Method, device, electronic device and readable storage medium for determining offset of farm tools

Abstract

The present application provides a method, apparatus, electronic device, and readable storage medium for determining the offset of an agricultural implement. The method includes: collecting dotting data during the movement of the agricultural implement by a dotting device, where the agricultural implement is attached to an agricultural machine; and determining the center offset between the agricultural implement and the agricultural machine based on the dotting data.

Description

Technical Field

[0001] The present application relates to the field of automated agricultural technologies, and in particular, to a method, apparatus, electronic device, and readable storage medium for determining the offset of agricultural implements. Background Art

[0002] Automated operations are emerging in all walks of life, and various operations in agriculture have also achieved automated operations. For example, a walkable machine carries agricultural implements and moves in the field so that the agricultural implements perform operations on the field. However, the walkable machine does not exactly follow the same route as the agricultural implement. Therefore, even if the walkable machine moves along the standard required operation route, there may be a situation where the agricultural implement cannot operate along the expected route. The main root cause of the problem that the agricultural implement cannot operate along the expected route is the problem caused by the possible offset in the connection between the agricultural implement and the walkable machine.

[0003] Currently, the offset between the agricultural implement and the walkable machine needs to be achieved through some manual measurement methods. However, manual measurement inevitably has the problems of low efficiency and human error. Summary of the Invention

[0004] The purpose of the present application is to provide a method, apparatus, electronic device, and readable storage medium for determining the offset of agricultural implements, which can improve the problem of low efficiency in measuring the offset between agricultural implements and walkable machines in current automated agricultural operations.

[0005] In a first aspect, the present invention provides a method for determining the offset of an agricultural implement, including:

[0006] Collecting dotting data during the movement of the agricultural implement through a dotting device, where the agricultural implement is hung on an agricultural machine;

[0007] Determining the center offset between the agricultural implement and the agricultural machine according to the dotting data.

[0008] In an optional implementation manner, the dotting device is installed on the agricultural implement, and the determining the center offset between the agricultural implement and the agricultural machine according to the dotting data includes:

[0009] Determining a first distance between the dotting device and the center line of the agricultural machine according to the dotting data;

[0010] Determining the center offset between the agricultural implement and the agricultural machine according to the first distance and a second distance between the dotting device and the center line of the agricultural implement.

[0011] In the above implementation manner, the measurement of the center offset between the agricultural machine and the agricultural implement can be achieved only through one dotting device, reducing the equipment requirements.

[0012] In an alternative embodiment, determining a first distance between the dotting device and the center line of the agricultural machine based on the dotting data includes:

[0013] Determining a first distance array based on each value in the dotting data and the center line of the agricultural machine;

[0014] Performing a weighting process on the first distance array to obtain the first distance between the dotting device and the center line of the agricultural machine.

[0015] In the above embodiment, the first distance array can be weighted, and the values in the first distance array can be screened as needed, so that the first distance between the dotting device and the center line of the agricultural machine can be realized relatively more accurately.

[0016] In an alternative embodiment, a first dotting device and a second dotting device are installed on the agricultural implement, and collecting the dotting data during the movement of the agricultural implement by the dotting device includes:

[0017] Collecting first dotting data of the first dotting device during the travel of the agricultural machine;

[0018] Collecting second dotting data of the second dotting device during the travel of the agricultural machine;

[0019] Determining the center offset between the agricultural implement and the agricultural machine based on the dotting data includes: determining a third distance between the first dotting device and the center line of the agricultural machine based on the first dotting data; determining a fourth distance between the second dotting device and the center line of the agricultural machine based on the second dotting data; determining the center offset between the agricultural implement and the agricultural machine based on the third distance and the fourth distance;

[0020] Alternatively, determining the center line of the agricultural implement based on the first dotting data and the second dotting data, and determining the center offset between the agricultural implement and the agricultural machine based on the center line of the agricultural implement and the center line of the agricultural machine.

[0021] In the above embodiment, two dotting devices can be installed on the agricultural implement, and the measurement of the center offset between the agricultural implement and the agricultural machine can be realized without other auxiliary operations.

[0022] In an alternative embodiment, collecting the dotting data during the movement of the agricultural implement by the dotting device includes:

[0023] Collecting third dotting data of a third dotting device installed at a first position of the agricultural implement;

[0024] Collecting fourth dotting data of a fourth dotting device installed at a second position of the agricultural implement;

[0025] Determining the center offset between the agricultural implement and the agricultural machine according to the dotting data includes:

[0026] Determining a fifth distance according to the third dotting data and the center line of the agricultural machine;

[0027] Determining a sixth distance according to the fourth dotting data and the center line of the agricultural machine;

[0028] Determining the center offset between the agricultural implement and the agricultural machine according to the fifth distance and the sixth distance.

[0029] In an alternative embodiment, collecting the dotting data during the movement of the agricultural implement by the dotting device includes:

[0030] During the agricultural machine traveling in the first direction, collecting the fifth dotting data of the fifth dotting device at the first orientation of the agricultural implement;

[0031] During the agricultural machine traveling in the second direction, collecting the sixth dotting data of the fifth dotting device at the first orientation of the agricultural implement and the seventh dotting data of the sixth dotting device at the second orientation of the agricultural implement;

[0032] During the agricultural machine traveling in the third direction, collecting the eighth dotting data of the sixth dotting device at the second orientation of the agricultural implement;

[0033] Determining the center offset between the agricultural implement and the agricultural machine according to the dotting data includes:

[0034] Determining a first simulated transfer line according to the fifth dotting data and the seventh dotting data;

[0035] Determining a second simulated transfer line according to the sixth dotting data and the eighth dotting data;

[0036] Determining the center offset between the agricultural implement and the agricultural machine according to the first simulated transfer line and the second simulated transfer line.

