CN116974291A

CN116974291A - Control error determining method and device for master-slave cooperative navigation agricultural machinery

Info

Publication number: CN116974291A
Application number: CN202311237058.3A
Authority: CN
Inventors: 陈彬; 刘燕; 张井超; 于庆旭; 缪友谊
Original assignee: Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
Current assignee: Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
Priority date: 2023-09-25
Filing date: 2023-09-25
Publication date: 2023-10-31

Abstract

The disclosure provides a control error determining method and device for a master-slave collaborative navigation agricultural machine, and relates to the technical field of control error measurement. The control error determining method of the master-slave cooperative navigation agricultural machine comprises the following steps: controlling the first agricultural machine to move according to the reference pilot path, and enabling the second agricultural machine to move along with the first agricultural machine; acquiring a target pilot path of the first agricultural machine and a target following path of the second agricultural machine based on the high-precision positioning and attitude measuring device; determining a theoretical spacing distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determining an actual spacing distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target following path; the control error is determined by the theoretical separation distance and the actual separation distance. The technical scheme of the embodiment of the disclosure can rapidly and efficiently measure the control error between the master-slave collaborative navigation agricultural machinery.

Description

Control error determining method and device for master-slave cooperative navigation agricultural machinery

Technical Field

The disclosure relates to the technical field of control error measurement, in particular to a control error determining method and a control error determining device of a master-slave collaborative navigation agricultural machine.

Background

The Master-slave cooperative navigation system (Master-slave Collaborative Navigation System) of the tractor refers to a tractor system which takes one tractor as a main machine and one or more tractors as slaves, and the slaves are provided with an automatic auxiliary driving system and can perform autonomous navigation cooperative operation.

At present, specific requirements are put forward on the control precision of the master-slave cooperative operation of the tractor in the tractor industry, but a corresponding control precision measurement mode is not put forward, so that the control error of the master-slave cooperative navigation system cannot be measured, and the control error is larger in actual operation and the control accuracy is poor.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the disclosure aims to provide a control error determining method and a control error determining device for a master-slave collaborative navigation agricultural machine, so as to at least realize the measurement of the control error of the master-slave collaborative navigation system of the agricultural machine to a certain extent and improve the accuracy of the measurement result of the control error.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

According to a first aspect of embodiments of the present disclosure, there is provided a control error determining method of a master-slave co-navigation agricultural machine, the master-slave co-navigation agricultural machine including a first agricultural machine at a piloting position and at least one second agricultural machine at a following position, the first and second agricultural machines each being provided with a high-precision positioning and attitude measuring device, the method including:

acquiring a preset reference pilot path, controlling the first agricultural machine to move according to the reference pilot path, and enabling the second agricultural machine to move along with the first agricultural machine;

acquiring a target pilot path of the first agricultural machine based on the high-precision positioning and attitude measuring device, and acquiring a target following path of a second agricultural machine based on the high-precision positioning and attitude measuring device;

determining a theoretical separation distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determining an actual separation distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target following path;

And determining a control error between the first agricultural machine and the second agricultural machine through the theoretical spacing distance and the actual spacing distance.

In some example embodiments of the present disclosure, based on the foregoing, the second agricultural machine follows the first agricultural machine within a preset angular range; the determining a theoretical separation distance between the first agricultural machine and the second agricultural machine according to the reference pilot path includes: determining a reference following path of the second agricultural machine according to the reference pilot path; determining a theoretical separation distance based on an initial positional relationship between the first agricultural machine and the second agricultural machine, the reference pilot path, and the reference follow path; wherein the initial positional relationship includes initial positional angle data between the first agricultural machine and the second agricultural machine.

In some example embodiments of the present disclosure, based on the foregoing aspects, the determining the actual separation distance between the first agricultural machine and the second agricultural machine according to the target piloting path and the target following path includes: acquiring a preset sampling interval; determining a first sampling point on the target pilot path and a second sampling point on the target following path at the same moment according to the sampling interval; an actual separation distance between the first agricultural machine and the second agricultural machine is determined based on a distance between the first sampling point and the second sampling point.

In some example embodiments of the present disclosure, based on the foregoing aspect, the determining the control error between the first agricultural machine and the second agricultural machine by the theoretical separation distance and the actual separation distance includes: calculating a set of interval distance difference values between the actual interval distance and the theoretical interval distance at each moment; determining a maximum distance difference value in the set of separation distance difference values, and taking the maximum distance difference value as a control error between the first agricultural machine and the second agricultural machine.

In some example embodiments of the present disclosure, based on the foregoing aspects, the control error includes a tracking path lateral error, the actual separation distance includes an actual lateral distance, and the theoretical separation distance includes a theoretical lateral distance; the determining a control error between the first agricultural machine and the second agricultural machine by the theoretical separation distance and the actual separation distance includes: calculating a set of lateral distance differences between the actual lateral distance and the theoretical lateral distance at each moment; determining a maximum distance difference value in the set of lateral distance difference values, and taking the maximum distance difference value as a tracking path lateral error between the first agricultural machine and the second agricultural machine.

In some example embodiments of the disclosure, based on the foregoing aspects, the control error includes an inter-machine distance maintenance error, the actual separation distance includes an actual longitudinal distance, and the theoretical separation distance includes a theoretical longitudinal distance; the determining a control error between the first agricultural machine and the second agricultural machine by the theoretical separation distance and the actual separation distance includes: calculating a longitudinal distance difference value set between the actual longitudinal distance and the theoretical longitudinal distance at each moment; determining a maximum distance difference value in the longitudinal distance difference value set, and taking the maximum distance difference value as an inter-machine distance maintenance error between the first agricultural machine and the second agricultural machine.

