A profiling control method, device and storage medium for a harvesting machine header

Abstract

The present application relates to a method, device and storage medium for contour following control of a harvesting machine header. The method includes the steps of: obtaining geographical information of a target plot; generating a ground spectral function of the target plot according to the geographical information; obtaining initial motion data of the harvesting machine; generating virtual operation parameters of the harvesting machine according to the initial motion data; obtaining real-time motion data of the harvesting machine; and adjusting the real-time motion data in real time according to the virtual operation parameters. The method, device and storage medium for contour following control of a harvesting machine header provided by the embodiments of the present application can adjust control parameters according to the traveling speed of the harvesting machine to ensure that the header will not respond too slowly during high-speed movement or overshoot too much during low-speed movement.

Description

Technical Field

[0001] The present application relates to the field of profiling control of a header of a harvesting machine, and particularly to a profiling control method, device and storage medium for a header of a harvesting machine. Background Art

[0002] At present, most of the profiling control principles adopted by domestic and foreign harvesting machines are based on contact (mechanical), non-contact (infrared, ultrasonic, etc.) header height sensors to measure the real-time ground clearance height of the header, and use it as a feedback input signal to combine with corresponding control methods to control the ground clearance height of the header to achieve the purpose of header profiling. The height sensor installed on the header can measure the ground clearance height h of the header in real time. When h≥h0 (set ground clearance height), the controller outputs a control signal to control the lift cylinder of the header to lower the header height until the set target value h0 is reached; when h<h0, the controller outputs a control signal to control the lift cylinder of the header to raise the header height until the set target value h0 is reached.

[0003] However, the existing technologies have the following disadvantages:

[0004] (1) The contact type header height sensor is a mechanical structure, and the frequent operation actions of the harvesting machine will greatly affect the service life of the sensor;

[0005] (2) The installation position of the non-contact type header height sensor is generally located below the header, and the vibration of the header and foreign object occlusion during the operation of the harvesting machine will affect the measurement accuracy;

[0006] (3) The above two control methods based on the real-time measurement of the header height sensor can only measure the one-dimensional quantity of the distance from the header to the ground below, cannot obtain the terrain information, and cannot change the control parameters according to the terrain information, so the adaptability to different terrain environments is poor. Summary of the Invention

[0007] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a profiling control method, device and storage medium for a header of a harvesting machine.

[0008] In a first aspect, the present application provides a profiling control method for a header of a harvesting machine, the method including the steps of:

[0009] Obtain the geographical information of the target plot;

[0010] Generate the ground spectrum function of the target plot according to the geographical information;

[0011] Obtain the initial motion data of the harvesting machine;

[0012] Generate the virtual operation parameters of the harvesting machine according to the initial motion data;

[0013] Obtain the real-time motion data of the harvesting machine;

[0014] Adjust the real-time motion data in real time according to the virtual operating parameters.

[0015] Preferably, the obtaining of the geographical information of the target plot includes the steps of:

[0016] Obtain the two-dimensional geographical information of the target plot;

[0017] Determine the edge shape and plot size of the target plot according to the two-dimensional geographical information;

[0018] Determine the aerial survey route of the target plot according to the edge shape and the plot size;

[0019] Collect the aerial survey data of the target plot according to the aerial survey route.

[0020] Preferably, the generating of the ground spectral function of the target plot according to the geographical information includes the steps of:

[0021] Obtain the aerial survey data in the geographical information;

[0022] Establish a ground coordinate system on the target plot;

[0023] Process the aerial survey data;

[0024] Import the aerial survey data into the ground coordinate system and generate a three-dimensional ground spectral function.

[0025] Preferably, the generating of the ground spectral function of the target plot according to the geographical information further includes the steps of:

[0026] Perform scatter processing on the three-dimensional ground spectral function and obtain scatter values;

[0027] Import the scatter values into the harvesting machine in the form of a three-dimensional array;

[0028] Obtain the position coordinates of the harvesting machine;

[0029] Judge whether the position coordinates are located in the scatter value gap;

[0030] If so, obtain the plane formed by the three scatter values closest to the position coordinates and take values on the plane; if not, keep the position coordinates.

[0031] Preferably, the obtaining of the initial motion data of the harvesting machine includes the steps of:

[0032] Obtain the position coordinates of the harvesting machine;

[0033] Obtain the altitude of the harvesting machine;

[0034] Obtain the pitch angle of the body of the harvesting machine;

[0035] Obtain the yaw angle of the body of the harvesting machine;

[0036] Obtain the tilt angle of the cutter bar of the harvesting machine.