[0037] In the above embodiment, it is possible to determine the relative center offset between the agricultural implement and the agricultural machine without installing a dotting device on the agricultural implement, reducing the requirements for the agricultural implement.

[0038] In an alternative embodiment, determining the first simulated transfer line according to the fifth dotting data and the seventh dotting data includes:

[0039] Taking the fifth dotting data as a reference, determining a first trace distance between the fifth dotting data and the seventh dotting data;

[0040] Based on the seventh dotting data, determine the second trace distance between the fifth dotting data and the seventh dotting data;

[0041] Based on the first trace distance and the second trace distance, determine the first simulated handover line.

[0042] In an alternative embodiment, the step of determining the first trace distance between the fifth dotting data and the seventh dotting data based on the fifth dotting data includes:

[0043] Fit a first curve according to the fifth dotting data;

[0044] Based on the first curve and the seventh dotting data, determine a second distance array;

[0045] Based on the second distance array, determine the first trace distance;

[0046] The step of determining the second trace distance between the fifth dotting data and the seventh dotting data based on the seventh dotting data includes:

[0047] Fit a second curve according to the seventh dotting data;

[0048] Based on the second curve and the fifth dotting data, determine a third distance array;

[0049] Based on the third distance array, determine the second trace distance.

[0050] In an alternative embodiment, the step of determining the second simulated handover line based on the sixth dotting data and the eighth dotting data includes:

[0051] Based on the sixth dotting data, determine the third trace distance between the sixth dotting data and the eighth dotting data;

[0052] Based on the eighth dotting data, determine the fourth trace distance between the sixth dotting data and the eighth dotting data;

[0053] Based on the third trace distance and the fourth trace distance, determine the second simulated handover line.

[0054] In an alternative embodiment, the step of determining the third trace distance between the sixth dotting data and the eighth dotting data based on the sixth dotting data includes:

[0055] Fit a third curve according to the sixth dotting data;

[0056] Based on the third curve and the eighth dotting data, determine a fourth distance array;

[0057] Determine the third trace spacing according to the fourth distance array;

[0058] Determining the fourth trace spacing between the sixth dotting data and the eighth dotting data based on the eighth dotting data includes:

[0059] Fitting a fourth curve according to the eighth dotting data;

[0060] Determine a fifth distance array according to the fourth curve and the sixth dotting data;

[0061] Determine the fourth trace spacing according to the fifth distance array.

[0062] In an alternative embodiment, the method further includes:

[0063] Determine the target position of the agricultural machine during operation in adjacent rows according to the center offset;

[0064] Control the agricultural machine to travel according to the target position.

[0065] In a second aspect, the present invention provides a device for determining the offset of an agricultural implement, including:

[0066] An acquisition module, configured to acquire dotting data during the movement of the agricultural implement through a dotting device, wherein the agricultural implement is attached to an agricultural machine;

[0067] A first determination module, configured to determine the center offset between the agricultural implement and the agricultural machine according to the dotting data.

[0068] In a third aspect, the present invention provides an electronic device, including: a processor and a memory, where the memory stores machine-readable instructions executable by the processor, and when the electronic device runs, when the machine-readable instructions are executed by the processor, the steps of the method according to any one of the foregoing embodiments are executed.

[0069] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the method according to any one of the foregoing embodiments are executed.

[0070] The beneficial effects of the embodiments of the present application are as follows: Through the cooperation of the dotting device, the center offset between the agricultural implement and the agricultural machine can be directly determined according to the dotting situation of the dotting device. Without manual measurement, the measurement of the center offset between the agricultural implement and the agricultural machine can be realized. Compared with the existing manual measurement method, the measurement method provided by the embodiments of the present application is relatively more efficient. Description of the Drawings

[0071] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0072] Figure 1 It is a driving schematic diagram of agricultural machinery and agricultural implements provided by the embodiments of the present application;

[0073] Figure 2 It is a schematic diagram of the center offset of agricultural machinery and agricultural implements provided by the embodiments of the present application;

[0074] Figure 3 It is another driving schematic diagram of agricultural machinery and agricultural implements provided by the embodiments of the present application;

[0075] Figure 4 It is a block schematic diagram of an electronic device provided by the embodiments of the present application;

[0076] Figure 5 It is a flowchart of a method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0077] Figure 6 It is an operating schematic diagram of agricultural machinery and agricultural implements involved in the process of the method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0078] Figure 7 It is another operating schematic diagram of agricultural machinery and agricultural implements involved in the process of the method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0079] Figure 8 It is yet another operating schematic diagram of agricultural machinery and agricultural implements involved in the process of the method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0080] Figure 9 It is another operating schematic diagram of agricultural machinery and agricultural implements involved in the process of the method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0081] Figure 10 It is another flowchart of the method for determining the offset of agricultural implements provided by the embodiments of the present application;

[0082] Figure 11a It is a schematic diagram of operating agricultural machinery and agricultural implements without combining center offset control;

[0083] Figure 11b It is a schematic diagram of operating agricultural machinery and agricultural implements with combined center offset control;

[0084] Figure 12 It is a functional module schematic diagram of a device for determining the offset of agricultural implements provided by the embodiments of the present application. Detailed implementation manners

[0085] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0086] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for differential description and cannot be understood as indicating or implying relative importance.

[0087] Glossary of terms:

[0088] Overlap line: It refers to the distance between the edges of two adjacent operation coverage areas formed during the operation of agricultural implements. As Figure 1 shown in the figure, the agricultural machine 110 and the agricultural implement 120 are shown. The agricultural implement 120 is connected to the agricultural machine 110. When the agricultural machine 110 travels, the agricultural implement 120 moves following the agricultural machine 110. The first round of movement is along the direction d1, and the operation coverage area of the agricultural implement 120 is S1; the second round of movement is along the direction d2, and the operation coverage area of the agricultural implement 120 is S2. In the Figure 1 instance shown, the distance Hb1 between the edges of the overlap line operation coverage area S1 and the operation coverage area S2.