In some example embodiments of the present disclosure, based on the foregoing, the actual separation distance comprises an implement center straight line distance, the method further comprising: acquiring a real-time position angle between the first agricultural machine and the second agricultural machine based on the high-precision positioning and attitude measuring device; and disassembling the center linear distance of the machine tool according to the real-time position angle to obtain the actual transverse distance and the actual longitudinal distance between the first agricultural machine and the second agricultural machine.

In some example embodiments of the present disclosure, based on the foregoing aspect, the controlling the first agricultural machine to move according to the reference pilot path includes: acquiring a preset test moving speed range; and controlling the first agricultural machine to move according to the test moving speed range and the reference pilot path, and determining a control error between the first agricultural machine and the second agricultural machine through a theoretical spacing distance and an actual spacing distance under different test moving speed ranges.

In some example embodiments of the disclosure, based on the foregoing scheme, the method further comprises: acquiring a preset standard control error; in response to determining that the control error is less than or equal to the standard control error, determining that the control accuracy of the master-slave co-navigation system between the first agricultural machine and the second agricultural machine is acceptable; or in response to determining that the control error is greater than the standard control error data, performing the following steps in a loop until the new control error is less than or equal to the standard control error: and determining a following compensation parameter according to the control error, and sending the following compensation parameter to the second agricultural machine so that the second agricultural machine carries out following compensation based on the following compensation parameter, and recalculating a new control error.

According to a second aspect of the embodiments of the present disclosure, there is provided a control error determining apparatus for a master-slave co-navigation agricultural machine, the master-slave co-navigation agricultural machine including a first agricultural machine in a piloting position and at least one second agricultural machine in a following position, the first and second agricultural machines each being provided with a high-precision positioning and attitude measuring apparatus, the apparatus comprising:

the agricultural machine control module is used for acquiring a preset reference pilot path and controlling the first agricultural machine to move according to the reference pilot path, and the second agricultural machine moves along with the first agricultural machine;

the moving path acquisition module is used for acquiring a target pilot path of the first agricultural machine based on the high-precision positioning and attitude measurement device and acquiring a target following path of the second agricultural machine based on the high-precision positioning and attitude measurement device;

a spacing distance calculation module, configured to determine a theoretical spacing distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determine an actual spacing distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target following path;

And the control error determining module is used for determining the control error between the first agricultural machine and the second agricultural machine through the theoretical interval distance and the actual interval distance.

According to a third aspect of embodiments of the present disclosure, there is provided an electronic device, comprising: a processor; and a memory having stored thereon computer readable instructions which when executed by the processor implement the control error determination method of the master-slave co-navigation agricultural machine of any one of the above.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control error determination method of a master-slave co-navigation agricultural machine according to any one of the above.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

according to the control error determining method of the master-slave collaborative navigation agricultural machine in the example embodiment of the disclosure, the first agricultural machine can be controlled to move according to the preset reference pilot path, the second agricultural machine moves along with the first agricultural machine, then the target pilot path of the first agricultural machine and the target following path of the second agricultural machine can be obtained based on the high-precision positioning and attitude measuring device, the theoretical spacing distance between the first agricultural machine and the second agricultural machine is determined according to the reference pilot path, the actual spacing distance between the first agricultural machine and the second agricultural machine is determined according to the target pilot path and the target following path, and further the control error between the first agricultural machine and the second agricultural machine can be determined through the theoretical spacing distance and the actual spacing distance. On the one hand, the high-precision positioning gesture measuring device can acquire a target pilot path and a target following path of the first agricultural machine and the second agricultural machine in the moving process, so that the precision and the accuracy of the target pilot path and the target following path are ensured, and the accuracy of a calculated control error result is ensured; on the other hand, based on a preset reference pilot path, the working conditions of the first agricultural machine and the second agricultural machine in different scenes can be simulated, and the robustness of the calculation control error result is improved; on the other hand, the theoretical spacing distance is calculated by referring to the pilot path, and then the actual spacing distance is calculated by the target pilot path and the target following path, so that the control error is determined by the actual spacing distance and the theoretical spacing distance, the calculated amount is small, the calculation efficiency of the control error can be improved, and the performance of the test system is ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic diagram of a system architecture of an exemplary application environment to which a control error determination method and apparatus of a master-slave co-navigation agricultural machine according to an embodiment of the present disclosure may be applied.

Fig. 2 schematically illustrates a flow diagram of a control error determination method for a master-slave co-navigation agricultural machine according to some embodiments of the present disclosure.

Fig. 3 schematically illustrates a schematic diagram of a reference pilot path according to some embodiments of the present disclosure.

Fig. 4 schematically illustrates a schematic diagram of a positional relationship of a first agricultural machine and a second agricultural machine according to some embodiments of the present disclosure.

Fig. 5 schematically illustrates a flow diagram for determining an actual separation distance according to some embodiments of the present disclosure.

Fig. 6 schematically illustrates a schematic diagram of calculating a control error according to some embodiments of the present disclosure.

Fig. 7 schematically illustrates a schematic diagram of dismantling an implement center line distance according to some embodiments of the present disclosure.

Fig. 8 schematically illustrates a flow diagram for detecting control accuracy according to some embodiments of the present disclosure.

Fig. 9 schematically illustrates a schematic diagram of a control error determination device of a master-slave co-navigation agricultural machine according to some embodiments of the present disclosure.