[0037] Preferably, the generating the virtual operating parameters of the harvesting machine according to the initial motion data includes the steps of:

[0038] Obtain the dimension data of the harvesting machine;

[0039] Obtain the position coordinates, body yaw angle, body pitch angle, cutter bar tilt angle and altitude in the initial motion data;

[0040] Generate a virtual path of the harvesting machine according to the dimension data, the position coordinates, the body yaw angle, the body pitch angle and the cutter bar tilt angle;

[0041] Generate an expected height trajectory of the harvesting machine along the virtual path according to the altitude.

[0042] Preferably, the real-time adjustment of the real-time motion data according to the virtual operating parameters includes the steps of:

[0043] Obtain the virtual path and the expected height trajectory in the virtual operating parameters;

[0044] Obtain the motion direction and the cutting point motion height in the real-time motion data;

[0045] Keep the error between the motion direction and the virtual path within a preset range;

[0046] Keep the error between the cutting point motion height and the expected height trajectory within a preset range.

[0047] In a second aspect, the present application provides a profiling control device for a cutter bar of a harvesting machine, including:

[0048] A geographic information acquisition module, configured to acquire geographic information of a target plot;

[0049] A ground spectrum function generation module, configured to generate a ground spectrum function of the target plot according to the geographic information;

[0050] An initial motion data acquisition module, configured to acquire initial motion data of the harvesting machine;

[0051] A virtual operating parameter generation module, configured to generate virtual operating parameters of the harvesting machine according to the initial motion data;

[0052] A real-time motion data acquisition module for acquiring real-time motion data of the harvesting machine;

[0053] A real-time motion data adjustment module for adjusting the real-time motion data according to the virtual operation parameters.

[0054] In a third aspect, an electronic device is provided, which includes:

[0055] At least one processor; and,

[0056] A memory communicatively connected to the at least one processor; wherein,

[0057] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any one of the foregoing harvesting machine header profiling control methods.

[0058] In a fourth aspect, a non-transitory computer-readable storage medium is provided, which stores computer instructions for causing the computer to execute any one of the foregoing harvesting machine header profiling control methods.

[0059] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art:

[0060] A harvesting machine header profiling control method, device and storage medium provided by the embodiments of the present application can adjust control parameters according to the traveling speed of the harvesting machine to ensure that the header does not respond too slowly during high-speed movement or overshoot too much during low-speed movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 is a flowchart showing a harvesting machine header profiling control method provided by an embodiment of the present invention;

[0064] Figure 2 is a structural diagram showing a harvesting machine header profiling control device provided by an embodiment of the present invention;

[0065] Figure 3 It is a schematic structural diagram of an electronic device provided by the present invention;

[0066] Figure 4 It is a schematic structural diagram of a non-transitory computer-readable storage medium provided by the present invention;

[0067] Figure 5 It is a schematic diagram of the angle parameters of a harvesting machine for a harvesting machine cutting table profiling control method provided by an embodiment of the present invention;

[0068] Figure 6 It is a schematic diagram of the dimensions of a harvesting machine for a harvesting machine cutting table profiling control method provided by an embodiment of the present invention;

[0069] Figure 7 It is a schematic diagram of the direction detection and terrain update of a harvesting machine for a harvesting machine cutting table profiling control method provided by an embodiment of the present invention;

[0070] Figure 8 It is a schematic diagram of the acceptable deviation band of a harvesting machine for a harvesting machine cutting table profiling control method provided by an embodiment of the present invention;

[0071] Figure 9 It is a schematic diagram of the curve smoothing process of a harvesting machine for a harvesting machine cutting table profiling control method provided by an embodiment of the present invention. Detailed implementation manners

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0073] Figure 1 It is a schematic flowchart of a harvesting machine cutting table profiling control method provided by an embodiment of the present application.

[0074] The present application provides a harvesting machine cutting table profiling control method, and the method includes the steps of:

[0075] S1: Obtain the geographical information of the target plot;

[0076] In the embodiments of the present application, the obtaining of the geographical information of the target plot includes the steps of:

[0077] Obtain the two-dimensional geographical information of the target plot;

[0078] Determine the edge shape and plot size of the target plot according to the two-dimensional geographical information;

[0079] Determine the aerial survey route of the target plot according to the edge shape and the plot size;

[0080] Collect the aerial survey data of the target plot according to the aerial survey route.

