The invention discloses an agricultural machine and a steering angle calibration method and a steering control method thereof. Whether a current tire steering angle of an angle sensor needs to be calibrated or not is judged according to a vehicle body azimuth angle and a real-time tire steering angle, the automatic calibration process can be carried out in the normal operation process, large openspace is not needed, manual intervention is not needed, and automatic calibration can be carried out during the whole operation process. Errors of the angle sensor which change frequently can be calibrated continuously and automatically, normal operation is not affected, and a driver does not need to perform corresponding operation. And an actual tire steering angle is obtained according to the current tire steering angle of the agricultural machine so as to control the agricultural machine to steer. Whether the angle sensor needs to be calibrated or not is judged in the running process of theagricultural machine, the agricultural machine is controlled to steer through the actual tire steering angle, and the steering control precision is improved.

    本发明公开了一种农机及其转向角度标定方法、转向控制方法,通过车身方位角和实时轮胎转向角度对角度传感器的当前轮胎转向角度是否需要标定进行判断,且自动标定过程可以在正常作业过程中进行,无需较大空地且不需要人工干预,自动标定可以贯穿整个作业过程。针对频繁发生变化的角度传感器的误差可以持续的进行自动标定,不影响正常作业且无需驾驶员进行相应操作。并根据农机的当前轮胎转向角度得到实际轮胎转向角度,以控制农机进行转向。由此以在农机行驶过程中对角度传感器是否需要标定进行判断,并通过实际轮胎转向角度控制农机进行转向,提高转向控制精度。


    Access

    Download


    Export, share and cite



    Title :

    Agricultural machine and steering angle calibration method and steering control method thereof


    Additional title:

    一种农机及其转向角度标定方法、转向控制方法


    Contributors:
    LI XIAOYU (author) / MA FEI (author) / XU JIYANG (author)

    Publication date :

    2020-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



    STEERING ANGLE CALIBRATION

    AL ASSAD OMAR / SECCAMONTE FRANCESCO | European Patent Office | 2020

    Free access

    Steering angle calibration

    European Patent Office | 2021

    Free access

    STEERING ANGLE CALIBRATION

    AL ASSAD OMAR / SECCAMONTE FRANCESCO | European Patent Office | 2023

    Free access

    Steering angle calibration

    OMAR AL ASSAD / FRANCESCO SECCAMONTE | European Patent Office | 2022

    Free access

    Steering angle calibration

    AL ASSAD OMAR / SECCAMONTE FRANCESCO | European Patent Office | 2023

    Free access