Fig. 10 schematically illustrates a structural schematic diagram of a computer system of an electronic device according to some embodiments of the present disclosure.

Fig. 11 schematically illustrates a schematic diagram of a computer-readable storage medium according to some embodiments of the present disclosure.

In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present description as detailed in the accompanying claims.

The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

Moreover, the drawings are only schematic illustrations and are not necessarily drawn to scale. The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

As shown in fig. 1, the system architecture 100 may include a first agricultural machine 101 and at least one second agricultural machine 102, a network 103, and a terminal device 104 or server 105 that functions as a host computer. The first agricultural machine 101 is a pilot host, the second agricultural machine 102 is a following slave, the first agricultural machine 101 and the second agricultural machine 102 can communicate directly through a communication device, and can also communicate through a global navigation satellite system (Global Navigation Satellite System, GNSS) mobile station, and high-precision positioning gesture measuring devices can be arranged on the first agricultural machine 101 and the second agricultural machine 102 and used for accurately measuring the moving distance and the gesture angle of the agricultural machine. The network 103 is a medium for providing a communication link between the first agricultural machine 101, the second agricultural machine 102 and the terminal device 104 or the server 105 used as an upper computer, and the network 103 may include various connection types such as a wired, wireless communication link, or an optical fiber cable, etc. The terminal device 104 may be a variety of electronic devices having data computing capabilities including, but not limited to, a desktop computer, a portable computer, a smart phone, a tablet computer, and the like. It should be understood that the number of agricultural machines, terminal equipment, networks and servers in fig. 1 is merely illustrative. There may be any number of agricultural machines, terminal devices, networks, and servers, as desired for implementation. For example, the server 105 may be a server cluster formed by a plurality of servers.

The control error determining method of the master-slave cooperative navigation agricultural machine provided by the embodiment of the present disclosure is generally executed by the terminal device 104 or the server 105 used as the upper computer, and accordingly, the control error determining apparatus of the master-slave cooperative navigation agricultural machine is generally disposed in the terminal device 104 or the server 105. However, it is easily understood by those skilled in the art that the control error determining method of the master-slave co-navigation agricultural machine provided in the embodiment of the present disclosure may be performed by the first agricultural machine 101 or the second agricultural machine 102, and accordingly, the control error determining device of the master-slave co-navigation agricultural machine may be provided in the first agricultural machine 101 or the second agricultural machine 102, which is not particularly limited in the present exemplary embodiment.

In the present exemplary embodiment, a control error determination method of a master-slave cooperative navigation agricultural machine is first provided, and a control error determination method of a master-slave cooperative navigation agricultural machine will be described below taking a terminal device or a server used as an upper computer as an example of executing the method.

Fig. 2 schematically illustrates a schematic diagram of a control error determination method flow of a master-slave co-navigation agricultural machine according to some embodiments of the present disclosure. Referring to fig. 2, the control error determining method of the master-slave co-navigation agricultural machine may include the steps of:

Step S210, a preset reference pilot path is obtained, the first agricultural machine is controlled to move according to the reference pilot path, and the second agricultural machine moves along with the first agricultural machine;

step S220, acquiring a target pilot path of the first agricultural machine based on the high-precision positioning and attitude measuring device, and acquiring a target following path of a second agricultural machine based on the high-precision positioning and attitude measuring device;

step S230 of determining a theoretical separation distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determining an actual separation distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target follow path;

and step S240, determining a control error between the first agricultural machine and the second agricultural machine through the theoretical spacing distance and the actual spacing distance.

According to the control error determining method of the master-slave collaborative navigation agricultural machine in the embodiment of the invention, on one hand, the target pilot path and the target following path of the first agricultural machine and the second agricultural machine in the moving process can be obtained through the high-precision positioning attitude measuring device, and the precision and the accuracy of the target pilot path and the target following path are ensured, so that the accuracy of the calculated control error result is ensured; on the other hand, based on a preset reference pilot path, the working conditions of the first agricultural machine and the second agricultural machine in different scenes can be simulated, and the robustness of the calculation control error result is improved; on the other hand, the theoretical spacing distance is calculated by referring to the pilot path, and then the actual spacing distance is calculated by the target pilot path and the target following path, so that the control error is determined by the actual spacing distance and the theoretical spacing distance, the calculated amount is small, the calculation efficiency of the control error can be improved, and the performance of the test system is ensured.

Next, a control error determination method of the master-slave cooperative navigation agricultural machine in the present exemplary embodiment will be further described.

In step S210, a preset reference pilot path is acquired, and the first agricultural machine is controlled to move according to the reference pilot path, and the second agricultural machine moves along with the first agricultural machine.

In an example embodiment of the present disclosure, the reference pilot path refers to a preset path track for guiding the first agricultural machine to move, and may be used to simulate different scenes encountered by the first agricultural machine and the second agricultural machine in an actual working process by setting different shapes of the reference pilot path, for example, referring to fig. 3, the reference pilot path may be a linear pilot path 301, a continuous curve pilot path 302, a polygonal line pilot path 303, or a rectangular pilot path 304, and of course, the reference pilot path may also be other types of movement tracks that may be encountered in an actual working environment, which is not limited in this example embodiment. Based on a preset reference pilot path, the working conditions of the first agricultural machine and the second agricultural machine in different scenes can be simulated, and the robustness of the calculation control error result is improved. For convenience of explanation, the following description will take a linear pilot path as an example.