[0081] Specifically, use the electronic map of the target plot to obtain the two-dimensional geographical information of the target plot, and determine the edge shape and plot size of the target plot. After the target plot is sown, plan the flight route during the actual measurement of the unmanned aerial vehicle according to the plot shape, plot size and the effective photography width swept by the unmanned aerial vehicle at the best height. Before the surveying, evenly arrange image control points at a certain interval on the target plot. When the unmanned aerial vehicle flies over the target plot according to the planned route, use RTK and oblique photography technology to take a large number of high-definition pictures containing the coordinate and height information of the target plot. These high-definition pictures are the aerial survey data.

[0082] S2: Generate the ground spectral function of the target plot according to the geographical information;

[0083] In the embodiment of the present application, the generating the ground spectral function of the target plot according to the geographical information includes the steps of:

[0084] Obtain the aerial survey data in the geographical information;

[0085] Establish a ground coordinate system on the target plot;

[0086] Process the aerial survey data;

[0087] Import the aerial survey data into the ground coordinate system and generate a three-dimensional ground spectral function.

[0088] Specifically, import the aerial survey data obtained by the unmanned aerial vehicle on a computer, and use software to process the data. Establish a ground coordinate system on the target plot, and import the aerial survey data into the ground coordinate system to obtain the three-dimensional ground spectral function H(x, y) of the target plot.

[0089] In the embodiment of the present application, the generating the ground spectral function of the target plot according to the geographical information further includes the steps of:

[0090] Perform scatter point processing on the three-dimensional ground spectral function and obtain scatter point values;

[0091] Import the scatter point values into the harvesting machine in the form of a three-dimensional array;

[0092] Obtain the position coordinates of the harvesting machine;

[0093] Judge whether the position coordinates are located in the scatter point value gap;

[0094] If so, obtain the plane formed by the three closest discretized values to the position coordinates, and take values on the plane;

[0095] If not, keep the position coordinates.

[0096] Specifically, after obtaining the three-dimensional ground spectrum function, discretize the three-dimensional ground spectrum function H(x, y) of the target plot and import it into the controller of the harvesting machine in the form of a three-dimensional array; when the measured coordinates are located in the discretization gap, calculate and take values on the plane formed by the three closest surrounding discretized values to the coordinates.

[0097] S3: Obtain the initial motion data of the harvesting machine;

[0098] In the embodiment of the present application, the obtaining of the initial motion data of the harvesting machine includes the steps of:

[0099] Obtain the position coordinates of the harvesting machine;

[0100] Obtain the altitude of the harvesting machine;

[0101] Obtain the body pitch angle of the harvesting machine;

[0102] Obtain the body yaw angle of the harvesting machine;

[0103] Obtain the cutter bar tilt angle of the harvesting machine.

[0104] Such as Figure 5 , specifically, a GPS positioning module and a gyroscope sensor are installed on the body of the harvesting machine. The GPS module measures the real-time position coordinates and altitude when the harvesting machine is working, and the gyroscope sensor measures the body pitch angle α and yaw angle ψ; an angle sensor is installed on the cutter bar to measure the cutter bar tilt angle θ, and the measured signals are sent to the controller through the CAN bus during operation. The cutter bar tilt angle θ is the angle between the current cutter bar arm and the lower limit position of the cutter bar arm, and the lower limit angle θ0 of the cutter bar is the angle between the cutter bar arm in the lower limit position and the horizontal direction. The absolute cutter bar tilt angle θ d is defined as the angle between the cutter bar arm and the horizontal line, where θ d =α + θ0 + θ.

[0105] S4: Generate the virtual operation parameters of the harvesting machine according to the initial motion data;

[0106] In the embodiment of the present application, the generating of the virtual operation parameters of the harvesting machine according to the initial motion data includes the steps of:

[0107] Obtain the dimension data of the harvesting machine;

[0108] Obtain the position coordinates, vehicle yaw angle, vehicle pitch angle, header tilt angle, and altitude in the initial motion data;

[0109] Generate a virtual path of the harvesting machine according to the dimension data, the position coordinates, the vehicle yaw angle, the vehicle pitch angle, and the header tilt angle;

[0110] Generate an expected height trajectory of the harvesting machine along the virtual path according to the altitude.