[0089] Center offset: The distance between the center line of the agricultural machine and the center line of the agricultural implement. As Figure 2 shown in the figure, the agricultural machine 110 and the agricultural implement 120 are shown. The center line of the agricultural machine 110 is CL1, and the center line of the agricultural implement 120 is CL2. The center line offset is the distance di1 between the center line CL1 of the agricultural machine 110 and the center line CL2 of the agricultural implement 120.

[0090] The inventor has learned that if there is a center offset between the agricultural machine and the agricultural implement, it may cause the operation of the agricultural implement not to meet the requirements. Therefore, before using the agricultural implement for agricultural operations, it is necessary to first measure the center offset between the agricultural machine and the agricultural implement. At present, the general measurement method for the center offset is manual measurement.

[0091] For example, refer to Figure 3 , the three-trip measurement method based on manual measurement: Along the planned operation route, operate back and forth three times, and manually measure the overlap line distances between adjacent two trips as Hb1 and Hb2 respectively; then, according to judging whether Hb1 is on the left or right side while standing behind the agricultural implement 120, fill it into the navigation device to calculate the center offset, or manually calculate the value of the center offset.

[0092] For another example, refer to Figure 1, Two-pass measurement method based on manual measurement: First, fill in the width of the operation coverage area in the navigation device, and then make two round trips to manually measure the handover line Hb1 between the two passes; then, based on the actual handover line S0 (not shown in the figure), subtract to obtain the difference ds = S0 - S1; fill it into the navigation device to calculate the value of the center offset, or manually calculate the value of the center offset.

[0093] The existing calculation method of the center offset requires manual measurement with relatively low efficiency, and there are measurement errors in manual measurement, resulting in incorrect calculations; moreover, manual calculation requires farmers to have high technical capabilities, but the vast majority of farmers do not meet this condition; the navigation device calculation also requires manual judgment of direction and operation of the navigation device, which is relatively inconvenient. Based on the above situation, the embodiments of the present application provide a method for determining the offset of agricultural implements, which can automatically measure the center offset between agricultural implements and agricultural machinery. The following will be described through several embodiments.

[0094] To facilitate the understanding of this embodiment, first, the electronic device that executes the method for determining the offset of agricultural implements disclosed in the embodiments of the present application will be introduced in detail.

[0095] As Figure 4 shown, it is a block diagram of the electronic device. The electronic device 200 may include a memory 211 and a processor 213. Those of ordinary skill in the art can understand that Figure 4 the structure shown is only for illustration and does not limit the structure of the electronic device 200. For example, the electronic device 200 may also include more or fewer components than Figure 4 shown, or have a different configuration from Figure 4 shown.

[0096] The above-mentioned memory 211 and processor 213 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor 213 is used to execute the executable module stored in the memory.

[0097] Among them, the memory 211 can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 211 is used to store a program. After receiving an execution instruction, the processor 213 executes the program. The method executed by the electronic device 200 defined by the process disclosed in any embodiment of the embodiments of the present application can be applied to the processor 213 or implemented by the processor 213.

[0098] The above-mentioned processor 213 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 213 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a digital signal processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0099] The electronic device 200 for executing the farm implement offset determination method provided in the embodiments of the present application may be a measuring device. For example, the electronic device 200 may be a GNSS (Global Navigation Satellite System) positioning device. The electronic device 200 for executing the farm implement offset determination method provided in the embodiments of the present application may be an in-vehicle device installed on an agricultural machine.

[0100] The electronic device 200 in this embodiment can be used to execute each step in the various methods provided in the embodiments of the present application. The implementation process of the farm implement offset determination method will be described in detail through several embodiments below.

[0101] Please refer to Figure 5 , which is a flowchart of the farm implement offset determination method provided by the embodiments of the present application. The following will elaborate in detail on the specific process shown in Figure 5 .

[0102] Step 310, collect the dotting data during the movement of the farm implement through a dotting device.

[0103] Among them, the dotting device can be installed on the farm implement, and the farm implement is hung on the agricultural machine.

[0104] Optionally, the dotting device can also be an independent device and is not installed on the farm implement.

[0105] The dotting device can be a GNSS dotting device, the farm implement can be a plow. The agricultural machine can be any vehicle that can travel on the land. For example, the agricultural machine can be a tractor.

[0106] The dotting data can include the position of the dotting device when dotting, the dotting spacing, etc.

[0107] Exemplarily, the timing of collecting the dotting data can be after the agricultural machine travels a track; it can also be when the agricultural machine finishes walking in the current operation area; it can also be after walking two or three tracks.

[0108] Among them, the dotting device can perform dotting operations at a preset rhythm when the agricultural machine is traveling. For example, the dotting device performs positioning dotting every second.

[0109] Optionally, the dotting device can have a positioning function. When dotting, the dotting device can record the current position, the time of dotting, etc. The execution device of the farm implement offset determination method in the embodiments of the present application can communicate with the dotting device to obtain the dotting data recorded by the dotting device during the travel of the agricultural machine.

[0110] Step 320, determine the center offset between the farm implement and the agricultural machine according to the dotting data.

[0111] In the first implementation manner, the dotting device can be installed at any position of the farm implement. On this basis, step 320 can include: step 321 and step 322.

[0112] Step 321, determine the first distance between the dotting device and the center line of the agricultural machine according to the dotting data.

[0113] Specifically, it can be involved in Figure 6 As shown, the figure shows an agricultural machine 110, a farm implement 120, and a dotting device 130. During the travel of the agricultural machine 100, the farm implement 120 moves following the agricultural machine 110. During the movement of the farm implement 120, the dotting device 130 dots at regular intervals. InFigure 6 In the illustrated example, the dots struck by the dotting device 130 include: P1, P2, P3, …, Pn.