Before the control error can be tested, the reference pilot path to be used in the test can be selected through an operation interface arranged on the upper computer, for example, the upper computer can display the selectable reference pilot path in a graphical mode, can also select the reference pilot path in a pull-down menu mode, and of course, can also test the control error under different reference pilot paths in sequence by the upper computer by selecting and arranging a plurality of reference pilot paths and test sequences.

The control command can be generated according to the reference pilot path, the first agricultural machine is controlled to move through the control command, and meanwhile, the first agricultural machine sends a following command to the second agricultural machine through a master-slave cooperative navigation system between the first agricultural machine and the second agricultural machine, so that the second agricultural machine follows the first agricultural machine to move.

In step S220, a target pilot path of the first agricultural machine is obtained based on the high-precision positioning and attitude measuring device, and a target following path of the second agricultural machine is obtained based on the high-precision positioning and attitude measuring device.

In an example embodiment of the present disclosure, the high-precision positioning and attitude measurement device is an independent measurement device that is used to measure the moving distance and the attitude angle of the first agricultural machine and the second agricultural machine when the current test is installed on the first agricultural machine and the second agricultural machine, and for example, the high-precision positioning and attitude measurement device may be a device provided with an accelerometer device and an inertial navigation positioning system, or a device provided with a gyroscope device, a magnetometer device, a barometer device and a GPS system, and of course, may be other types of devices capable of realizing accurate measurement of the moving distance and the attitude angle of the first agricultural machine and the second agricultural machine, and the configuration of the high-precision positioning and attitude measurement device is not particularly limited in this example embodiment.

The target pilot path refers to an actual moving path of the first agricultural machine, which is acquired by the high-precision positioning gesture measuring device when the first agricultural machine is controlled to move along the reference pilot path, and the target following path refers to an actual moving path generated when the second agricultural machine moves according to a following instruction of the first agricultural machine.

The high-precision positioning gesture measuring device can acquire the target pilot path and the target following path of the first agricultural machine and the second agricultural machine in the moving process, and the precision and the accuracy of the target pilot path and the target following path are ensured, so that the accuracy of a calculated control error result is ensured.

In step S230, a theoretical separation distance between the first agricultural machine and the second agricultural machine is determined according to the reference pilot path, and an actual separation distance between the first agricultural machine and the second agricultural machine is determined according to the target pilot path and the target follow path.

In an exemplary embodiment of the present disclosure, the theoretical separation distance refers to a separation distance during the cooperative operation of the first agricultural machine and the second agricultural machine in an ideal state, for example, the theoretical separation distance may be a theoretical path lateral distance between the first agricultural machine and the second agricultural machine (i.e., a distance between the first agricultural machine and the second agricultural machine in a horizontal direction in an ideal state), a theoretical path longitudinal distance between the first agricultural machine and the second agricultural machine (i.e., a distance between the first agricultural machine and the second agricultural machine in a vertical direction in an ideal state), or a theoretical straight line distance between implement centers of the first agricultural machine and the second agricultural machine, which is not particularly limited in this exemplary embodiment. The theoretical following track of the second agricultural machine in an ideal state can be determined according to the reference pilot path corresponding to the first agricultural machine, and then the theoretical interval distance can be determined through the theoretical following track and the reference pilot path.

The actual distance refers to a distance between the first agricultural machine and the second agricultural machine at any time when the actual scene where the interference factor exists moves, for example, the actual distance may be an actual lateral distance between the first agricultural machine and the second agricultural machine, or may be an actual longitudinal distance between the first agricultural machine and the second agricultural machine, or may be an actual linear distance between the implement centers of the first agricultural machine and the second agricultural machine, which is not particularly limited in this example embodiment. The actual separation distance between the first agricultural machine and the second agricultural machine may be determined according to the target pilot path, the target follow path, and the relative positional relationship between the first agricultural machine and the second agricultural machine.

In step S240, a control error between the first agricultural machine and the second agricultural machine is determined by the theoretical separation distance and the actual separation distance.

In an example embodiment of the present disclosure, the control error refers to error data generated by the first agricultural machine controlling the second agricultural machine by the master-slave cooperative navigation system and following the actual separation distance compared with the theoretical separation distance, and the control accuracy of the master-slave cooperative navigation system may be represented by the control error, where a smaller control error indicates a higher control accuracy.

The theoretical spacing distance is calculated by referring to the pilot path, and then the actual spacing distance is calculated by the target pilot path and the target following path, so that the control error is determined by the actual spacing distance and the theoretical spacing distance, the calculated amount is small, the calculation efficiency of the control error can be improved, and the performance of the test system is ensured.

Next, step S210 to step S240 will be explained.

In an example embodiment of the present disclosure, the second agricultural machine may follow the first agricultural machine within a preset angle range, for example, the preset angle range may be [ -90 °,90 ° ] or [ -60 °,60 ° ] behind the first agricultural machine, and specifically may be custom-set according to an actual usage scenario, which is not particularly limited in this example embodiment.

Referring to fig. 4, taking the case where the preset angle range is [ -60 °,60 ° ] behind the first agricultural machine 401 as an example, in general, the case where the second agricultural machine follows the first agricultural machine 401 may include at least two kinds, that is, the second agricultural machine is located obliquely behind the first agricultural machine 401, or the second agricultural machine is located directly behind the first agricultural machine 401. For example, when the second agricultural machine is located behind the first agricultural machine 401 [ -60 °,0], the second agricultural machine 402 may be considered to be located diagonally left behind the first agricultural machine 401; when the second agricultural machine is located behind the first agricultural machine 401 by 0, 60 ° ], the second agricultural machine 403 can be considered to be located diagonally right behind the first agricultural machine 401; when the second agricultural machine is located 0 ° behind the first agricultural machine 401, the second agricultural machine 404 can be considered to be located directly behind the first agricultural machine 401.