[0111] As Figure 6 , specifically, point A on the harvesting machine is the installation position of the GPS module, point B is the position of the header hinge point (header rotation center), and point P is the position of the header cutting point (hereinafter referred to as the cutting point). When the harvesting machine is operating, assume that at time t, the GPS module of the harvesting machine detects the coordinate position as [x(t), y(t)] and the altitude as H A (t). The information collected is sent to the controller through the CAN bus, and the horizontal distance L from the GPS module to the cutting point at this moment is calculated. The expression is: L = h1sinα + L1cosα + L2cosθ d ; According to the relative position between the coordinates measured by the GPS module and the cutting point, calculate the coordinates [x1(t), y1(t)] at the cutting point, and substitute them into the ground spectrum function H(x, y) to obtain the ground height H[x1(t), y1(t)] at the cutting point coordinates. The expression is: H[x1(t), y1(t)] = H[x(t) + Lcosψ, y(t) + Lsinψ]; According to the altitude measured by the GPS module and some dimensions of the harvesting machine, the altitude H P (t) of the cutting point can be calculated. The expression is: H P (t) = H A (t) - h1cosα + L1sinα + L2sinθ d ; Subtract the ground height H[x1(t), y1(t)] at the cutting point coordinates from the altitude H P (t) of the cutting point to obtain the header ground clearance h. The expression is: h = H P (t) - H[x(t) + Lcosψ, y(t) + Lsinψ]; The PID control law is used in the harvesting machine controller to achieve the closed-loop control of the header ground clearance h, and the header profiling function is realized by controlling the cutting point to track an expected height trajectory Γ. According to the three-dimensional ground spectrum function H(x, y) of the target plot measured previously and imported into the controller, and the preset ground clearance safety distance M, an expected height trajectory Γ is calculated as the control target input. To save the computing resources of the controller, the expected height trajectory Γ only takes a section in the forward direction of the harvesting machine, and is ensured to match the current section information by refreshing at a certain interval. The specific processing method is as follows:

[0112] (1) When the harvesting machine starts to move, based on the current yaw angle ψ measured by the gyroscope sensor, a virtual path l is generated that shoots towards the advancing direction of the harvesting machine;

[0113] (2) Select a line segment with a horizontal length of S along the virtual path l starting from the cutting point coordinates [x1(t), y1(t)], project it onto the vertical plane, and calculate the cross-sectional curve of the ground spectrum function H(x, y) within a distance S in front of the harvesting machine as Figure 7 shown;

[0114] (3) Smooth the curve using the polynomial fitting method as Figure 9 shown, to obtain a smooth fitting curve of the ground spectrum function H(x, y) with the virtual path l as the vertical cross-sectional curve. Add the preset ground clearance safety distance M to the curve height value to obtain the desired height trajectory Γ, and use PID to achieve trajectory tracking control.

[0115] Before the forward horizontal movement distance of the harvesting machine exceeds S, repeat operations (1)-(3) to refresh the forward desired height trajectory Γ to continue as the control target (by setting the refresh point, the overlapping part between two acquisitions of the horizontal S distance can be adjusted. The more the overlapping part, the shorter the refresh time, the greater the computational amount required by the controller, but the higher the accuracy of the desired height trajectory Γ; the less the overlapping part, the longer the refresh time, the smaller the computational amount required by the controller, but the greater the error of the desired height trajectory Γ) until the harvesting machine finishes the operation.

[0116] S5: Obtain the real-time motion data of the harvesting machine;

[0117] Specifically, the GPS positioning module and gyroscope sensor installed on the harvesting machine body can obtain the real-time motion data of the harvesting machine.

[0118] S6: Adjust the real-time motion data in real time according to the virtual operation parameters.

[0119] In the embodiment of the present application, the adjusting the real-time motion data in real time according to the virtual operation parameters includes the steps of:

[0120] Obtain the virtual path and the desired height trajectory in the virtual operation parameters;

[0121] Obtain the motion direction and the cutting point motion height in the real-time motion data;

[0122] Keep the error between the motion direction and the virtual path within a preset range;

[0123] Keep the error between the cutting point motion height and the desired height trajectory within a preset range.

