A method and device for driving into a line

Abstract

The invention discloses a method and device for driving into a line, and relates to automatic navigation technology. Invented in order to solve the problem of waste of land resources due to the long line-entry distance in the prior art. The technical solution includes: after turning at the headland, start the forward automatic driving function, obtain the forward position and heading information in real time; compare the forward position information with the pre-stored operation trajectory, and obtain the first comparison result; if the first comparison result If it is greater than the preset line-entry error threshold, adjust the motion trajectory of the forward automatic driving according to the operation trajectory; if the first comparison result is less than the preset line-entry error threshold, stop the forward automatic driving function and start the backward automatic driving function Carry out backward automatic driving; when the backward automatic driving returns to the headland, restart the forward automatic driving function and start the operation mode. The technical solutions provided by the embodiments of the present invention can be applied in the process of agricultural and forestry operations to realize quick access to the line.

Description

technical field [0001] The invention relates to automatic navigation technology, in particular to a method and device for driving into a line. Background technique [0002] During the automatic driving operation of agricultural machinery and equipment, it is usually necessary to re-drive into the line when the field turns and enters the next ridge to be operated. [0003] At present, the method of driving the agricultural machinery equipment into the line provided by the existing technology is: when the current ridge operation task ends, the operator of the agricultural machinery equipment manually drives the agricultural machinery equipment to turn. Waiting for the automatic driving of the operation ridge, during the driving process, the agricultural machinery equipment will compare the real-time position with the preset operation trajectory, and adjust the direction of the agricultural machinery equipment according to the comparison result to carry out the line-entry opera...

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that the method of driving the agricultural machinery into the line in the prior art has a relatively long distance. Usually, during the process of entering the line, the agricultural machinery is also operating. The process trajectory is not straight and the swing is wide, which increases the width of a single operation ridge, wastes land resources, and is not conducive to automatic driving harvesting in the later stage, reducing crop yield

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