:
before the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line of the agricultural vehicle, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna are obtained, the agricultural vehicle is initialized in the advancing process of the agricultural vehicle.
Optionally, the processing module 120 is further configured to:
after determining a course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna, the agricultural vehicle is navigated according to the course angle of the agricultural vehicle.
The device of the embodiment of the present invention is configured to perform the method of any of the foregoing method embodiments, and its implementation principle and technical effects are similar, and are not described in detail herein.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform an agricultural heading determination method comprising:
acquiring the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna;
and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the invention also provides an agricultural vehicle, which comprises the agricultural heading determining device or the electronic equipment provided by any embodiment.
The embodiment of the invention also provides an agricultural vehicle, which comprises: the agricultural machine course determining method comprises the steps of a main antenna, a secondary antenna and a controller which is respectively and electrically connected with the main antenna and the secondary antenna, wherein the controller is used for executing the agricultural machine course determining method provided by any embodiment.
The controller can be realized through the electronic equipment.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the method of determining an agricultural heading provided by the methods described above, the method comprising:
acquiring the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna;
and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of determining an agricultural heading provided by the methods described above, the method comprising:
acquiring the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna;
and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An agricultural machine course determining method is characterized by being applied to an agricultural machine vehicle, wherein a main antenna and a secondary antenna are arranged on the agricultural machine vehicle, and the method comprises the following steps:
acquiring the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line of the agricultural vehicle, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna;
and determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
2. The agricultural vehicle heading determining method according to claim 1, wherein the determining the agricultural vehicle heading angle based on the distance of the main antenna and the sub-antenna, the distance of the sub-antenna from the axle center, the positional relationship of the sub-antenna to the axle center, and the positional relationship of the main antenna and the sub-antenna includes:
determining a target included angle according to the distance between the main antenna and the auxiliary antenna and the distance between the auxiliary antenna and the axle center line; the target included angle is an included angle between a connecting line between the main antenna and the auxiliary antenna and a perpendicular connecting line between the auxiliary antenna and the axle center line;
and obtaining the course angle according to the position relation between the auxiliary antenna and the axle center line, the position relation between the main antenna and the auxiliary antenna and the target included angle.
3. The method for determining a heading of an agricultural machine according to claim 2, wherein the obtaining the heading angle according to the positional relationship between the secondary antenna and the axle center, the positional relationship between the primary antenna and the secondary antenna, and the target angle includes:
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the difference between a first preset angle and the target included angle;
if the auxiliary antenna is positioned at the left side of the axle center line and the auxiliary antenna is positioned at the rear of the main antenna, the course angle is the sum of a first preset angle and the angle of the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned in front of the main antenna, the course angle is the sum of a second preset angle and the target included angle;
if the auxiliary antenna is positioned on the right side of the axle center line and the auxiliary antenna is positioned behind the main antenna, the course angle is the difference between a second preset angle and the target included angle; the sum of the first preset angle and the second preset angle is 360 degrees.
4. The agricultural heading determination method of claim 3, wherein the first preset angle is 90 degrees and the second preset angle is 270 degrees.
5. The agricultural heading determination method of any one of claims 1-4, further comprising, prior to the obtaining the distance of the primary antenna and the secondary antenna, the distance of the secondary antenna from an axle centerline of the agricultural vehicle, the positional relationship of the secondary antenna to the axle centerline, and the positional relationship of the primary antenna and the secondary antenna:
and initializing the agricultural vehicle during the advancing process of the agricultural vehicle.
6. The agricultural machine heading determination method according to any one of claims 1 to 4, wherein after the heading angle of the agricultural machine vehicle is determined based on a distance between the main antenna and the sub-antenna, a distance between the sub-antenna and the axle center, a positional relationship between the sub-antenna and the axle center, and a positional relationship between the main antenna and the sub-antenna, further comprising:
and navigating the agricultural vehicle according to the course angle of the agricultural vehicle.
7. An agricultural machine heading determining device, comprising:
the acquisition module is used for acquiring the distance between a main antenna and a secondary antenna of the agricultural vehicle, the distance between the secondary antenna and the axle center line of the agricultural vehicle, the position relationship between the secondary antenna and the axle center line and the position relationship between the main antenna and the secondary antenna;
the processing module is used for determining the course angle of the agricultural vehicle according to the distance between the main antenna and the auxiliary antenna, the distance between the auxiliary antenna and the axle center line, the position relationship between the auxiliary antenna and the axle center line and the position relationship between the main antenna and the auxiliary antenna.
8. An agricultural vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the agricultural heading determination method of any of claims 1-6 when the program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the agricultural heading determination method of any of claims 1 to 6.
10. An agricultural vehicle, comprising: a primary antenna, a secondary antenna and a controller connected to the primary antenna and the secondary antenna, respectively, wherein the controller is configured to perform the agricultural heading determination method of any one of claims 1 to 6.
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| CN202310678368.2A CN116699509A (en) | 2023-06-08 | 2023-06-08 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
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| CN202310678368.2A CN116699509A (en) | 2023-06-08 | 2023-06-08 | Agricultural machinery course determination method and device and agricultural machinery vehicle |
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