[0124] Specifically, to ensure the consistency between the virtual path l and the forward direction of the current harvesting machine, by real-time monitoring the position and attitude of the vehicle body, it is monitored whether the harvesting machine deviates too much within the distance S, such as Figure 8 as shown. The specific operation is as follows:

[0125] (1) Detect position deviation: Establish an acceptable deviation band centered on the central axis of the harvesting machine and with a width along the virtual path l twice that of the cutting table. The GPS module of the harvesting machine measures the coordinate information in real time. If the forward movement distance of the harvesting machine is less than S and it has deviated from the acceptable deviation band, it is considered that the route has changed, and the current expected height trajectory Γ is not applicable to the current control situation. Immediately repeat the operations (1)-(3) in step S4 to recalculate the forward expected height trajectory Γ.

[0126] (2) Detect angle deviation: When the gyroscope sensor of the harvesting machine generates the expected height trajectory Γ, it measures and records the initial yaw angle ψ0. Until the next refresh of the expected height trajectory Γ, it measures the difference γ (deviation angle) between the current yaw angle ψ and the initial yaw angle ψ0 in real time. The expression is: γ = ψ - ψ0;

[0127] (3) Make a real-time judgment. If the absolute value of the deviation angle γ is less than the upper limit value, that is, |γ| < γ max , it is considered that the current expected height trajectory Γ is still applicable and no change needs to be made; if the absolute value of the deviation angle γ is greater than or equal to the upper limit value, that is, |γ| ≥ γ max , it is considered that the current expected height trajectory Γ is no longer applicable to the current terrain. Immediately repeat the operations (1)-(3) in step S4 to recalculate the forward expected height trajectory Γ.

[0128] Considering that the actual structure of the cutting table is that the cutting table is pushed by two hydraulic cylinders to rotate around the hinge point, the control variable is selected as the cutting table inclination angle. The conversion formula between the cutting table ground clearance h and the cutting table inclination angle θ is:

[0129] To improve the response speed of the cutting table when the terrain changes rapidly; at the same time, to ensure that when the terrain is relatively flat, the cutting table will not have large overshoot or oscillation due to small terrain changes, and to improve the adaptability of the PID algorithm to the terrain, the PID parameters are adjusted according to the three-dimensional ground spectrum function H(x, y) of the target plot and the speed of the harvesting machine.

[0130] At the cutting point coordinates [x1(t), y1(t)], the ground directional derivative of the virtual path l along the forward direction of the harvesting machine is:

[0131]

[0132] Assume that the GPS module measures that the scalar of the forward horizontal component velocity of the harvesting machine is v(t). The PID differential coefficient K d is processed as follows:

[0133]

[0134] Wherein, k1 and k2 are the weight coefficients before the harvesting machine speed term and the ground slope term respectively, and C is a set constant; K dmax is the maximum value of the PID differential term coefficient K d .

[0135] The control signal output by the PID is calculated by the controller and converted into a PWM signal, which is output from the controller to the proportional solenoid valve for the lifting of the cutter bar, controlling the hydraulic cylinder to push the cutter bar, thereby realizing the profiling control of the cutter bar.

[0136] For example Figure 2 , the present application provides a profiling control device for a harvesting machine cutter bar, including:

[0137] A geographic information acquisition module 10 for acquiring the geographic information of the target plot;

[0138] A ground spectral function generation module 20 for generating the ground spectral function of the target plot according to the geographic information;

[0139] An initial motion data acquisition module 30 for acquiring the initial motion data of the harvesting machine;

[0140] A virtual operation parameter generation module 40 for generating the virtual operation parameters of the harvesting machine according to the initial motion data;

[0141] A real-time motion data acquisition module 50 for acquiring the real-time motion data of the harvesting machine;

[0142] A real-time motion data adjustment module 60 for adjusting the real-time motion data according to the virtual operation parameters in real time.

[0143] The profiling control device for a harvesting machine cutter bar provided by the present application can execute the profiling control method for a harvesting machine cutter bar provided in the above steps.

[0144] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principles of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0145] Next, refer to Figure 3, which shows a schematic structural diagram of an electronic device 100 suitable for implementing the embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0146] As Figure 3 shown, the electronic device 100 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 102 or the program loaded from the storage device 108 into the random access memory (RAM) 103. In the RAM 103, various programs and data required for the operation of the electronic device 100 are also stored. The processing device 101, the ROM 102, and the RAM 103 are connected to each other through a bus 104. The input / output (I / O) interface 105 is also connected to the bus 104.

[0147] Generally, the following devices may be connected to the I / O interface 105: an input device 106 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 107 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 108 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 109. The communication device 109 can allow the electronic device 100 to communicate with other devices wirelessly or wirelessly to exchange data. Although the figure shows an electronic device 100 having various devices, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices may be implemented or had alternatively.

