Method and device for detecting obstacles under soil, intertillage machine, and automatic driving device

Abstract

The present application provides a method and device for detecting obstacles under the soil, a rotary cultivator, an automatic driving device and a storage medium, which solve the problem of poor tillage effect of the rotary cultivator in the prior art. Among them, the method includes: obtaining a plurality of pressure values received by a hoe shovel at different geographical locations during the operation of the rotary cultivator; determining a pressure threshold based on the plurality of pressure values, where the pressure threshold is used to indicate the boundary value between the pressure value when there is an obstacle and the pressure value when there is no obstacle; filtering the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values; and respectively determining the geographical locations corresponding to the plurality of target pressure values as target locations with obstacles.

Description

Technical Field

[0001] The present application relates to the technical field of farmland operation equipment, and specifically relates to a method and device for detecting obstacles under the soil, a cultivator, an automatic driving device, and a storage medium. Background Art

[0002] A cultivator usually performs cultivation operations at a fixed depth. When encountering obstacles under the soil, the cultivation depth fails to meet the standard. However, there is no solution in the prior art for detecting obstacles in the soil, resulting in poor cultivation effects. Summary of the Invention

[0003] In view of this, embodiments of the present application provide a method and device for detecting obstacles under the soil, a cultivator, an automatic driving device, and a storage medium to solve the problem of poor cultivation effects of cultivators in the prior art.

[0004] The first aspect of the present application provides a method for detecting obstacles under the soil, which is applicable to a cultivator including a hoe shovel. The method includes: obtaining a plurality of pressure values received by the hoe shovel at different geographical positions during the operation of the cultivator; determining a pressure threshold based on the plurality of pressure values, where the pressure threshold is used to indicate the demarcation value between the pressure value when there is an obstacle and the pressure value when there is no obstacle; filtering the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values; and respectively determining the geographical positions corresponding to the plurality of target pressure values as the target positions with obstacles.

[0005] In one embodiment, determining a pressure threshold based on a plurality of pressure values includes: constructing a histogram based on the plurality of pressure values; and determining the pressure value corresponding to a predetermined point on the abscissa of the histogram as the pressure threshold.

[0006] In one embodiment, before determining the pressure threshold based on the plurality of pressure values, it further includes: obtaining an initial pressure value received by the hoe shovel when it is inserted into the soil to a predetermined depth value. Determining the pressure threshold based on the plurality of pressure values includes: determining the pressure threshold based on the difference between each of the plurality of pressure values and the initial pressure value.

[0007] In one embodiment, determining the pressure threshold based on the difference between each of the plurality of pressure values and the initial pressure value includes: determining the mean and standard deviation of the differences between each of the plurality of pressure values and the initial pressure value; determining a difference threshold based on the mean and the standard deviation; and determining the sum of the difference threshold and the initial pressure value as the pressure threshold.

[0008] In one embodiment, while obtaining a plurality of pressure values received by the hoe shovel at different geographical positions during the operation of the cultivator, obtaining the cultivation depth values at different geographical positions. After obtaining the plurality of target pressure values, it further includes: determining the relative volume of the obstacles corresponding to each of the plurality of target pressure values based on the target pressure values and the cultivation depth.

[0009] In one embodiment, determining the relative volume of obstacles corresponding to respective target pressure values based on the target pressure values and the cultivation depth includes: determining that the relative volume is the product of the target pressure value, the cultivation depth, and a preset proportionality coefficient; or inputting the target pressure value and the cultivation depth into a preset volume prediction model to obtain the relative volume.

[0010] In one embodiment, after obtaining the plurality of target pressure values, it further includes: obtaining an initial pressure value when the hoe shovel is inserted into the soil to a predetermined depth value; determining that the reciprocal of the product of the initial pressure value and the predetermined depth value is the preset proportionality coefficient. Determining the relative volume of obstacles corresponding to respective target pressure values based on the target pressure values and the cultivation depth includes: determining that the relative volume is the product of the target pressure value, the cultivation depth, and the preset proportionality coefficient.

[0011] In one embodiment, after determining the relative volume of obstacles corresponding to respective target pressure values based on the target pressure values and the cultivation depth, it further includes: constructing an underground obstacle map based on the target position and the relative volume.

[0012] In one embodiment, establishing a correspondence between the target position and the relative volume to obtain an underground obstacle map.

