CN-122018291-A - Lightweight operation method of agricultural phenotype acquisition cradle head system

CN122018291ACN 122018291 ACN122018291 ACN 122018291ACN-122018291-A

Abstract

The invention belongs to the technical field of intelligent agriculture, and particularly relates to a lightweight operation method of an agricultural phenotype acquisition cradle head system. The method comprises the following steps of S1, calibrating the quality and the position of various sensors, connecting pieces and accessory parts arranged on a cradle head, establishing a multi-source load quality distribution model, S3, modeling the gravity moment caused by eccentric load, S4, introducing a disturbance sensing and feedforward compensation mechanism, S5, establishing a control parameter self-adaptive adjustment mechanism which takes both stable precision and energy consumption level into consideration, and S6, establishing a judgment and closed-loop maintenance mechanism of a lightweight running state. The invention obviously reduces equivalent moment of inertia and driving burden, effectively reduces energy consumption for attitude adjustment, improves energy utilization efficiency, improves dynamic response performance and attitude stability quality of the system, enhances adaptability and operation reliability under the working condition of cooperation of multiple sensors, and realizes comprehensive performance improvement of the system on the premise of not obviously reducing structural strength.

Inventors

YU HAIYE
PAN ZHIHAO
ZHANG LEI
SUI YUANYUAN
Fu Hanbing
WANG LINGSHUANG
ZHANG CHENXI

Assignees

吉林大学

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (4)

1. The lightweight operation method of the agricultural phenotype acquisition cradle head system is characterized by comprising the following steps of: S1, calibrating the quality and the position of various sensors, connecting pieces and accessory parts arranged on a cradle head, establishing a multi-source load quality distribution model, wherein the system comprises Load units (1) The mass of each unit is The position vector in the holder coordinate system is The combined system total mass is: ; the overall barycentric coordinates of the system are as follows: ; s2, respectively calculating equivalent rotation inertia for a transverse rolling shaft, a pitching shaft and a heading shaft; Modeling the gravity moment caused by eccentric load, wherein when the distance from the equivalent gravity center of a certain load combination to a rotating shaft is d and the attitude angle is theta, the gravity disturbance moment is expressed as: ; g is gravity acceleration; S4, introducing a disturbance sensing and feedforward compensation mechanism, namely setting a linear acceleration vector measured by an IMU of a chassis as a b , setting a coordinate transformation matrix corresponding to the current posture of the cradle head as R bg , and expressing the equivalent disturbance acceleration in a cradle head coordinate system as follows: ; If the vector diameter of an equivalent load with respect to the rotation axis is r, the moment of inertia caused by disturbance is approximately expressed as: in a control implementation, this disturbance torque is superimposed as a feed forward term into the control input, resulting in: Wherein u fb is the feedback controller output, K g is the gravity compensation feedforward gain, and K d is the disturbance feedforward gain; s5, constructing a control parameter self-adaptive adjustment mechanism which takes both stable precision and energy consumption level into consideration; s6, establishing a judgment and closed-loop maintenance mechanism of the lightweight operation state.
2. The method for operating an agricultural phenotype acquisition cradle head system according to claim 1, wherein the specific method of S2 is that, taking a certain rotation axis k as an example, if the shortest distance from the ith load unit to the axis is r ik , the equivalent moment of inertia of the axis is: wherein J k0 is the rotational inertia of the holder body corresponding to the shaft.
3. The method for operating an agricultural phenotype acquisition cradle head system in a light-weight manner according to claim 1, wherein the specific method of S5 is that, taking improved cascade PID as an example, the outer ring position controller generates a target angular velocity ω r according to an angle error e θ , the inner ring velocity controller generates an actuator control amount according to a velocity error e ω , and the discrete form is written as: in order to avoid excessive accumulation of integral during small angle adjustment and further introduce energy consumption constraint terms, the output power of the motor per unit time is set to be approximately: the control energy consumption in one working cycle is: the control parameter optimization objective is expressed as: 。
4. The method for operating the agricultural phenotype acquisition cradle head system in a light-weight mode according to claim 1, wherein the specific method of S6 is characterized in that the system takes equivalent inertia J k , eccentricity d, peak driving torque tau max , unit period energy consumption E c and attitude steady-state error |e θ | as comprehensive evaluation indexes, and when the following conditions are met, the system is judged to be in a light-weight operating state: Wherein, the Respectively preset threshold values.