[0148] Particularly, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 109, or installed from the storage device 108, or installed from the ROM 102. When the computer program is executed by the processing device 101, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.

[0149] Next, refer to Figure 4, which shows a schematic structural diagram of a computer-readable storage medium suitable for implementing the embodiments of the present disclosure. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it can implement the harvesting machine header profiling control method as described in any one of the above.

[0150] A harvesting machine header profiling control method, device, and storage medium provided by the embodiments of the present application perform mapping of a target plot in advance by a drone, enabling the harvester controller to obtain the overall terrain information in advance and adjust the control parameters according to different terrains, thereby ensuring the control effect; triggeringly reading a small section of terrain information in front of the harvester to save the computing resources of the controller, performing smooth fitting according to the terrain in front, and calculating an expected height trajectory Γ to make the target value of the control input smooth, so as to ensure that the header trajectory is smooth and free of jitter; the control parameters can be adjusted according to the traveling speed of the harvester to ensure that the header does not respond too slowly at high speed or overshoot too much at low speed; the sensors can all be installed inside the body shell, with little influence from the environment and a long service life; the algorithm model is accurate, reliable, and highly portable.

[0151] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0152] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A contour following control method for a header of a harvesting machine, characterized in that, The method includes the steps of: S1: Obtain the geographical information of the target plot; S2: Generate the three-dimensional ground spectral function H(x, y) of the target plot according to the geographical information. After obtaining the three-dimensional ground spectral function, scatter the three-dimensional ground spectral function H(x, y) of the target plot and import it into the controller of the harvesting machine in the form of a three-dimensional array; when the measured coordinates are located in the scatter gap, calculate the value on the plane formed by the three surrounding scattered values closest to the coordinates; S3: Obtain the initial motion data of the harvesting machine, including the position coordinates, altitude, body pitch angle α, yaw angle ψ, and cutterbar tilt angle θ of the harvesting machine. The cutterbar tilt angle θ is the angle between the current cutterbar arm and the lower limit position of the cutterbar arm. The lower limit angle θ0 of the cutterbar is the angle between the cutterbar arm in the lower limit position and the horizontal direction. The absolute cutterbar tilt angle θ d is defined as the angle between the cutterbar arm and the horizontal line, where θ d = α + θ0 + θ; S4: Generate the virtual operating parameters of the harvesting machine according to the initial motion data; S5: Obtain the real-time motion data of the harvesting machine; S6: Adjust the real-time motion data in real time according to the virtual operating parameters; The generating the virtual operating parameters of the harvesting machine according to the initial motion data includes: On the harvesting machine, point A is the installation position of the GPS module, point B is the hinge point position of the cutting table, and point P is the cutting point position of the cutting table. When the harvesting machine is operating, assume that at time t, the GPS module of the harvesting machine detects the coordinate position as [x(t), y(t)] and the altitude is H A (t). The information collected is sent to the controller through the CAN bus, and the horizontal distance L from the GPS module to the cutting point at this moment is calculated. The expression is: L = h1sinα + L1cosα + L2cosθ d ; According to the relative position between the coordinates measured by the GPS module and the cutting point, the coordinates [x1(t), y1(t)] at the cutting point are calculated, and the ground height H[x1(t), y1(t)] at the cutting point coordinates is obtained by substituting into the ground spectral function H(x, y). The expression is: H[x1(t), y1(t)] = H[x(t) + Lcosψ, y(t) + Lsinψ]; According to the altitude measured by the GPS module and the dimensions of some parts of the harvesting machine, the altitude H P (t) of the cutting point can be calculated. The expression is: H P H(t) = H A H(t) - h1cosα + L1sinα + L2sinθ d ; The altitude H of the cutting point P Subtracting the ground height H[x1(t), y1(t)] at the cutting point coordinates from H(t) gives the height h of the cutterbar above the ground, and the expression is: h = H P (t) - H[x(t) + Lcosψ, y(t) + Lsinψ]; In the harvester controller, the PID control law is used to achieve the closed-loop control of the cutting table ground clearance h. The profiling function of the cutting table is realized by controlling the cutting point to track a desired height trajectory Γ. According to the three-dimensional ground spectral function H(x, y) of the target plot previously measured and imported into the controller, and the preset ground safety distance M, a desired height trajectory Γ is calculated as the control target input. The desired height trajectory Γ only takes a section in the forward direction of the harvester, and is ensured to match the current section information by refreshing at a certain interval. The specific processing methods include: (1) When the harvesting machine starts to move, generate a virtual path l shooting in the forward direction of the harvesting machine according to the current yaw angle ψ measured by the gyroscope sensor; (2) Select a line segment with a horizontal length of S along the virtual path l starting from the cutting point coordinates [x1(t), y1(t)] and project it onto the vertical plane, and calculate the cross-sectional curve of the ground spectral function H(x, y) within a distance S in front of the harvesting machine; (3) Smooth the curve using the polynomial fitting method to obtain a smooth fitting curve of the ground spectral function H(x, y) as the vertical cross-sectional curve along the virtual path l. Add the preset ground clearance safety distance M to the curve height value to obtain the desired height trajectory Γ, and use PID to achieve trajectory tracking control; Before the forward horizontal movement distance of the harvesting machine exceeds S, repeat the operations in (1)-(3) to refresh the forward desired height trajectory Γ to continue as the control target until the harvesting machine finishes the operation; The adjusting the real-time motion data in real time according to the virtual operating parameters includes the steps of: Obtain the virtual path and the desired height trajectory in the virtual operating parameters; Obtain the motion direction and the cutting point motion height in the real-time motion data; Keep the error between the motion direction and the virtual path within the preset range; Keep the error between the cutting point motion height and the desired height trajectory within the preset range; The specific processing method includes: (1) Detect position deviation: Establish an acceptable deviation band centered on the central axis of the harvesting machine and with a width twice that of the cutter bar along the virtual path l; The GPS module of the harvesting machine measures the coordinate information in real time. If the forward movement distance of the harvesting machine is less than S and it has deviated from the acceptable deviation band, it is considered that the route has changed, and the current desired height trajectory Γ is not applicable to the current control situation. Immediately repeat the operations in (1)-(3) in step S4 to recalculate the forward desired height trajectory Γ; (2) Detect angle deviation: When generating the desired height trajectory Γ, the gyroscope sensor of the harvesting machine measures and records the initial yaw angle ψ0. Until the next refresh of the desired height trajectory Γ, the difference γ between the current yaw angle ψ and the initial yaw angle ψ0, that is, the deviation angle γ, is measured in real time. The expression is: γ = ψ - ψ0; (3) Real-time judgment: If the absolute value of the deviation angle γ is less than the upper limit value, that is, |γ| < γ max , it is considered that the current desired altitude trajectory Γ is still applicable and no change needs to be made; if the absolute value of the deviation angle γ is greater than or equal to the upper limit value, that is, |γ| ≥ γ max , it is considered that the current desired altitude trajectory Γ can no longer be applied to the current terrain, and the operations (1)-(3) in step S4 are immediately repeated to recalculate the forward desired altitude trajectory Γ.