Specifically, the reference following path of the second agricultural machine may be determined according to the reference pilot path, and then the theoretical separation distance may be determined based on the initial positional relationship between the first agricultural machine and the second agricultural machine, the reference pilot path, and the reference following path.

The reference following path refers to a moving path generated by the second agricultural machine following the first agricultural machine in an ideal state, and because no control error exists when the first agricultural machine controls the second agricultural machine to move in the ideal state, the distance between the first agricultural machine and the second agricultural machine is a fixed value, and the reference following path can be directly determined according to the reference pilot path.

The initial positional relationship refers to a positional relationship before the first agricultural machine and the second agricultural machine do not start the cooperative work, and the initial positional relationship may include initial positional angle data between the first agricultural machine and the second agricultural machine, for example, the initial positional relationship may be that the second agricultural machine is located at a position 60 ° behind the right slant of the first agricultural machine, or of course, the second agricultural machine may be located directly behind the first agricultural machine, and the specific initial positional relationship may be set in a self-defining manner according to actual situations, which is not particularly limited in this exemplary embodiment.

Because no control error exists when the first agricultural machine controls the second agricultural machine to move under the ideal state, the position relationship of the first agricultural machine controlling the second agricultural machine in the moving process can not change, and the theoretical interval distance can be directly determined according to the initial position relationship between the first agricultural machine and the second agricultural machine, the reference pilot path and the reference following path.

Alternatively, the initial positional relationship may further include initial positional angle data and an initial spacing distance between the first agricultural machine and the second agricultural machine, for example, the initial positional relationship may be that the second agricultural machine is located at a distance of 20m and 60 ° obliquely right behind the first agricultural machine, or that the second agricultural machine is located at a distance of 10m directly behind the first agricultural machine. At this time, since the angle and the interval distance do not change when the first agricultural machine controls the second agricultural machine to move in an ideal state, the theoretical interval distance can be directly determined according to the initial positional relationship.

In an example embodiment of the present disclosure, determining the actual separation distance between the first agricultural machine and the second agricultural machine according to the target piloting path and the target following path may be implemented through the steps in fig. 5, and referring to fig. 5, may specifically include:

Step S510, obtaining a preset sampling interval;

step S520, determining a first sampling point on the target pilot path and a second sampling point on the target following path at the same time according to the sampling interval;

step S530 of determining an actual separation distance between the first agricultural machine and the second agricultural machine based on the distance between the first sampling point and the second sampling point.

The sampling interval refers to a parameter for determining a data sampling point, for example, the sampling interval may be a sampling time interval, such as sampling data every 5 seconds, and of course, the sampling interval may also be a sampling distance interval, such as sampling data every 10m of distance traveled by the first agricultural machine, which is described later by taking the sampling interval as the sampling time interval.

The first sampling point may be a sampling point determined on the target pilot path according to a sampling interval and used for representing a position point of the first agricultural machine at the current moment, and the second sampling point may be a sampling point determined on the target following path according to a sampling interval and used for representing a position point of the second agricultural machine at the same moment.

Note that, the present invention is not limited to the above-described embodiments. The "first" and "second" in the "first sampling point" and the "second sampling point" of the present embodiment are used only to distinguish sampling points on the target pilot path and the target follow path, and have no special meaning, and should not cause any special limitation to the present exemplary embodiment.

Through setting up the sampling interval, can confirm the position point of first agricultural machine and the position point of second agricultural machine at the same moment respectively on target pilot route and target follow route, and then confirm the actual interval distance between first agricultural machine and the second agricultural machine through the distance between first sampling point and the second sampling point, can guarantee the accuracy of actual interval distance when reducing calculated amount.

In an example embodiment of the present disclosure, determining the control error between the first agricultural machine and the second agricultural machine by the theoretical spacing distance and the actual spacing distance may be achieved by:

the set of interval distance differences between the actual interval distance and the theoretical interval distance at each moment can be calculated, and then the maximum distance difference in the set of interval distance differences can be determined, and the maximum distance difference is used as a control error between the first agricultural machine and the second agricultural machine.

The control error may be a tracking path lateral error, the actual separation distance may be an actual lateral distance, and the theoretical separation distance may be a theoretical lateral distance. Alternatively, a set of lateral distance differences between the actual lateral distance and the theoretical lateral distance at each time instant may be calculated, and then a maximum distance difference in the set of lateral distance differences may be determined, and the maximum distance difference may be used as a tracking path lateral error between the first agricultural machine and the second agricultural machine.

The control error may be an inter-machine distance maintenance error, the actual separation distance may be an actual longitudinal distance, and the theoretical separation distance may be a theoretical longitudinal distance. Alternatively, a set of longitudinal distance differences between the actual longitudinal distance and the theoretical longitudinal distance at each time instant may be calculated, and then a maximum distance difference in the set of longitudinal distance differences may be determined, and the maximum distance difference may be used as an inter-machine distance maintenance error between the first agricultural machine and the second agricultural machine.

Referring to fig. 6, the first agricultural machine 601 may control the second agricultural machine 602 to follow and work cooperatively by master-slave cooperative navigation, and a tracking path lateral error may be calculated by the relation (1):

δhi= max |Dhi – Dh| （1）

where δhi may represent the tracking path lateral error, dhi may represent the actual lateral distance, and Dh may represent the theoretical lateral distance.