[0114] In the above example, the first distance between the dotting device 130 and the center line CL1 of the agricultural machine 110 can be determined based on the distances from the dots P1, P2, P3, …, Pn to the center line CL1 of the agricultural machine 110.

[0115] In one embodiment, step 321 may include step a and step b.

[0116] Step a: Determine a first distance array according to each value in the dotting data and the center line of the agricultural machine.

[0117] Taking Figure 6 the illustrated example as an example, the distances from each of the dots P1, P2, P3, …, Pn to the center line CL1 of the agricultural machine 110 can be determined to obtain a first distance array including n distances.

[0118] Step b: Perform a weighting process on the first distance array to obtain the first distance between the dotting device and the center line of the agricultural machine.

[0119] Optionally, the weights of the distances in the first distance array may be equal, and the sum of the weights of the distances is equal to one; that is, the average value of the distances in the first distance array can be calculated to obtain the first distance between the dotting device and the center line of the agricultural machine.

[0120] Optionally, the weights of the distances in the first distance array may not be completely equal, and the sum of the weights of the distances is equal to one. Exemplarily, the weights of some distances may be equal to zero. For example, the weights of the maximum distance and the minimum distance in the first distance array are equal to zero, and the weights of the other distances may be equal.

[0121] Optionally, the weights of the distances in the first distance array may not be equal, and the sum of the weights of the distances is equal to one. For example, the weights of the distances corresponding to the first dot and the last dot are the smallest, and the weights of the distances corresponding to the middle dots are set to relatively larger values.

[0122] Step 322: Determine the center offset between the agricultural implement and the agricultural machine according to the first distance and the second distance between the dotting device and the center line of the agricultural implement.

[0123] Exemplarily, this second distance may be a value pre-stored in the execution device.

[0124] Exemplarily, calculate the difference between the second distance and the first distance, and determine this difference as the center offset between the agricultural implement and the agricultural machine.

[0125] In the above-described embodiment, only one dotting device is required to measure the center offset.

[0126] In the second embodiment, a first dotting device and a second dotting device may be installed on the agricultural implement. On this basis, step 310 may include: collecting first dotting data of the first dotting device during the operation of the agricultural machine; collecting second dotting data of the second dotting device during the operation of the agricultural machine.

[0127] On this basis, step 320 may include steps 323 to 325.

[0128] Step 323: Determine a third distance between the first dotting device and the center line of the agricultural machine according to the first dotting data.

[0129] Specifically, it can be involved Figure 7 As shown, the figure shows an agricultural machine 110, an agricultural implement 120, a first dotting device 131, and a second dotting device 132.

[0130] The points marked by the first dotting device 131 include: Pl1, Pl2, Pl3,..., Pln; the points marked by the second dotting device 132 include: Pr1, Pr2, Pr3,..., Prn.

[0131] In Figure 7 In the shown example, the third distance between the first dotting device and the center line of the agricultural machine can be determined according to the distances between the respective points Pl1, Pl2, Pl3,..., Pln and the center line CL1 of the agricultural machine 110.

[0132] Optionally, the determination method of the third distance may refer to the determination method of the first distance above.

[0133] Step 324: Determine a fourth distance between the second dotting device and the center line of the agricultural machine according to the second dotting data.

[0134] In Figure 7 In the shown example, the fourth distance between the second dotting device and the center line of the agricultural machine can be determined according to the distances between the respective points Pr1, Pr2, Pr3,..., Prn and the center line CL1 of the agricultural machine 110.

[0135] Optionally, the determination method of the fourth distance may refer to the determination method of the first distance above.

[0136] Step 325: Determine the center offset between the agricultural implement and the agricultural machine according to the third distance and the fourth distance.

[0137] Exemplarily, the difference between the third distance and the fourth distance can be calculated first, and half of the difference can be used as the center offset between the agricultural implement and the agricultural machine.

[0138] Through the above embodiments, it is possible to determine the center offset between the agricultural machine and the agricultural implement based on the operation of the dotting device without the need to additionally measure the installation position of the dotting device, thereby improving the convenience of measuring the center offset.

[0139] If the dotting device cannot be installed on the agricultural implement, the dotting device can dot along the operation trace of the agricultural implement. On this basis, the following describes two embodiments of the method for measuring the center offset between the agricultural implement and the agricultural machine when the dotting device cannot be installed on the agricultural implement.

[0140] In an alternative embodiment, if the first dotting device is installed on the first edge of the agricultural implement and the second dotting device is installed on the second edge of the agricultural implement, step 320 may include: determining the center line of the agricultural implement according to the first dotting data and the second dotting data; determining the center offset between the agricultural implement and the agricultural machine according to the center line of the agricultural implement and the center line of the agricultural machine.

[0141] Exemplarily, if the first dotting device is installed on the first edge of the agricultural implement and the second dotting device is installed on the second edge of the agricultural implement, the midpoint of the first dotting device and the second dotting device is the center of the agricultural implement.

[0142] The above determining the center line of the agricultural implement according to the first dotting data and the second dotting data may include: determining a set of center points according to all the points in the first dotting data and all the points in the second dotting data; fitting a straight line according to the set of center points and taking the straight line as the center line of the agricultural implement.

[0143] Exemplarily, the center point in the above set of center points may be determined according to the first target point in the first dotting data and the second target point in the second dotting data that has the same dotting time as the first target point.

[0144] In a third embodiment, step 310 may include: collecting third dotting data of a third dotting device installed at a first orientation of the agricultural implement; collecting fourth dotting data of a fourth dotting device installed at a second orientation of the agricultural implement.

[0145] Optionally, the third dotting device and the fourth dotting device may be the same device.

[0146] Specifically, it can be involved Figure 8 As shown, the agricultural machine 110 and the agricultural implement 120 are shown in the figure. In one round of operation, the agricultural implement 120 generates an operation trace Ol and an operation trace Or.

[0147] The points generated by the dotting device on the operation trace Ol are respectively represented as: Pl1, Pl2, Pl3,..., Pln; the points generated by the dotting device on the operation trace Or are respectively represented as: Pr1, Pr2, Pr3,..., Prn.

[0148] Among them, the points Pl1, Pl2, Pl3, …, Pln can represent the above-mentioned third dotting data; the points Pr1, Pr2, Pr3, …, Prn can represent the fourth dotting data.

[0149] On this basis, step 320 may include steps 326 to 328.

[0150] Step 326, determine a fifth distance according to the third dotting data and the center line of the agricultural machine.

[0151] In Figure 8 In the illustrated example, the fifth distance between the first dotting device and the center line of the agricultural machine can be determined according to the distances between each of the points Pl1, Pl2, Pl3, …, Pln and the center line CL1 of the agricultural machine 110.

[0152] Optionally, the determination method of the fifth distance can refer to the determination method of the previous first distance.

[0153] Step 327, determine a sixth distance according to the fourth dotting data and the center line of the agricultural machine.

[0154] In Figure 8 In the illustrated example, the sixth distance between the second dotting device and the center line of the agricultural machine can be determined according to the distances between each of the points Pr1, Pr2, Pr3, …, Prn and the center line CL1 of the agricultural machine 110.

[0155] Optionally, the determination method of the sixth distance can refer to the determination method of the previous first distance.

[0156] Step 328, determine the center offset between the agricultural implement and the agricultural machine according to the fifth distance and the sixth distance.

[0157] Exemplarily, the difference between the fifth distance and the sixth distance can be calculated first, and half of the difference can be used as the center offset between the agricultural implement and the agricultural machine.

[0158] In the fourth embodiment, step 310 may include: during the agricultural machine traveling in the first direction, collecting the fifth dotting data of the fifth dotting device at the first orientation of the agricultural implement; during the agricultural machine traveling in the second direction, collecting the sixth dotting data of the fifth dotting device at the first orientation of the agricultural implement and the seventh dotting data of the sixth dotting device at the second orientation of the agricultural implement; during the agricultural machine traveling in the third direction, collecting the eighth dotting data of the sixth dotting device at the second orientation of the agricultural implement.

[0159] Specifically, reference can be made to Figure 9As shown, the agricultural machinery 110 drives the agricultural implement 120 to perform three trips of operations, and two operation traces are generated in each trip. Among them, the first trip of operation generates the operation trace L1, the second trip of operation generates the operation traces L2 and R1, and the third trip of operation generates the operation trace R2. The dotting device can dot on the operation trace L1, the operation trace L2, the operation trace R1, and the operation trace R2 respectively, then the points L11, L12,..., L1n, the points R11, R12,..., R1n, the points L21, L22,..., L2n, and the points R21, R22,..., R2n can be obtained.

[0160] In Figure 9 In the example shown, the points L11, L12,..., L1n can be represented as the fifth dotting data; the points L21, L22,..., L2n can be represented as the sixth dotting data; the points R11, R12,..., R1n can be represented as the seventh dotting data; the points R21, R22,..., R2n represent the eighth dotting data.

[0161] Optionally, the above-mentioned fifth dotting device and the sixth dotting device can be the same device, and the same dotting device dots on each operation trace respectively. Of course, they can also be multiple independent dotting devices, and each dotting device dots on each operation trace respectively.

[0162] On this basis, step 320 can include: step 329 to step 3211.

[0163] Step 329, determine the first simulated handover line according to the fifth dotting data and the seventh dotting data.

[0164] Exemplarily, this step 329 can include: step c, step d, and step e.

[0165] Step c, taking the fifth dotting data as a benchmark, determine the first trace distance between the fifth dotting data and the seventh dotting data.

[0166] Exemplarily, the line where the fifth dotting data is located can be used as the first reference line, determine the distances from each point of the seventh dotting data to the first reference line, and then determine the first trace distance based on the distances from each point of the seventh dotting data to the first reference line.

[0167] In an optional implementation manner, the first curve can be fitted according to the fifth dotting data; according to the first curve and the seventh dotting data, determine the second distance array; according to the second distance array, determine the first trace distance.

[0168] This first curve can be used as the above-mentioned first reference line.

[0169] Optionally, the first curve may be a straight line fitted according to the points in the fifth dotting data. In one example, the first curve may be expressed as: Al1*X + Bl1*Y + C = 0.

[0170] Then, calculate the distances from each point R11, R12,..., R1n in the seventh dotting data to the straight line Al1*X + Bl1*Y + C = 0 as the second distance array.

[0171] Then determine the first trace spacing according to the second distance array.

[0172] Exemplarily, weighted summation can be performed on the values of the second distance array to obtain the first trace spacing. For example, the extreme values in the second distance array can also be removed first, and then the average value of the remaining values is calculated, and this average value is used as the first trace spacing.

[0173] Step d: Based on the seventh dotting data, determine the second trace spacing between the fifth dotting data and the seventh dotting data.

[0174] Exemplarily, the line where the seventh dotting data is located can be used as the second reference line, the distances from each point of the fifth dotting data to the second reference line are determined, and then the second trace spacing is determined based on the distances from each point of the fifth dotting data to the second reference line.

[0175] In an optional implementation manner, a second curve can be fitted according to the seventh dotting data; according to the second curve and the fifth dotting data, a third distance array is determined; according to the third distance array, the second trace spacing is determined.

[0176] The second curve can be used as the above-mentioned second reference line.

[0177] Optionally, the second curve may be a straight line fitted according to the points of the seventh dotting data. In one example, the second curve may be expressed as: Ar1*X + Br1*Y + C = 0.

[0178] Then, calculate the distances from each point L11, L12,..., L1n in the seventh dotting data to the straight line Ar1*X + Br1*Y + C = 0 as the third distance array.

[0179] Then determine the second trace spacing according to the third distance array.

[0180] Exemplarily, weighted summation can be performed on the values of the third distance array to obtain the second trace spacing. For example, the extreme values in the third distance array can also be removed first, and then the average value of the remaining values is calculated, and this average value is used as the second trace spacing.

[0181] Step e, determine a first simulated handover line according to the first trace spacing and the second trace spacing.

[0182] Optionally, the average value of the first trace spacing and the second trace spacing can be used as the first simulated handover line.

[0183] Step 3210, determine a second simulated handover line according to the sixth dotting data and the eighth dotting data.

[0184] Step 3210 may include: Step f, Step g, and Step h.

[0185] Step f, taking the sixth dotting data as a reference, determine a third trace spacing between the sixth dotting data and the eighth dotting data.

[0186] Exemplarily, the line where the sixth dotting data is located can be used as a third reference line, determine the distances from each point of the eighth dotting data to the third reference line, and then determine the third trace spacing based on the distances from each point of the eighth dotting data to the third reference line.

[0187] In an optional implementation manner, a third curve can be fitted according to the sixth dotting data; according to the third curve and the eighth dotting data, determine a fourth distance array; according to the fourth distance array, determine the third trace spacing.

[0188] This third curve can be used as the above-mentioned third reference line.

[0189] Optionally, this third curve can be a straight line fitted from each point in the sixth dotting data. In an example, this third curve can be expressed as: A12*X + B12*Y + C = 0.

[0190] Then, calculate the distances from each point R21, R22,..., R2n in the eighth dotting data to the line A21*X + B21*Y + C = 0 as the fourth distance array.

[0191] Then determine the third trace spacing according to this fourth distance array.

[0192] Exemplarily, the values in the fourth distance array can be weighted and summed to obtain this third trace spacing. For example, the extreme values in the fourth distance array can also be removed first, and then the average value of the remaining values is calculated and used as the third trace spacing.

[0193] Step g, taking the eighth dotting data as a reference, determine a fourth trace spacing between the sixth dotting data and the eighth dotting data.

[0194] Exemplarily, the line where the eighth dot data is located can be used as the fourth reference line, the distances from each point of the sixth dot data to the fourth reference line can be determined, and then the fourth trace spacing can be determined based on the distances from each point of the sixth dot data to the fourth reference line.

[0195] In an optional implementation manner, a fourth curve can be fitted according to the eighth dot data; a fifth distance array can be determined according to the fourth curve and the sixth dot data; and the fourth trace spacing can be determined according to the fifth distance array.

[0196] This fourth curve can be used as the above-mentioned fourth reference line.

[0197] Optionally, this fourth curve can be a straight line fitted from each point of the eighth dot data.

[0198] In an example, this fourth curve can be expressed as: Ar2*X + Br2*Y + C = 0.

[0199] Then, the distances from each point R21, R22,..., R2n in the eighth dot data to the straight line Ar2*X + Br2*Y + C = 0 are calculated as the fifth distance array.

[0200] Then the fourth trace spacing is determined according to this fifth distance array.

[0201] Exemplarily, the values in the fifth distance array can be weighted and summed to obtain this fourth trace spacing. For example, the extreme values in the fifth distance array can also be removed first, and then the mean value of the remaining values is calculated, and this mean value is used as the fourth trace spacing.

[0202] Step h, determine the second simulated handover line according to the third trace spacing and the fourth trace spacing.

[0203] Optionally, the mean value of the third trace spacing and the fourth trace spacing can be calculated, and this mean value is used as the second simulated handover line.

[0204] Step 3211, determine the center offset between the agricultural implement and the agricultural machine according to the first simulated handover line and the second simulated handover line.

[0205] Exemplarily, the difference between the first simulated handover line and the second simulated handover line can be calculated first, and one-fourth of this difference is used as the center offset between the agricultural implement and the agricultural machine.

[0206] Through the above steps, the determination method of the center offset between the agricultural machine and the agricultural implement can be understood. In this embodiment, the driving route of the agricultural machine can also be adaptively adjusted according to the center offset, so that the operation position of the agricultural implement can better meet the requirements. Specifically, reference can be made to Figure 10As shown, the method for determining the offset of agricultural implements may further include: step 330 and step 340 on the basis of step 310 and step 320.

[0207] Step 330, determining the target positions of the agricultural machinery during operation in adjacent two rows according to the center offset.

[0208] Exemplarily, the target positions may be determined according to the center offset between the agricultural machinery and the agricultural implements.

[0209] For example, if the agricultural implement is offset to the left compared to the agricultural implement, the determined target position is on the right side of the position where operation is required. For example, if the agricultural implement is offset to the right compared to the agricultural implement, the determined target position is on the left side of the position where operation is required.

[0210] Step 340, controlling the travel of the agricultural machinery according to the target positions.

[0211] Reference may be made to Figure 11a and Figure 11b shown, the difference in operation between adjusting the agricultural machinery in combination with the center offset data and controlling the agricultural machinery without combining the center offset data.

[0212] Optionally, when it is determined according to step 320 that there is indeed a center offset between the agricultural implement and the agricultural machinery, an offset prompt message may be output for the operator to control the operation of the agricultural machinery according to the offset prompt message.

[0213] Figure 11a Schematic diagrams of operating the agricultural machinery and the agricultural implements without combining the center offset control in Figure 11a In

[0214] Figure 11b Schematic diagrams of operating the agricultural machinery and the agricultural implements in combination with the center offset control in Figure 11b In

[0215] In the method for determining the offset of agricultural implements provided in the embodiments of the present application, through the cooperation of the dotting device, the center offset between the agricultural implement and the agricultural machine can be further determined directly according to the dotting situation of the dotting device. Without the need for manual measurement, the measurement of the center offset between the agricultural implement and the agricultural machine can be achieved. Compared with the existing manual measurement method, the measurement method provided in the embodiments of the present application is relatively more efficient.

[0216] Based on the same inventive concept, an agricultural implement offset determination device corresponding to the agricultural implement offset determination method is further provided in the embodiments of the present application. Since the principle of solving problems by the device in the embodiments of the present application is similar to that of the aforementioned agricultural implement offset determination method embodiments, the implementation of the device in this embodiment can refer to the description in the embodiments of the above method, and the repeated parts will not be elaborated.

[0217] Please refer to Figure 12 , which is a schematic diagram of the functional modules of the agricultural implement offset determination device provided in the embodiments of the present application. Each module in the agricultural implement offset determination device in this embodiment is used to execute each step in the above method embodiments. The agricultural implement offset determination device includes: a collection module 410 and a first determination module 420; the functions of each module are as follows.

[0218] The collection module 410 is configured to collect dotting data during the movement of the agricultural implement through a dotting device, where the agricultural implement is hung on the agricultural machine.

[0219] The first determination module 420 is configured to determine the center offset between the agricultural implement and the agricultural machine according to the dotting data.

[0220] In a possible implementation manner, the first determination module 420 includes: a distance determination unit and an offset determination unit.

[0221] The distance determination unit is configured to determine a first distance between the dotting device and the center line of the agricultural machine according to the dotting data.

[0222] The offset determination unit is configured to determine the center offset between the agricultural implement and the agricultural machine according to the first distance and a second distance between the dotting device and the center line of the agricultural implement.

[0223] In a possible implementation manner, the distance determination unit is configured to:

[0224] Determine a first distance array according to each value in the dotting data and the center line of the agricultural machine;

[0225] Perform weighted processing on the first distance array to obtain the first distance between the dotting device and the center line of the agricultural machine.

[0226] In a possible implementation, a first dotting device and a second dotting device are installed on the agricultural implement. The above-mentioned acquisition module 410 can be used to acquire first dotting data of the first dotting device during the operation of the agricultural machine; acquire second dotting data of the second dotting device during the operation of the agricultural machine;

[0227] The above-mentioned first determination module 420 can be used to determine a third distance between the first dotting device and the center line of the agricultural machine according to the first dotting data; determine a fourth distance between the second dotting device and the center line of the agricultural machine according to the second dotting data; determine the center offset between the agricultural implement and the agricultural machine according to the third distance and the fourth distance;

[0228] The above-mentioned first determination module 420 can also be used to determine the center line of the agricultural implement according to the first dotting data and the second dotting data, and determine the center offset between the agricultural implement and the agricultural machine according to the center line of the agricultural implement and the center line of the agricultural machine.

[0229] In a possible implementation, the above-mentioned acquisition module 410 can be used to acquire third dotting data of a third dotting device installed at a first orientation of the agricultural implement; acquire fourth dotting data of a fourth dotting device installed at a second orientation of the agricultural implement;

[0230] The above-mentioned first determination module 420 can be used to determine a fifth distance according to the third dotting data and the center line of the agricultural machine; determine a sixth distance according to the fourth dotting data and the center line of the agricultural machine; determine the center offset between the agricultural implement and the agricultural machine according to the fifth distance and the sixth distance.

[0231] In a possible implementation, the above-mentioned acquisition module 410 can be used to acquire fifth dotting data of a fifth dotting device at a first orientation of the agricultural implement during the operation of the agricultural machine in a first direction; acquire sixth dotting data of the fifth dotting device at the first orientation of the agricultural implement and seventh dotting data of a sixth dotting device at the second orientation of the agricultural implement during the operation of the agricultural machine in a second direction; acquire eighth dotting data of the sixth dotting device at the second orientation of the agricultural implement during the operation of the agricultural machine in a third direction;

[0232] The above-mentioned first determination module 420 can include a first determination unit, a second determination unit and a third determination unit.

[0233] The first determination unit is used to determine a first simulated intersection line according to the fifth dotting data and the seventh dotting data;

[0234] The second determination unit is used to determine a second simulated intersection line according to the sixth dotting data and the eighth dotting data;

[0235] A third determination unit, configured to determine a center offset between the farm implement and the agricultural machine according to the first simulated handover line and the second simulated handover line.

[0236] In a possible implementation manner, the first determination unit includes: a first determination subunit, a second determination subunit, and a third determination subunit.

[0237] The first determination subunit is configured to determine a first trace distance between the fifth dotting data and the seventh dotting data based on the fifth dotting data.

[0238] The second determination subunit is configured to determine a second trace distance between the fifth dotting data and the seventh dotting data based on the seventh dotting data.

[0239] The third determination subunit is configured to determine a first simulated handover line according to the first trace distance and the second trace distance.

[0240] In a possible implementation manner, the first determination subunit is configured to fit a first curve according to the fifth dotting data; determine a second distance array according to the first curve and the seventh dotting data; and determine the first trace distance according to the second distance array.

[0241] The second determination subunit is configured to fit a second curve according to the seventh dotting data; determine a third distance array according to the second curve and the fifth dotting data; and determine the second trace distance according to the third distance array.

[0242] In a possible implementation manner, the second determination unit includes: a fourth determination subunit, a fifth determination subunit, and a sixth determination subunit.

[0243] The fourth determination subunit is configured to determine a third trace distance between the sixth dotting data and the eighth dotting data based on the sixth dotting data.

[0244] The fifth determination subunit is configured to determine a fourth trace distance between the sixth dotting data and the eighth dotting data based on the eighth dotting data.

[0245] The sixth determination subunit is configured to determine a second simulated handover line according to the third trace distance and the fourth trace distance.

[0246] In a possible implementation manner, the fourth determination subunit is configured to fit a third curve according to the sixth dotting data; determine a fourth distance array according to the third curve and the eighth dotting data; and determine the third trace distance according to the fourth distance array.

[0247] A fifth determination subunit, configured to fit a fourth curve according to the eighth dotting data; determine a fifth distance array according to the fourth curve and the sixth dotting data; and determine the fourth trace spacing according to the fifth distance array.

[0248] In a possible implementation manner, the farm implement offset determination device provided in the embodiments of the present application further includes:

[0249] A second determination module, configured to determine a target position of the agricultural machine during operation in adjacent rows according to the center offset;

[0250] A control module, configured to control the agricultural machine to travel according to the target position.

[0251] In addition, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the farm implement offset determination method described in the above method embodiments are executed.

[0252] The computer program product of the farm implement offset determination method provided in the embodiments of the present application includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the steps of the farm implement offset determination method described in the above method embodiments. For details, reference can be made to the above method embodiments, which will not be elaborated herein.

[0253] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0254] In addition, in each embodiment of the present application, the functional modules may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0255] If the above-mentioned functions are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes. 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 not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0256] The foregoing is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0257] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for determining the offset of an agricultural implement, characterized in that, Including: Collecting dotting data during the movement of agricultural implements through a dotting device, including: collecting the fifth dotting data of the fifth dotting device at the first azimuth of the agricultural implement during the agricultural machinery moving in the first direction; collecting the sixth dotting data of the fifth dotting device at the first azimuth of the agricultural implement and the seventh dotting data of the sixth dotting device at the second azimuth of the agricultural implement during the agricultural machinery moving in the second direction; collecting the eighth dotting data of the sixth dotting device at the second azimuth of the agricultural implement during the agricultural machinery moving in the third direction, wherein the agricultural implement is hung on the agricultural machinery; the dotting device is installed on the agricultural implement; Determining the center offset between the agricultural implement and the agricultural machinery according to the dotting data, including: determining a first simulated handover line according to the fifth dotting data and the seventh dotting data; determining a second simulated handover line according to the sixth dotting data and the eighth dotting data; determining the center offset between the agricultural implement and the agricultural machinery according to the first simulated handover line and the second simulated handover line.

2. The method according to claim 1, wherein The determining the first simulated handover line according to the fifth dotting data and the seventh dotting data includes: Taking the fifth dotting data as a reference, determining a first trace distance between the fifth dotting data and the seventh dotting data; Taking the seventh dotting data as a reference, determining a second trace distance between the fifth dotting data and the seventh dotting data; Determining the first simulated handover line according to the first trace distance and the second trace distance.

3. The method according to claim 2, wherein The taking the fifth dotting data as a reference and determining the first trace distance between the fifth dotting data and the seventh dotting data includes: Fitting a first curve according to the fifth dotting data; Determining a second distance array according to the first curve and the seventh dotting data; Determining the first trace distance according to the second distance array; The taking the seventh dotting data as a reference and determining the second trace distance between the fifth dotting data and the seventh dotting data includes: Fitting a second curve according to the seventh dotting data; Determining a third distance array according to the second curve and the fifth dotting data; Determining the second trace distance according to the third distance array.

4. The method according to claim 1, characterized in that, The determining the second simulated handover line according to the sixth dotting data and the eighth dotting data includes: Taking the sixth dotting data as a reference, determining a third trace distance between the sixth dotting data and the eighth dotting data; Taking the eighth dotting data as a reference, determining a fourth trace distance between the sixth dotting data and the eighth dotting data; Determining the second simulated handover line according to the third trace distance and the fourth trace distance.

5. The method according to claim 4, wherein The taking the sixth dotting data as a reference and determining the third trace distance between the sixth dotting data and the eighth dotting data includes: Fitting a third curve according to the sixth dotting data; Determining a fourth distance array according to the third curve and the eighth dotting data; Determining the third trace distance according to the fourth distance array; Determining a fourth trace distance between the sixth dot data and the eighth dot data based on the eighth dot data includes: Fitting a fourth curve according to the eighth dot data; Determining a fifth distance array according to the fourth curve and the sixth dot data; Determining the fourth trace distance according to the fifth distance array.

6. The method according to any one of claims 1-5, characterized in that The method further includes: Determining a target position of the agricultural machine during operation in adjacent rows according to the center offset; Controlling the driving of the agricultural machine according to the target position.

7. An agricultural implement offset determination device, characterized in that, Including: An acquisition module, configured to acquire dot data during the movement of an agricultural implement through a dotting device, wherein the agricultural implement is attached to the agricultural machine; A first determination module, configured to determine a center offset between the agricultural implement and the agricultural machine according to the dot data; The acquisition module is further configured to acquire fifth dot data of a fifth dotting device at a first orientation of the agricultural implement during the agricultural machine moving in a first direction; acquire sixth dot data of the fifth dotting device at the first orientation of the agricultural implement and seventh dot data of a sixth dotting device at a second orientation of the agricultural implement during the agricultural machine moving in a second direction; and acquire eighth dot data of the sixth dotting device at the second orientation of the agricultural implement during the agricultural machine moving in a third direction, wherein the agricultural implement is attached to the agricultural machine and the dotting device is installed on the agricultural implement; The first determination module is further configured to determine a first simulated transfer row according to the fifth dot data and the seventh dot data; determine a second simulated transfer row according to the sixth dot data and the eighth dot data; and determine the center offset between the agricultural implement and the agricultural machine according to the first simulated transfer row and the second simulated transfer row.

8. An electronic device, characterized in that, Including: A processor and a memory, the memory stores machine-readable instructions executable by the processor, and when the electronic device runs, the machine-readable instructions are executed by the processor to perform the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it performs the steps of the method according to any one of claims 1 to 6.

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