2. The contour following control method for the header of a harvesting machine according to claim 1, characterized in that, The obtaining the geographical information of the target plot includes the steps of: Obtain the two-dimensional geographical information of the target plot; Determine the edge shape and plot size of the target plot according to the two-dimensional geographic information; Determine the aerial survey route of the target plot according to the edge shape and the plot size; Collect the aerial survey data of the target plot according to the aerial survey route.

3. The contour following control method for the header of a harvesting machine according to claim 1, wherein, The generating the three-dimensional ground spectral function H(x, y) of the target plot according to the geographic information includes the steps of: Obtain the aerial survey data in the geographic information; Establish a ground coordinate system on the target plot; Process the aerial survey data; Import the aerial survey data into the ground coordinate system and generate the three-dimensional ground spectral function H(x, y).

4. A profiling control device for a harvesting machine header for the method according to any one of claims 1-3, characterized in that, Including: A geographic information acquisition module for acquiring the geographic information of the target plot; A ground spectral function generation module for generating the ground spectral function of the target plot according to the geographic information; An initial motion data acquisition module for acquiring the initial motion data of the harvesting machine; A virtual operation parameter generation module for generating the virtual operation parameters of the harvesting machine according to the initial motion data; A real-time motion data acquisition module for acquiring the real-time motion data of the harvesting machine; A real-time motion data adjustment module for adjusting the real-time motion data according to the virtual operation parameters in real time.

5. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the harvesting machine header profiling control method according to any one of the preceding claims 1-3.

6. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the harvesting machine header profiling control method according to any one of the preceding claims 1-3.

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