The error can be maintained by the relationship (2) distance between computers:

δzi= max |Dzi - Dz| （2）

where δzi may represent the inter-machine distance maintenance error, dzi may represent the actual longitudinal distance, and Dz may represent the theoretical longitudinal distance.

Optionally, the actual distance may be a linear distance between the centers of the machines, and the real-time position angle between the first agricultural machine and the second agricultural machine may be obtained based on the high-precision positioning gesture measurement device, so that the linear distance between the centers of the machines may be disassembled according to the real-time position angle, so as to obtain an actual lateral distance and an actual longitudinal distance between the first agricultural machine and the second agricultural machine, and further, the control error may be determined by calculating the embodiment of the tracking path lateral error and the inter-machine distance maintenance error.

Referring to fig. 7, the second agricultural machine 702 in the master-slave co-navigation scenario 710 may be located diagonally right behind the first agricultural machine 701, the second agricultural machine 702 in the master-slave co-navigation scenario 720 may be located directly behind the first agricultural machine 701, where D may represent an implement center straight line distance, and the actual lateral distance may be obtained by disassembling the implement center straight line distance from the relation (3):

Dhi=D×cosθ （3）

where Dhi may represent the actual lateral distance, D may represent the implement center line distance, and θ may represent the real-time position angle between the first and second agricultural machines.

The actual longitudinal distance can be obtained by disassembling the center linear distance of the machine tool according to the relation (4):

Dzi=D×sinθ （4）

where Dzi may represent the actual longitudinal distance, D may represent the implement center line distance, and θ may represent the real-time position angle between the first and second agricultural machines.

After the tool center straight line distance is disassembled according to the real-time position angle to obtain the actual transverse distance and the actual longitudinal distance between the first agricultural machine and the second agricultural machine, a control error can be calculated according to the relational expressions (1) and (2), which are not described in detail herein.

In an example embodiment of the present disclosure, the control error may be determined by:

the preset test moving speed range can be obtained, then the first agricultural machine can be controlled to move according to the test moving speed range and the reference pilot path, and the control error between the first agricultural machine and the second agricultural machine can be determined through the theoretical spacing distance and the actual spacing distance under different test moving speed ranges.

The test moving speed range is used for controlling the movement speed interval of the agricultural machine when the control error is tested, and the control errors of the master-slave cooperative navigation system of the agricultural machine under different running speeds are different, so that the accuracy of the control errors obtained by testing is ensured by setting the test moving speed range. For example, the test moving speed range may be a speed less than 1.5m/s, or may be 1.5m/s less than or equal to speed less than 2.5m/s, or may be 2.5m/s less than or equal to speed less than 3.0m/s, and of course, the test moving speed range may be set according to an actual use scenario or a relevant standard specification of the master-slave cooperative navigation system, which is not particularly limited in this exemplary embodiment.

By setting different test moving speed ranges and measuring control errors in different test moving speed ranges, the accuracy of the control errors can be effectively improved.

In an example embodiment of the present disclosure, the determination and adjustment of the control accuracy of the master-slave cooperative navigation system may be implemented through the steps in fig. 8, and referring to fig. 8, may specifically include:

step S810, obtaining a preset standard control error; step S820, in response to determining that the control error is less than or equal to the standard control error, determining that the control accuracy of the master-slave cooperative navigation system between the first agricultural machine and the second agricultural machine is qualified; or step S830, in response to determining that the control error is greater than the standard control error, performing the following steps in a loop until the new control error is less than or equal to the standard control error: and determining a following compensation parameter according to the control error, and sending the following compensation parameter to the second agricultural machine so that the second agricultural machine carries out following compensation based on the following compensation parameter, and recalculating a new control error.

The standard control error refers to a control error range under different running speeds, which is set empirically in advance or according to the relevant standard specification of the master-slave collaborative navigation system corresponding to the agricultural machine, and the standard control error may include a standard tracking path lateral error, as the standard control error may refer to table 1:

TABLE 1 Standard tracking Path lateral error

Of course, the standard control error may also include a standard inter-machine distance maintenance error, and when the master-slave cooperative machine distance of the first agricultural machine and the second agricultural machine is between 20m and 50m, the standard control error may be as shown in table 2:

table 2 standard inter-machine distance maintenance error

When the control error is determined to be less than or equal to the standard control error, the control accuracy of the master-slave cooperative navigation system between the first agricultural machine and the second agricultural machine may be determined to be acceptable, for example, when the measurement determines that the traveling speed of the first agricultural machine and the second agricultural machine (following obliquely) is between 1.5m/s and 2.5m/s, the tracking path lateral error is ±4cm, the inter-machine distance maintenance error is ±15cm, and at this time, the tracking path lateral error and the inter-machine distance maintenance error are both less than the standard control error, and the control accuracy of the master-slave cooperative navigation system between the first agricultural machine and the second agricultural machine may be considered to be acceptable.

When the control error is determined to be greater than the standard control error data, the control accuracy of the master-slave cooperative navigation system between the first agricultural machine and the second agricultural machine may be considered as being unqualified, and the following steps may be cyclically executed until the new control error is less than or equal to the standard control error: the following compensation parameter may be determined from the control error and sent to the second agricultural machine to cause the second agricultural machine to follow-up based on the following compensation parameter and recalculate the new control error. Wherein, the following compensation parameter refers to a parameter for compensating the control error of the master-slave cooperative navigation system.

