According to the autonomous following method based on the autonomous following power-assisted tractor, after a vehicle body is started according to a pre-selected working condition, a tension and pressure sensor feeds back the stress change between the front end of the vehicle body and a target following object; the multi-channel transmitter collects and analyzes stress data fed back by the tension and pressure sensor and then transmits the stress data to the controller, the controller analyzes and calculates the motion state of the target follower and issues a control instruction containing the rotating speed parameter and the current parameter of the hub motor, and the differential motor driver executes the control instruction and drives the hub motor to move. And vehicle steering motion parameters are automatically matched. Compared with navigation carried out through cooperation of a radar and a visual sensor in the prior art, the pull pressure sensor adopted in the vehicle sensing system is high in measurement precision, low in cost, high in interaction with the target following object, high in anti-interference performance, wide in application range and free of influence of illumination, and therefore the vehicle sensing system can adapt to the complex and severe environment.
一种基于自主跟随助力牵引车实现的自主跟随方法,车辆本体按照预先选择的工况启动后,拉压力传感器反馈车辆本体的前端与目标跟随物之间的受力变化,多通道变送器采集、解析拉压力传感器反馈的受力数据后将受力数据传输至控制器,控制器分析计算目标跟随物的运动状态并下发包含轮毂电机的转速参数、电流参数的控制指令,差速电机驱动器执行前述控制指令、驱动轮毂电机运动,并自动匹配车辆转向运动参数。相比于现有技术中采用雷达及视觉传感器相互配合进行的导航相比,本发明提供的车辆传感系统中采用的拉压力传感器测量精度高、成本低、与目标跟随物交互感强、抗干扰性强,应用范围广,不受光照影响,因此能够适应复杂恶劣的环境。
Autonomous following power-assisted tractor and autonomous following method
一种自主跟随助力牵引车及自主跟随方法
2024-02-20
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE |
AUTONOMOUS TRACTOR AND METHOD TO CULTIVATE FARMLAND USING THIS TRACTOR
Europäisches Patentamt | 2020
|