Description

Lightweight operation method of agricultural phenotype acquisition cradle head system Technical Field The invention relates to the technical field of intelligent agriculture, in particular to a lightweight operation method of an agricultural phenotype acquisition cradle head system. Background As agricultural robotics evolve towards high-throughput phenotyping acquisition, mobile acquisition platforms gradually shift from single sensor systems to multi-source sensor collaborative modes. In order to acquire multidimensional growth information of crops, the platform needs to be simultaneously provided with visible light imaging equipment, multispectral imaging equipment, laser ranging equipment, thermal imaging equipment and the like, and the combination mode of the equipment in a space structure has strong uncertainty. The existing agricultural phenotype acquisition cradle head system is generally configured based on fixed load assumption in the design process, and in the actual operation process, the system load distribution shows obvious time-varying characteristics due to sensor replacement, installation position adjustment and environmental disturbance influence. The dynamic parameters of the cradle head system are changed due to the load change, so that the deviation exists between a model established in a parameter setting stage and an actual running state of the control system, and the stable control effect of the gesture is reduced. In addition, the traditional lightweight design is mainly focused on structural weight reduction, such as adopting high-strength lightweight materials or optimizing structural topology, but in an agricultural complex environment, the simple reliance on structural weight reduction can lead to system rigidity reduction or insufficient impact resistance, and long-term stable operation requirement is difficult to meet. Therefore, from the perspective of collaborative optimization of system dynamics and control strategies, light-weight operation is realized by adjusting mass distribution and controlling energy output, and the method becomes an important technical approach for improving the performance of agricultural phenotype acquisition equipment. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided: an agricultural phenotype acquisition cradle head system light-weight operation method comprises the following steps: S1, calibrating the quality and the position of various sensors, connecting pieces and accessory parts arranged on a cradle head, establishing a multi-source load quality distribution model, wherein the system comprises Load units (1)The mass of each unit isThe position vector in the holder coordinate system isThe combined system total mass is: the overall barycentric coordinates of the system are as follows: ; s2, respectively calculating equivalent rotation inertia for a transverse rolling shaft, a pitching shaft and a heading shaft; Modeling the gravity moment caused by eccentric load, wherein when the distance from the equivalent gravity center of a certain load combination to a rotating shaft is d and the attitude angle is theta, the gravity disturbance moment is expressed as: g is gravity acceleration; S4, introducing a disturbance sensing and feedforward compensation mechanism, namely setting a linear acceleration vector measured by an IMU of a chassis as a b, setting a coordinate transformation matrix corresponding to the current posture of the cradle head as R bg, and expressing the equivalent disturbance acceleration in a cradle head coordinate system as follows: If the vector diameter of an equivalent load with respect to the rotation axis is r, the moment of inertia caused by disturbance is approximately expressed as: in a control implementation, this disturbance torque is superimposed as a feed forward term into the control input, resulting in: Wherein u fb is the feedback controller output, K g is the gravity compensation feedforward gain, and K d is the disturbance feedforward gain; s5, constructing a control parameter self-adaptive adjustment mechanism which takes both stable precision and energy consumption level into consideration; s6, establishing a judgment and closed-loop maintenance mechanism of the lightweight operation state. . As a preferable scheme of the lightweight operation method of the agricultural phenotype acquisition cradle head system, the specific method of S2 is that taking a certain rotation axis k as an example, if the shortest distance from an ith load unit to the axis is r ik,