The control precision of the master-slave cooperative navigation system is detected by setting standard control errors, and the control of the second agricultural machine is subjected to follow compensation by the follow compensation parameters determined by the control errors when the master-slave cooperative navigation system with unqualified control precision is detected, so that the control precision of the master-slave cooperative navigation system is effectively improved, and the accuracy of the second agricultural machine in cooperative operation is ensured.

It should be noted that although the steps of the methods of the present disclosure are illustrated in the accompanying drawings in a particular order, this does not require or imply that the steps must be performed in that particular order or that all of the illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.

In addition, in the present exemplary embodiment, a control error determination device of a master-slave cooperative navigation agricultural machine is also provided. Referring to fig. 9, the control error determining apparatus 900 of the master-slave cooperative navigation agricultural machine includes: an agricultural machine control module 910, a travel path acquisition module 920, a separation distance calculation module 930, and a control error determination module 940. Wherein:

The agricultural machine control module 910 is configured to obtain a preset reference pilot path, and control the first agricultural machine to move according to the reference pilot path, where the second agricultural machine moves along with the first agricultural machine;

the moving path acquisition module 920 is configured to acquire a target pilot path of the first agricultural machine based on the high-precision positioning and gesture measurement device, and acquire a target following path of the second agricultural machine based on the high-precision positioning and gesture measurement device;

the interval distance calculating module 930 is configured to determine a theoretical interval distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determine an actual interval distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target following path;

the control error determination module 940 is configured to determine a control error between the first agricultural machine and the second agricultural machine from the theoretical separation distance and the actual separation distance.

In one exemplary embodiment of the present disclosure, based on the foregoing, the second agricultural machine follows the first agricultural machine within a preset angular range; the interval distance calculating module 930 is configured to:

Determining a reference following path of the second agricultural machine according to the reference pilot path;

determining a theoretical separation distance based on an initial positional relationship between the first agricultural machine and the second agricultural machine, the reference pilot path, and the reference follow path;

wherein the initial positional relationship includes initial positional angle data between the first agricultural machine and the second agricultural machine.

In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the interval distance calculation module 930 is configured to:

acquiring a preset sampling interval;

determining a first sampling point on the target pilot path and a second sampling point on the target following path at the same moment according to the sampling interval;

an actual separation distance between the first agricultural machine and the second agricultural machine is determined based on a distance between the first sampling point and the second sampling point.

In one exemplary embodiment of the present disclosure, based on the foregoing scheme, the control error determination module 940 is configured to:

calculating a set of interval distance difference values between the actual interval distance and the theoretical interval distance at each moment;

determining a maximum distance difference value in the set of separation distance difference values, and taking the maximum distance difference value as a control error between the first agricultural machine and the second agricultural machine.

In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the control error includes a tracking path lateral error, the actual separation distance includes an actual lateral distance, and the theoretical separation distance includes a theoretical lateral distance; the control error determination module 940 is configured to:

calculating a set of lateral distance differences between the actual lateral distance and the theoretical lateral distance at each moment;

determining a maximum distance difference value in the set of lateral distance difference values, and taking the maximum distance difference value as a tracking path lateral error between the first agricultural machine and the second agricultural machine.

In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the control error includes an inter-machine distance maintenance error, the actual separation distance includes an actual longitudinal distance, and the theoretical separation distance includes a theoretical longitudinal distance; the control error determination module 940 is configured to:

calculating a longitudinal distance difference value set between the actual longitudinal distance and the theoretical longitudinal distance at each moment;

determining a maximum distance difference value in the longitudinal distance difference value set, and taking the maximum distance difference value as an inter-machine distance maintenance error between the first agricultural machine and the second agricultural machine.

In an exemplary embodiment of the present disclosure, based on the foregoing solution, the actual separation distance includes a tool center straight line distance, and the control error determining apparatus 900 of the master-slave co-navigation agricultural machine further includes a straight line distance disassembling module, where the straight line distance disassembling module is configured to:

acquiring a real-time position angle between the first agricultural machine and the second agricultural machine based on the high-precision positioning and attitude measuring device;

and disassembling the center linear distance of the machine tool according to the real-time position angle to obtain the actual transverse distance and the actual longitudinal distance between the first agricultural machine and the second agricultural machine.

In one exemplary embodiment of the present disclosure, based on the foregoing, the agricultural machine control module 910 is configured to:

acquiring a preset test moving speed range;

and controlling the first agricultural machine to move according to the test moving speed range and the reference pilot path, and determining a control error between the first agricultural machine and the second agricultural machine through a theoretical spacing distance and an actual spacing distance under different test moving speed ranges.

In an exemplary embodiment of the present disclosure, based on the foregoing scheme, the control error determining apparatus 900 of the master-slave co-navigation agricultural machine further includes a control error adjustment module that may be used to:

Acquiring a preset standard control error;

in response to determining that the control error is less than or equal to the standard control error, determining that the control accuracy of the master-slave co-navigation system between the first agricultural machine and the second agricultural machine is acceptable; or alternatively

In response to determining that the control error is greater than the standard control error data, the following steps are cyclically performed until a new control error is less than or equal to the standard control error: and determining a following compensation parameter according to the control error, and sending the following compensation parameter to the second agricultural machine so that the second agricultural machine carries out following compensation based on the following compensation parameter, and recalculating a new control error.

The specific details of each module of the control error determining device of the master-slave cooperative navigation agricultural machine are described in detail in the corresponding control error determining method of the master-slave cooperative navigation agricultural machine, so that the details are not repeated here.

It should be noted that although in the above detailed description several modules or units of a control error determination device of a master-slave co-navigation agricultural machine are mentioned, this division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.