[0013] The second aspect of the present application provides a device for detecting underground obstacles in soil, which is applicable to a cultivator including a hoe shovel. The device includes: an acquisition module, configured to acquire a plurality of pressure values received by the hoe shovel at different geographical positions during the operation of the cultivator; a first determination module, configured to determine a pressure threshold based on the plurality of pressure values, where the pressure threshold is used to indicate a demarcation value between the pressure value when there is an obstacle and the pressure value when there is no obstacle; a filtering module, configured to filter the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values; a second determination module, configured to determine the geographical position corresponding to each of the plurality of target pressure values as a target position with an obstacle.

[0014] The third aspect of the present application provides a cultivator, including the device for detecting underground obstacles in soil provided in any of the above embodiments.

[0015] The fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the method for detecting underground obstacles in soil provided in any of the above embodiments are implemented.

[0016] The fifth aspect of the present application provides an automatic driving device, including the device for detecting underground obstacles in soil provided in any of the above embodiments.

[0017] According to the method and device for detecting obstacles under the soil, a rotary cultivator, an automatic driving device, and a storage medium provided by the present application, the pressure value received by the hoe during the rotary cultivation operation is obtained, and the pressure value is filtered, and the obstacle position is determined based on the filtered pressure value. On the one hand, the detection of obstacles under the soil is realized; on the other hand, the pressure values generated by the vibration during the driving of the vehicle body are filtered, ensuring high accuracy of obstacle detection. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of a partial structure of a rotary cultivator provided by an embodiment of the present application.

[0019] Figure 2 It is a schematic flowchart of a method for detecting obstacles under the soil provided by the first embodiment of the present application.

[0020] Figure 3 It is a schematic flowchart of a method for detecting obstacles under the soil provided by the second embodiment of the present application.

[0021] Figure 4 It is a schematic flowchart of a method for detecting obstacles under the soil provided by the third embodiment of the present application.

[0022] Figure 5 It is a block diagram of the structure of a device for detecting obstacles under the soil provided by an embodiment of the present application.

[0023] Figure 6 It is a block diagram of the structure of a rotary cultivator provided by an embodiment of the present application. Detailed Embodiments

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] Application Overview

[0026] Figure 1 It is a schematic diagram of a partial structure of a rotary cultivator provided by an embodiment of the present application. As Figure 1The shown cultivator illustrates an application scenario of the method and device for detecting obstacles under the soil provided by the embodiments of the present application. The cultivator 10 further includes a vehicle body (not shown in the figure), a cultivating knife 11, a pressure sensor 12, a connecting rod 13, and a spring 14. The cultivating knife 11 is connected to the vehicle body through the connecting rod 13. The spring is sleeved on the outer wall of the connecting rod 13, and the pressure sensor 12 is fixed on the connecting rod 13. When the cultivating knife 11 comes into contact with a hard object, the connecting rod 13 will lift upward, thereby squeezing the pressure sensor 12, and then it is determined that there is an obstacle based on the pressure value collected by the pressure sensor 12.

[0027] The method for detecting obstacles under the soil based on the pressure value will be specifically described below with reference to the accompanying drawings.

[0028] Exemplary Method

[0029] Figure 2 It is a schematic flowchart of the method for detecting obstacles under the soil provided by the first embodiment of the present application. This method is applicable to a cultivator. The cultivator includes a hoe blade, and the hoe blade is used for operating at a predetermined depth when inserted into the soil. As Figure 2 shown, the method 100 for detecting obstacles under the soil includes the following steps:

[0030] Step S110, obtain multiple pressure values received by the hoe blade at different geographical locations during the operation of the cultivator.

[0031] The cultivator itself is integrated with a processor and a memory. The map corresponding to the current plot is stored in the memory. During the process of the cultivator traversing the plot, each time the pressure sensor collects a pressure value, the processor identifies the current geographical location from the map, establishes the corresponding relationship between the current geographical location and the pressure value, and stores this corresponding relationship in the memory.

[0032] Step S120, determine a pressure threshold based on the multiple pressure values. The pressure threshold is used to indicate the boundary value between the pressure value when there is an obstacle and the pressure value when there is no obstacle. The pressure value greater than the boundary value must be the pressure value when the hoe blade encounters an obstacle, and the pressure value less than the boundary value must be the pressure value when the hoe blade does not encounter an obstacle. Moreover, the pressure value less than the boundary value includes the pressure value generated due to the vibration of the vehicle body.

[0033] In one embodiment, the pressure threshold is an empirical value and is pre-stored in the memory. In another embodiment, the pressure threshold is determined based on multiple pressure values. For example, first, a histogram is constructed based on multiple pressure values. The abscissa of the histogram represents the pressure value, with a unit pressure interval between adjacent pressure values, and the ordinate of the histogram represents the quantity. Secondly, the pressure value corresponding to a predetermined point on the abscissa of the histogram is determined as the pressure threshold. In one example, the pressure value corresponding to 10% of the pressure range covered by the abscissa is determined as the pressure threshold. For example, if the pressure range covered by the abscissa is 15 - 30 N, then the pressure threshold is determined to be 16.5 N.

[0034] Step S130, filter the multiple pressure values based on the pressure threshold to obtain multiple target pressure values. That is, compare the multiple pressure values with the pressure threshold respectively. When the pressure value is greater than the pressure threshold, it indicates that there is an obstacle at the geographical location corresponding to the pressure value, and then this pressure value is determined as the target pressure value; when the pressure value is less than the pressure threshold, it indicates that there is no obstacle at the geographical location corresponding to the pressure value, and then this pressure value is filtered out.

[0035] Step S140, respectively determine the geographical locations corresponding to the multiple target pressure values as the target locations with obstacles.

[0036] According to the method for detecting obstacles under the soil provided in this embodiment, the pressure values received by the hoe during the intertillage operation are obtained, and the pressure values are filtered, and the obstacle positions are determined based on the filtered pressure values. On the one hand, the detection of obstacles under the soil is realized; on the other hand, the pressure values generated due to the vibration during the vehicle body driving are filtered out, ensuring a high accuracy of obstacle detection.

[0037] Figure 3 This is a schematic flowchart of the method for detecting obstacles under the soil provided in the second embodiment of the present application. As Figure 3 shown, the difference between the method 200 for detecting obstacles under the soil and Figure 2 the method 100 for detecting obstacles under the soil shown is that before step S120, it further includes:

[0038] Step S210, obtain the initial pressure value when the hoe inserts into the soil to a predetermined depth value. This initial pressure value refers to the pressure value when the hoe inserts into the soil to a predetermined depth value and does not encounter an obstacle.

[0039] In this case, step S120 is specifically executed as:

[0040] Step S220, determine the pressure threshold based on the difference between each of the multiple pressure values and the initial pressure value.

[0041] In one embodiment, the difference threshold is an empirical value and is pre-stored in the memory.

[0042] In another embodiment, first, the mean and standard deviation of the differences between each of the multiple pressure values and the initial pressure value are determined. Second, a difference threshold is determined based on the mean and standard deviation. For example, a normal distribution is constructed based on the multiple differences where μ represents the mean and σ represents the variance. μ + kσ is used as the difference threshold, where k is set according to the actual situation. Then, the sum of the difference threshold and the initial pressure value is determined as the pressure threshold.

[0043] Figure 4 It is a schematic flowchart of the method for detecting obstacles under the soil provided in the third embodiment of the present application. As Figure 4 shown, the difference between the method 300 for detecting obstacles under the soil and Figure 2 the method 100 for detecting obstacles under the soil shown is that while step S110 is being executed, step S310 is executed to obtain the tillage depth values at different geographical locations.

[0044] For example, the tillage machine is integrated with a rangefinder for measuring the depth of the hoe shovel inserted into the soil. In one example, the rangefinder is a laser rangefinder. In this case, the tillage depth value collected by the rangefinder can be directly obtained.

[0045] In this case, after step S130, it further includes:[[]]

[0046] Step S320, determining the relative volume of the obstacle corresponding to each of the multiple target pressure values based on the target pressure value and the tillage depth.

[0047] In one embodiment, step S320 is specifically executed as: determining the relative volume of the obstacle at the target position as the product of the target pressure value, the tillage depth, and a preset proportionality coefficient.

[0048] The volume mentioned here is not the actual volume of the obstacle, but a relative concept. For example, for the same plot of land, the obstacle map includes obstacle A and obstacle B, where the volume of obstacle A is a and the volume of obstacle B is b. When a > b, it indicates that the volume of obstacle A is larger than the volume of obstacle B.

[0049] The test results show that the larger the volume of the obstacle, the greater the tillage depth, and the greater the pressure value received by the hoe shovel. Thus, where S A 、L A and V A respectively represent the volume of obstacle A, the maximum tillage depth at which the hoe shovel avoids obstacle A, and the pressure value received by the hoe shovel; S B 、L B and V Brespectively represent the volume of the obstacle B, the maximum intertillage depth at which the hoe avoids the obstacle B, and the pressure value received by the hoe. According to the formula it can be deduced that This formula can be extended to calculate the volume of all obstacles, that is, the volume of an obstacle is the product of the maximum intertillage depth at which the hoe avoids the obstacle, the pressure value received by the hoe, and the second preset proportionality coefficient λ. Among them, the second preset proportionality coefficient The obstacle B can be arbitrarily selected.

[0050] In one embodiment, the second preset proportionality coefficient λ is determined based on the predetermined depth value at the initial moment and the initial pressure value received by the hoe when it inserts into the soil at this predetermined depth value. In this case, it can be assumed that the volume of the obstacle at the initial moment is 1 unit, then

[0051] In another embodiment, step S320 is specifically executed as: inputting the target pressure value and the intertillage depth into a preset volume prediction model to obtain the relative volume of the obstacle at the target position.

[0052] Specifically, a volume prediction model is trained in advance based on pressure sample data, intertillage depth, and obstacle volume sample data, and subsequently, the relative volume of the obstacle can be obtained based on this trained volume prediction model.

[0053] According to the method for detecting obstacles under the soil provided in this embodiment, while detecting whether there are obstacles under the soil, the volume of the obstacles can also be estimated, thereby providing data support for subsequent targeted intertillage operations.

[0054] In one embodiment, as Figure 4 shown, after step S320, it further includes:

[0055] Step S330, constructing an underground obstacle map based on the target position and the relative volume, where the underground obstacle map includes the correspondence information between the target position and the relative volume.

[0056] For example, establish the correspondence between the target position and the relative volume to obtain the underground obstacle map.

[0057] For another example, first, match the target position to the intertillage map of the current plot; then establish the correspondence between the target position and the relative volume. In this case, the underground obstacle map includes the correspondence information between the target position and the relative volume, as well as the map information of the current plot.

[0058] In this way, targeted intertillage operations can be carried out according to the underground obstacle map subsequently. For example, the preset intertillage depth is set at the geographical location without obstacles; at the geographical location with obstacles, when the volume value is large, the intertillage depth is set to be greater than the preset intertillage depth, and when the volume value is small, the intertillage depth is set to be smaller. Thus, the intertillage depth is set in a targeted manner, improving the effect of the intertillage operation.

[0059] It should be noted that step S310, step S320, and step S330 can also be applicable to Figure 3 the method 200 for detecting underground obstacles in the soil shown.

[0060] Exemplary Device

[0061] Figure 5 This is a structural block diagram of a device for detecting underground obstacles provided by an embodiment of the present application. The device is applicable to a cultivator including a hoe shovel. As Figure 5 shown, the device 50 for detecting underground obstacles includes: an acquisition module 51, a first determination module 52, a filtering module 53, and a second determination module 54. Among them, the acquisition module 51 is used to acquire a plurality of pressure values received by the hoe shovel at different geographical locations during the operation of the cultivator. The first determination module 52 is used to determine a pressure threshold based on the plurality of pressure values, and the pressure threshold is used to indicate the boundary value between the pressure value when there is an obstacle and the pressure value when there is no obstacle. The filtering module 53 is used to filter the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values. The second determination module 54 is used to determine the geographical location corresponding to each of the plurality of target pressure values as the target location with an obstacle.

[0062] According to the device for detecting underground obstacles provided by this embodiment, by filtering the collected pressure values, the pressure values generated due to the vibration during the vehicle body driving are filtered out, thereby improving the accuracy of obstacle detection.

[0063] In one embodiment, the acquisition module 51 is further used to acquire the initial pressure value when the hoe shovel is inserted into the soil to a predetermined depth value. The initial pressure value refers to the pressure value when the hoe shovel is inserted into the soil to a predetermined depth value and no obstacle is encountered. In this case, the first determination module 52 is specifically used to determine the pressure threshold based on the difference between each of the plurality of pressure values and the initial pressure value.

[0064] Among them, the difference threshold can be an empirical value and is pre-stored in the memory; it can also be obtained through the following process. First, determine the mean and standard deviation of the difference between each of the plurality of pressure values and the initial pressure value. Secondly, determine the difference threshold based on the mean and standard deviation. For example, a normal distribution is constructed based on the plurality of differences Among them, μ represents the mean value, and σ represents the variance. Take μ + kσ as the difference threshold, where k is set according to the actual situation. Then, determine the sum of the difference threshold and the initial pressure value as the pressure threshold.

[0065] In one embodiment, the acquisition module 51 is configured to acquire multiple pressure values received by the hoe at different geographical locations during the operation of the cultivator, and at the same time, acquire the tillage depth values at different geographical locations. In this case, the second determination module 54 is further configured to determine that the relative volume of the obstacle at the target position is the product of the target pressure value, the tillage depth, and a preset proportionality coefficient.

[0066] The volume mentioned here is not the actual volume of the obstacle, but a relative concept. For example, for the same plot of land, the obstacle map includes obstacle A and obstacle B. Among them, the volume of obstacle A is a, and the volume of obstacle B is b. When a > b, it indicates that the volume of obstacle A is greater than the volume of obstacle B.

[0067] The test results show that the larger the volume of the obstacle, the greater the tillage depth, and the greater the pressure value received by the hoe. Thus, where S A 、L A and V A respectively represent the volume of obstacle A, the maximum tillage depth at which the hoe avoids obstacle A, and the pressure value received by the hoe; S B 、L B and V B respectively represent the volume of obstacle B, the maximum tillage depth at which the hoe avoids obstacle B, and the pressure value received by the hoe. According to the formula it can be deduced that This formula can be extended to calculate the volume of all obstacles, that is, the volume of the obstacle is the product of the maximum tillage depth at which the hoe avoids the obstacle, the pressure value received by the hoe, and the second preset proportionality coefficient λ. Among them, the second preset proportionality coefficient Obstacle B can be arbitrarily selected.

[0068] In one embodiment, the second preset proportionality coefficient λ is determined based on the predetermined depth value at the initial moment and the initial pressure value received by the hoe when it is inserted into the soil to this predetermined depth value. In this case, it can be assumed that the volume of the obstacle at the initial moment is 1 unit, then

[0069] According to the device for detecting obstacles under the soil provided in this embodiment, while detecting whether there are obstacles under the soil, the volume of the obstacles can also be estimated, so as to provide data support for subsequent targeted tillage operations.

[0070] In one embodiment, the device 50 for detecting underground obstacles further includes a construction module configured to construct an underground obstacle map based on the target location and the relative volume.

[0071] In this way, subsequent targeted tillage operations can be carried out according to the underground obstacle map. For example, a preset tillage depth is set at geographical locations without obstacles; at geographical locations with obstacles, the tillage depth is set to be greater than the preset tillage depth, and when the value of the volume is larger, the set tillage depth is larger, and when the value of the volume is smaller, the set tillage depth is smaller. Thus, targeted setting of the tillage depth is achieved, improving the effect of the tillage operation.

[0072] The device for detecting underground obstacles provided in this embodiment belongs to the same inventive concept as the method for detecting underground obstacles provided in the embodiments of the present application, and can execute the method for detecting underground obstacles provided in any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method for detecting underground obstacles. For technical details not described in detail in this embodiment, reference can be made to the method for detecting underground obstacles provided in the embodiments of the present application, which will not be elaborated here.

[0073] Cultivator

[0074] The present application also provides a tillage machine. Figure 6 It is a structural block diagram of the tillage machine provided in an embodiment of the present application. As Figure 6 shown, the tillage machine 60 includes Figure 5 the device 50 for detecting underground obstacles shown as above.

[0075] In one embodiment, the tillage machine 60 further includes a pressure sensor 61 and a soil breaker 62. The soil breaker 62 is, for example, a hoe shovel and is used for operating at a predetermined depth of insertion into the soil. The pressure sensor 61 is connected to the soil breaker 62 and is used to collect the pressure received by the soil breaker 62.

[0076] Autopilot Device

[0077] The present application also provides an automatic driving device, including Figure 5 the device 50 for detecting underground obstacles shown as above. The automatic driving device can be arranged on the tillage machine, and the automatic driving device is connected to the clutch control mechanism of the tillage machine and can control the state switching of the clutch according to the requirements of automatic driving. The automatic driving device includes an autopilot and / or an agricultural machinery control box.

[0078] Exemplary Computer Program Product and Computer Readable Storage Medium

[0079] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run on a processor, cause the processor to execute the steps in the method for detecting obstacles under the soil according to various embodiments of the present application described in the "Exemplary Methods" section above in this specification.

[0080] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code can be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0081] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are run on a processor, the processor 11 is caused to execute the steps in the method for detecting obstacles under the soil according to various embodiments of the present application described in the "Exemplary Methods" section above in this specification.

[0082] The computer-readable storage medium may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0083] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and easy-to-understand purposes and are not limitations. The above details do not limit the present application to necessarily implement using the above specific details.

[0084] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "comprising", "including", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0085] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0086] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0087] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth", and "sixth" used in the description of the embodiments of the present application are only for more clearly explaining the technical solutions and cannot be used to limit the protection scope of the present application.

[0088] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A method for detecting obstacles under the soil, characterized in that, Applicable to a cultivator including a hoe; the method includes: Obtaining a plurality of pressure values received by the hoe at different geographical locations during the operation of the cultivator; Determining a pressure threshold based on the plurality of pressure values, the pressure threshold being used to indicate the boundary value between the pressure value when there is an obstacle and the pressure value when there is no obstacle; Filtering the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values; Respectively determining the geographical locations corresponding to the plurality of target pressure values as target locations with obstacles; The determining the pressure threshold based on the plurality of pressure values includes: Constructing a histogram based on the plurality of pressure values; determining the pressure value corresponding to a predetermined point on the abscissa of the histogram as the pressure threshold; Alternatively, obtaining an initial pressure value received when the hoe is inserted into the soil to a predetermined depth value; determining the mean and standard deviation of the differences between each of the plurality of pressure values and the initial pressure value; determining a difference threshold based on the mean and the standard deviation; determining the sum of the difference threshold and the initial pressure value as the pressure threshold; While obtaining the plurality of pressure values received by the hoe at different geographical locations during the operation of the cultivator, obtaining the tillage depth values at the different geographical locations; after obtaining the plurality of target pressure values, the method further includes: Determining the relative volume of the obstacle corresponding to each of the plurality of target pressure values based on the target pressure value and the tillage depth; Constructing an underground obstacle map based on the target location and the relative volume.

2. The method for detecting obstacles under the soil according to claim 1, characterized in that, The determining the relative volume of the obstacle corresponding to each of the plurality of target pressure values based on the target pressure value and the tillage depth includes: Determining the relative volume as the product of the target pressure value, the tillage depth, and a preset proportionality coefficient; or Inputting the target pressure value and the tillage depth into a preset volume prediction model to obtain the relative volume.

3. The method for detecting obstacles under the soil according to claim 1, wherein After obtaining the plurality of target pressure values, the method further includes: Obtaining an initial pressure value received when the hoe is inserted into the soil to a predetermined depth value; Determining the reciprocal of the product of the initial pressure value and the predetermined depth value as the preset proportionality coefficient; The determining the relative volume of the obstacle corresponding to each of the plurality of target pressure values based on the target pressure value and the tillage depth includes: Determining the relative volume as the product of the target pressure value, the tillage depth, and the preset proportionality coefficient.

4. The method for detecting obstacles under the soil according to claim 1, characterized in that, The constructing an underground obstacle map based on the target location and the relative volume includes: Establishing a correspondence between the target location and the relative volume to obtain the underground obstacle map.

5. A device for detecting obstacles under the soil, characterized in that, Applicable to a cultivator including a hoe; the device includes: An obtaining module for obtaining a plurality of pressure values received by the hoe at different geographical locations during the operation of the cultivator; A first determining module for determining a pressure threshold based on the plurality of pressure values, the pressure threshold being used to indicate the boundary value between the pressure value when there is an obstacle and the pressure value when there is no obstacle; A filtering module for filtering the plurality of pressure values based on the pressure threshold to obtain a plurality of target pressure values; A second determination module, configured to determine the geographical location corresponding to each of the multiple target pressure values as a target location with an obstacle; The first determination module is further configured to construct a histogram based on the multiple pressure values; determine the pressure value corresponding to a predetermined point on the abscissa of the histogram as the pressure threshold; alternatively, obtain the initial pressure value when the hoe is inserted into the soil to a predetermined depth value; determine the mean and standard deviation of the differences between each of the multiple pressure values and the initial pressure value; determine a difference threshold based on the mean and the standard deviation; and determine the sum of the difference threshold and the initial pressure value as the pressure threshold; The first acquisition module is further configured to acquire the tillage depth values at different geographical locations; The second determination module is further configured to determine the relative volume of the obstacle corresponding to each of the multiple target pressure values based on the target pressure value and the tillage depth; and construct an underground obstacle map based on the target location and the relative volume.

6. A cultivator, characterized in that, Comprising the device for detecting underground obstacles according to claim 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method for detecting underground obstacles according to any one of claims 1 to 4 are implemented.

8. An automatic driving device, characterized in that, Comprising the device for detecting underground obstacles according to claim 5.

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