Turning pre-warning method and device for agricultural machine and agricultural machine

Abstract

The embodiment of the invention provides a turning pre-warning method and device for an agricultural machine and the agricultural machine, which are used for solving the problem that existing headland prediction warning is not applicable for non-rectangular farmland. The method comprises the following steps: actual position coordinates of the agricultural machine at preset moments of the first k times of turning on the same boundary of a working area are recorded, wherein k is a natural number; prediction position coordinates of the agricultural machine on the boundary are determined according to the recorded actual position coordinates when the agricultural machine turns after turning k times; the turning times n of the agricultural machine on the boundary is determined, wherein n is a natural number larger than or equal to k; the distance difference between the current position coordinates of the agricultural machine and the prediction position coordinates of the agricultural machine during the (n+1)th turning on the boundary is determined; when the distance difference is smaller than a preset distance, a warning message is sent out.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a turning warning method and device for agricultural machinery and the agricultural machinery. Background technique [0002] The tractor auxiliary navigation system refers to providing a set of facilities to help the tractor drive automatically in the field, minimizing manual operations. At present, the automatic turning of the tractor in the field has technical immaturity problems such as too large turning radius and complicated operation. Therefore, in the existing tractor auxiliary navigation products, the turning of the tractor in the field is manually controlled. [0003] Since the tractor can use automatic driving when working in the field, but it needs to use manual turning when turning at the head of the field. Therefore, determining the boundary of the working area and alarming in advance can facilitate the operator to switch the tractor from automatic driving ...

AI Technical Summary

Problems solved by technology

[0006] Embodiments of the present invention provide a turning warning method and device for agricultural machinery, and agricultural machinery to solve the problem that the existing headland prediction alarm is not applicable to fields whose shape is not rectangular

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