In addition, in the exemplary embodiment of the present disclosure, an electronic device capable of implementing the control error determination method of the master-slave co-navigation agricultural machine is also provided.

Those skilled in the art will appreciate that the various aspects of the present disclosure may be implemented as a system, method, or program product. Accordingly, various aspects of the disclosure may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.

An electronic device 1000 according to such an embodiment of the present disclosure is described below with reference to fig. 10. The electronic device 1000 shown in fig. 10 is merely an example and should not be construed as limiting the functionality and scope of use of the disclosed embodiments.

As shown in fig. 10, the electronic device 1000 is embodied in the form of a general purpose computing device. Components of electronic device 1000 may include, but are not limited to: the at least one processing unit 1010, the at least one memory unit 1020, a bus 1030 connecting the various system components (including the memory unit 1020 and the processing unit 1010), and a display unit 1040.

Wherein the storage unit stores program code that is executable by the processing unit 1010 such that the processing unit 1010 performs steps according to various exemplary embodiments of the present disclosure described in the above-described "exemplary methods" section of the present specification. For example, the processing unit 1010 may perform step S210 shown in fig. 2, acquire a preset reference pilot path, and control the first agricultural machine to move according to the reference pilot path, and the second agricultural machine to move following the first agricultural machine; step S220, acquiring a target pilot path of the first agricultural machine based on the high-precision positioning and attitude measuring device, and acquiring a target following path of a second agricultural machine based on the high-precision positioning and attitude measuring device; step S230 of determining a theoretical separation distance between the first agricultural machine and the second agricultural machine according to the reference pilot path, and determining an actual separation distance between the first agricultural machine and the second agricultural machine according to the target pilot path and the target follow path; and step S240, determining a control error between the first agricultural machine and the second agricultural machine through the theoretical spacing distance and the actual spacing distance.

The memory unit 1020 may include readable media in the form of volatile memory units such as Random Access Memory (RAM) 1021 and/or cache memory unit 1022, and may further include Read Only Memory (ROM) 1023.

Storage unit 1020 may also include a program/utility 1024 having a set (at least one) of program modules 1025, such program modules 1025 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Bus 1030 may be representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 1000 can also communicate with one or more external devices 1070 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 1000, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 1000 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1050. Also, electronic device 1000 can communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 over the bus 1030. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with the electronic device 1000, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the present disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the disclosure as described in the "exemplary methods" section of this specification, when the program product is run on the terminal device.

Referring to fig. 11, a program product 1100 for implementing the control error determination method of the master-slave co-navigation agricultural machine described above, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and which may be run on a terminal device, such as a personal computer, is described according to an embodiment of the present disclosure. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

Furthermore, the above-described figures are only schematic illustrations of processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. The control error determining method of the master-slave cooperative navigation agricultural machine is characterized in that the master-slave cooperative navigation agricultural machine comprises a first agricultural machine at a piloting position and at least one second agricultural machine at a following position, and high-precision positioning and attitude measuring devices are arranged on the first agricultural machine and the second agricultural machine, and the method comprises the following steps:

2. The control error determination method of a master-slave co-navigation agricultural machine according to claim 1, wherein the second agricultural machine follows the first agricultural machine within a preset angle range; the determining a theoretical separation distance between the first agricultural machine and the second agricultural machine according to the reference pilot path includes:

3. The control error determination method of a master-slave co-navigation agricultural machine according to claim 1, wherein the determining an actual separation distance between the first agricultural machine and the second agricultural machine from the target pilot path and the target follow path includes:

Acquiring a preset sampling interval;

4. A control error determination method of a master-slave co-navigation agricultural machine according to any one of claims 1 to 3, wherein the determining of the control error between the first agricultural machine and the second agricultural machine by the theoretical separation distance and the actual separation distance includes:

5. The control error determination method of a master-slave co-navigation agricultural machine according to claim 4, wherein the control error includes a tracking path lateral error, the actual separation distance includes an actual lateral distance, and the theoretical separation distance includes a theoretical lateral distance;

The determining a control error between the first agricultural machine and the second agricultural machine by the theoretical separation distance and the actual separation distance includes:

6. The control error determination method of a master-slave co-navigation agricultural machine according to claim 5, wherein the control error includes an inter-machine distance maintenance error, the actual separation distance includes an actual longitudinal distance, and the theoretical separation distance includes a theoretical longitudinal distance;

7. The method for determining control errors for a master-slave co-navigation agricultural machine of claim 6, wherein the actual separation distance comprises an implement center line distance, the method further comprising:

8. The control error determination method of a master-slave co-navigation agricultural machine according to claim 1, wherein the controlling the first agricultural machine to move according to the reference pilot path includes:

acquiring a preset test moving speed range;

9. The control error determination method of a master-slave co-navigation agricultural machine according to claim 1, characterized in that the method further comprises:

acquiring a preset standard control error;

In response to determining that the control error is greater than the standard control error, the following steps are cyclically performed until a new control error is less than or equal to the standard control error: and determining a following compensation parameter according to the control error, and sending the following compensation parameter to the second agricultural machine so that the second agricultural machine carries out following compensation based on the following compensation parameter, and recalculating a new control error.

10. A control error determining device of a master-slave co-navigation agricultural machine, characterized in that the master-slave co-navigation agricultural machine comprises a first agricultural machine in a piloting position and at least one second agricultural machine in a following position, and the first agricultural machine and the second agricultural machine are both provided with a high-precision positioning and attitude measuring device, the device comprising: