Rice transplanter automatic turning method, device, equipment and readable storage medium

Abstract

The application discloses a rice transplanter automatic turning method and device, equipment and readable storage medium, and relates to the technical field of automatic control, to solve the problem of manual turning of a rice transplanter driver. The method comprises the following steps: at a turning start position, controlling an electric steering wheel to steer according to a pre-acquired automatic turning steering angle, and performing automatic turning operation of the rice transplanter, wherein the automatic turning steering angle is obtained according to the front-rear wheelbase of the rice transplanter and the minimum turning radius of the rice transplanter; acquiring the change amount of the heading angle of the rice transplanter after the automatic turning starts in real time; and if the absolute value of the change amount of the heading angle is greater than a pre-set automatic turning exit angle threshold, controlling the electric steering wheel to return to normal, and ending the automatic turning operation of the rice transplanter. The application can be applied to the rice transplanter.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a method, apparatus, equipment and readable storage medium for automatically turning a rice transplanter. Background Technology

[0002] like Figure 1 As shown, the rice transplanter's operating path can be divided into two areas: a straight-line operating area and a turning area. Currently, rice transplanters can use automatic driving technology to plan the operating path and control information for the straight-line operating area, and then control the transplanter to perform automatic operation according to the operating path based on the control information. However, for the turning area, manual operation by the driver or turning planning and tracking control is generally required, making the turning operation of the rice transplanter complex. Summary of the Invention

[0003] This application provides a method, apparatus, equipment, and readable storage medium for automatically turning a rice transplanter, in order to solve the problem of the complexity of manual turning operations by the driver.

[0004] In a first aspect, embodiments of this application provide a method for automatically turning a rice transplanter around, including:

[0005] At the starting position of the turn, the electric steering wheel is controlled to turn according to the pre-acquired automatic turn steering angle to perform the automatic turn operation of the rice transplanter. The automatic turn steering angle is obtained based on the front and rear wheelbase of the rice transplanter and the minimum turning radius of the rice transplanter.

[0006] The change in heading angle of the rice transplanter after the automatic turning begins is acquired in real time;

[0007] If the absolute value of the change in heading angle is greater than the preset automatic turn-off angle threshold, the electric steering wheel is controlled to return to center, ending the automatic turn-off operation of the rice transplanter.

[0008] Optionally, the automatic U-turn steering angle is obtained using the following formula:

[0009]

[0010] Where δ is the automatic turning angle, W b R is the front-to-rear wheelbase of the rice transplanter, and R is the minimum turning radius of the rice transplanter.

[0011] Optionally, after starting the automatic turning operation of the rice transplanter at the starting position by controlling the steering wheel according to the pre-acquired automatic turning angle, and before controlling the electric steering wheel to return to center and ending the automatic turning operation of the rice transplanter if the absolute value of the change in the heading angle is greater than the pre-set automatic turning exit angle threshold, the method further includes:

[0012] According to the pre-acquired automatic turning exit advance angle and the pre-acquired automatic turning exit compensation angle, the automatic turning exit angle threshold is acquired.

[0013] Optionally, before the automatic turning exit angle threshold is acquired according to the pre-acquired automatic turning exit advance angle and the pre-acquired automatic turning exit compensation angle, the method further comprises:

[0014] Obtaining the driving speed information of the transplanter during the automatic turning operation of the transplanter;

[0015] According to the driving speed information, searching a pre-set speed-automatic turning exit advance angle corresponding relation table to acquire the automatic turning exit advance angle corresponding to the driving speed information.

[0016] Optionally, the method for acquiring the automatic turning exit compensation angle comprises:

[0017] In the case that the minimum turning radius of the transplanter is equal to 1 / 2 of the width of the transplanter, the automatic turning exit compensation angle is 0;

[0018] Otherwise, according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter and the width of the transplanter, the automatic turning exit compensation angle is determined.

[0019] Optionally, the automatic turning exit compensation angle is determined by the following formula:

[0020]

[0021] Wherein, ψ is the turning exit compensation angle, W b is the front-rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, W f is the width of the transplanter.

[0022] When and R < W f , ψ > 0;

[0023] When R > 0 and , ψ < 0.

[0024] In the second aspect, the embodiments of the present application provide a transplanter automatic turning device, comprising:

[0025] A first module is configured to control the electric steering wheel to steer at a turning start position according to a pre-acquired automatic turning steering angle to start the automatic turning operation of the transplanter. The automatic turning steering angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter.

[0026] The second module is configured to acquire a variation of a heading angle of the transplanter after the automatic turning starts in real time.

[0027] The third module is configured to control the electric steering wheel to return to the normal position and end the automatic turning operation of the transplanter if the absolute value of the variation of the heading angle is greater than a preset automatic turning exit angle threshold.

[0028] Optionally, the first module is further configured to acquire the automatic turning steering angle by the following formula:

[0029]

[0030] wherein, δ is the automatic turning steering angle, W b is a front-rear wheelbase of the transplanter, and R is a minimum turning radius of the transplanter.

[0031] Optionally, the automatic turning device of the transplanter further comprises:

[0032] The fourth module is configured to acquire the automatic turning exit angle threshold according to a preset automatic turning exit lead angle and a preset automatic turning exit compensation angle.

[0033] Optionally, the fourth module is further configured to acquire driving speed information of the transplanter during the automatic turning operation of the transplanter, and acquire an automatic turning exit lead angle corresponding to the driving speed information according to a preset corresponding relationship table of speed and turning exit lead angle.

[0034] Optionally, the fourth module is further configured to set the turning exit compensation angle to 0 when the minimum turning radius of the transplanter is equal to 1 / 2 of a width of the transplanter, and otherwise, determine the turning exit compensation angle according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter and the width of the transplanter.

[0035] Optionally, the fourth module is further configured to determine the turning exit compensation angle by the following formula:

[0036]

[0037] wherein, ψ is the turning exit compensation angle, W b is the front-rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, and W f is the width of the transplanter.

[0038] When and R f , ψ>0;

[0039] When R>0 and At this time, ψ < 0.

[0040] In a third aspect, the embodiments of the present application provide an automatic turning device for a rice transplanter, comprising: an electric steering wheel, a processor and a transceiver,

[0041] The transceiver is configured to acquire a change in a heading angle of the rice transplanter after the automatic turning starts in real time.

[0042] The processor is configured to control the electric steering wheel to steer according to a preset automatic turning steering angle at a turning start position, and start the automatic turning operation of the rice transplanter, and if an absolute value of the change in the heading angle is greater than a preset automatic turning exit angle threshold, control the electric steering wheel to return to straight, and end the automatic turning operation of the rice transplanter. The automatic turning steering angle is obtained according to a front-rear wheelbase of the rice transplanter and a minimum turning radius of the rice transplanter.

[0043] Optionally, the processor is further configured to obtain the automatic turning steering angle by the following formula:

[0044]

[0045] wherein δ is the automatic turning steering angle, W b is the front-rear wheelbase of the rice transplanter, and R is the minimum turning radius of the rice transplanter.

[0046] Optionally, the processor is further configured to obtain the automatic turning exit angle threshold according to a preset automatic turning exit lead angle and a preset automatic turning exit compensation angle.

[0047] Optionally, the transceiver is further configured to acquire driving speed information of the rice transplanter during the automatic turning operation of the rice transplanter.

[0048] The processor is further configured to find a preset corresponding relationship table of speed and automatic turning exit lead angle according to the driving speed information, and obtain an automatic turning exit lead angle corresponding to the driving speed information.

[0049] Optionally, the processor is further configured to, in a case where the minimum turning radius of the rice transplanter is equal to 1 / 2 of a width of the rice transplanter, set the turning exit compensation angle to 0, or otherwise, determine the turning exit compensation angle according to the front-rear wheelbase of the rice transplanter, the minimum turning radius of the rice transplanter and the width of the rice transplanter.

[0050] Optionally, the processor is further configured to determine the turning exit compensation angle by the following formula:

[0051]

[0052] Wherein, ψ is the turning back exit compensation angle, W b is the front and rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, W f is the width of the transplanter;

[0053] When and R < W f , ψ > 0;

[0054] When R > 0 and , ψ < 0.

[0055] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: an electric steering wheel, a transceiver, a memory, a processor, and a program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the automatic turning back method of the transplanter described above.

[0056] In a fifth aspect, an embodiment of the present application provides a readable storage medium for storing a program, which is executable by a processor to implement the steps in the automatic turning back method of the transplanter described above.

[0057] In the embodiment of the present application, the electric steering wheel can be controlled according to the automatic turning back steering angle to start the automatic turning back operation of the transplanter, and whether the automatic turning back operation is completed can be determined according to the absolute value of the real-time acquired heading angle change. The whole turning back process is automatically completed, which solves the problem of complex transplanter turning back operation caused by manual turning back of the driver or through turning back planning and tracking control. Since the automatic turning back steering angle is obtained according to the front and rear wheelbase of the transplanter and the minimum turning radius of the transplanter, the technical solution provided by the embodiment of the present application does not need to perform path planning and tracking control, and thus does not need large storage space and high computing power, which can reduce the hardware cost and improve the reliability. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 is a schematic diagram of the working area of the transplanter in the prior art;

[0059] Figure 2 is one of the flowcharts of the automatic turning back method of the transplanter provided by the embodiment of the present application;

[0060] Figure 3 is the second flowchart of the automatic turning back method of the transplanter provided by the embodiment of the present application;

[0061] Figure 4 is the third flowchart of the automatic turning back method of the transplanter provided by the embodiment of the present application;

[0062] Figure 5 is Figure 4The embodiment of the application shown provides one of the scene schematic diagrams for obtaining the turning exit compensation angle in the rice transplanter automatic turning method.

[0063] Figure 6 is Figure 4 The embodiment of the application shown provides one of the scene schematic diagrams for obtaining the turning exit compensation angle in the rice transplanter automatic turning method.

[0064] Figure 7 is one of the structural schematic diagrams of the rice transplanter automatic turning device provided by the embodiment of the application.

[0065] Figure 8 is one of the structural schematic diagrams of the rice transplanter automatic turning device provided by the embodiment of the application. DETAILED DESCRIPTION

[0066] The term "and / or" in the embodiment of the application describes the association relationship of the associated objects, and indicates that there can be three relationships, for example, A and / or B can indicate that there are three cases of A alone, A and B together, and B alone. The character " / " generally indicates that the associated objects before and after it are in an "or" relationship.

[0067] The term "multiple" in the embodiment of the application refers to two or more, and other quantifiers are similar.

[0068] The technical solutions in the embodiments of the application will be described clearly and completely in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0069] Referring to Figure 2 , Figure 1 is a flowchart of the rice transplanter automatic turning method provided by the embodiment of the application. As shown in the figure, Figure 2 The rice transplanter automatic turning method comprises the following steps:

[0070] Step 201: At the turning start position, control the electric steering wheel to steer according to the pre-obtained automatic turning steering angle, and perform the rice transplanter automatic turning operation. The automatic turning steering angle is obtained according to the front-rear wheelbase of the rice transplanter and the minimum turning radius of the rice transplanter.

[0071] In this embodiment, the automatic turning steering angle is obtained by the following formula (1):

[0072]

[0073] Wherein, δ is the automatic turning steering angle, W bThe front and rear wheel base of the rice transplanter, R is the minimum turning radius of the rice transplanter.

[0074] Step 202, real-time acquisition of the change amount of the heading angle of the rice transplanter after the automatic turning starts.

[0075] Step 203, if the absolute value of the change amount of the heading angle is greater than the preset automatic turning exit angle threshold, control the steering wheel to return to the normal position, and end the automatic turning operation of the rice transplanter.

[0076] In the embodiment, a fixed automatic turning exit angle threshold can be preset, for example, 160°. Then, step 203 can control the steering wheel to return to the normal position when the absolute value of the change amount of the heading angle is greater than 160°, and end the automatic turning operation of the rice transplanter.

[0077] Optionally, as shown in FIG. 2, after step 201 and before step 203, the method can further include: Figure 3

[0078] Step 204, acquisition of the automatic turning exit angle threshold according to the preset turning exit advance angle and the preset turning exit compensation angle.

[0079] The embodiment is only described by taking that step 204 is after step 201 and before step 202 in the actual use process, step 204 can also occur after step 202 and before step 203, which is not described herein.

[0080] According to the turning exit advance angle and the turning exit compensation angle, the automatic turning exit angle threshold can be more accurate, thereby improving the reliability of the automatic turning operation of the rice transplanter.

[0081] In the actual use process, due to the influence of different models of rice transplanters, different working environments and other factors, the turning speeds of the rice transplanters can be different. In order to meet the speed requirements of the automatic turning of different rice transplanters, optionally, as shown in FIG. 2, before step 204, the method can further include: Figure 4

[0082] Step 205, acquisition of the driving speed information of the rice transplanter in the automatic turning operation of the rice transplanter.

[0083] Step 206, according to the driving speed information, searching a preset speed and turning exit advance angle corresponding relationship table set according to experiments to acquire the turning exit advance angle corresponding to the driving speed information.

[0084] ​​In the embodiment, the corresponding relationship table of the speed and the turning exit advance angle can be obtained according to the data recorded by the actual driver when the rice transplanter is turning, for example, when the turning speed is 2.5 km / h, the exit advance angle is -20°. It should be noted that if the speed information obtained in step 205 is not included in the corresponding relationship table of the speed and the turning exit advance angle, step 206 can obtain the turning exit advance angle corresponding to the speed information closest to the speed information of the rice transplanter from the corresponding relationship table of the speed and the turning exit advance angle as the turning exit advance angle corresponding to the speed information of the rice transplanter. Alternatively, when the speed information closest to the speed information of the rice transplanter is found in step 206, the speed of the rice transplanter is adjusted according to the found speed information, and the turning exit advance angle corresponding to the found speed information is obtained.

[0085] In the embodiment, the method for obtaining the turning exit compensation angle can include: when the minimum turning radius of the rice transplanter is equal to 1 / 2 of the width of the rice transplanter, the turning exit compensation angle is 0; otherwise, the turning exit compensation angle is determined according to the front-rear wheelbase of the rice transplanter, the minimum turning radius of the rice transplanter, and the width of the rice transplanter.

[0086] In the embodiment, the scenario for determining the turning exit compensation angle according to the front-rear wheelbase of the rice transplanter, the minimum turning radius of the rice transplanter, and the width of the rice transplanter includes two kinds:

[0087] One is as shown in FIG. 2A, R>0 and W Figure 5 and R f The turning exit compensation angle can be determined by formula (2) as follows, in which case ψ>0.

[0088]

[0089] wherein ψ is the turning exit compensation angle, W b is the front-rear wheelbase of the rice transplanter, R is the minimum turning radius of the rice transplanter, and W f is the width of the rice transplanter.

[0090] The other is as shown in FIG. 2B, R>0 and W Figure 6 The turning exit compensation angle can be determined by formula (2) as above, in which case ψ<0.

[0091] According to the above disclosure, for example, step 204 can obtain the automatic turning exit angle threshold by formula (3) as follows:

[0092] θ = 180 + σ + ψ (3)

[0093] wherein θ is the automatic turning exit angle threshold, σ is the turning exit advance angle, and ψ is the turning exit compensation angle.​​

[0094] In the embodiment of the present application, the electric steering wheel can be controlled according to the automatic turning angle to start the automatic turning operation of the transplanter, and whether the automatic turning operation is completed can be determined according to the absolute value of the real-time acquired heading angle change. The whole turning process is automatically completed, which solves the problem of complex transplanter turning operation caused by manual turning or turning planning and tracking control. Since the automatic turning angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter, the technical solution provided by the embodiment of the present application does not need to perform path planning and tracking control, and thus does not need large storage space and high computing power, which can reduce the hardware cost and improve the reliability.

[0095] Referring to Figure 7 , Figure 7 FIG. 1 is a structural schematic diagram of an automatic turning device of a transplanter provided by an embodiment of the present application. As shown in FIG. 1, the automatic turning device of the transplanter comprises: Figure 7

[0096] A first module 701 is configured to control the electric steering wheel to turn according to a pre-acquired automatic turning angle at a turning start position to perform the automatic turning operation of the transplanter, wherein the automatic turning angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter.

[0097] A second module 702 is configured to acquire the heading angle change of the transplanter after the automatic turning starts in real time.

[0098] A third module 703 is configured to control the steering wheel to return to the normal position and end the automatic turning operation of the transplanter if the absolute value of the heading angle change is greater than a pre-set automatic turning exit angle threshold.

[0099] Optionally, the first module 701 is further configured to acquire the automatic turning angle by the following formula:

[0100]

[0101] wherein, δ is the automatic turning angle, W is the front-rear wheelbase of the transplanter, and R is the minimum turning radius of the transplanter. b

[0102] Optionally, the automatic turning device of the transplanter further comprises:

[0103] A fourth module is configured to acquire the automatic turning exit angle threshold according to a pre-acquired turning exit lead angle and a pre-acquired turning exit compensation angle.

[0104] ​​Optionally, the fourth module is further configured to acquire driving speed information of the transplanter during the automatic turning operation of the transplanter, and acquire a turning exit advance angle corresponding to the driving speed information according to a corresponding relationship table of speed and turning exit advance angle which is set in advance according to test results.

[0105] Optionally, the fourth module is further configured to set the turning exit compensation angle as 0 when the minimum turning radius of the transplanter is equal to 1 / 2 of the width of the transplanter, or determine the turning exit compensation angle according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter, and the width of the transplanter.

[0106] Optionally, the fourth module is further configured to determine the turning exit compensation angle according to the following formula:

[0107]

[0108] wherein, ψ is the turning exit compensation angle, W b is the front-rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, and W f is the width of the transplanter.

[0109] when R>0 and , f ψ>0.

[0110] when R>0 and , ψ<0.

[0111] In the embodiments of the present application, the automatic turning steering angle can be used to control the electric steering wheel to start the automatic turning operation of the transplanter, and whether the automatic turning operation is completed can be determined according to the absolute value of the real-time acquired heading angle change. The whole turning process is automatically completed, which solves the problem of complex transplanter turning operation caused by manual turning or turning planning and tracking control. Since the automatic turning steering angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter, the technical solution provided by the embodiments of the present application does not need to perform path planning and tracking control, and thus does not need large storage space and high computing power, which can reduce the hardware cost and improve the reliability.

[0112] Referring to Figure 8 , Figure 8 is a structural schematic diagram of the automatic turning device of the transplanter provided by the embodiments of the present application. As Figure 8 shown, the automatic turning device of the transplanter comprises a processor 801, a transceiver 802, and an electric steering wheel.

[0113] The transceiver 802 is configured to acquire the heading angle change of the transplanter after the automatic turning starts in real time.

[0114] The processor 801 is configured to control the electric steering wheel to steer according to a preset automatic turning steering angle at a turning start position, and perform the automatic turning operation of the transplanter, and control the steering wheel to return to the normal position and end the automatic turning operation of the transplanter if an absolute value of the change amount of the heading angle is greater than a preset automatic turning exit angle threshold, wherein the automatic turning steering angle is obtained according to a front-rear wheelbase of the transplanter and a minimum turning radius of the transplanter.

[0115] Optionally, the processor 801 is further configured to obtain the automatic turning steering angle by the following formula:

[0116]

[0117] wherein δ is the automatic turning steering angle, W b is the front-rear wheelbase of the transplanter, and R is the minimum turning radius of the transplanter.

[0118] Optionally, the processor 801 is further configured to obtain the automatic turning exit angle threshold according to a preset turning exit advance angle and a preset turning exit compensation angle.

[0119] Optionally, the transceiver 802 is further configured to obtain driving speed information of the transplanter during the automatic turning operation of the transplanter.

[0120] The processor 801 is further configured to look up a preset corresponding relationship table of speed and turning exit advance angle according to the driving speed information, and obtain a turning exit advance angle corresponding to the driving speed information.

[0121] Optionally, the processor 801 is further configured to, in a case where the minimum turning radius of the transplanter is equal to 1 / 2 of a width of the transplanter, set the turning exit compensation angle to 0, or otherwise, determine the turning exit compensation angle according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter and the width of the transplanter.

[0122] Optionally, the processor 801 is further configured to determine the turning exit compensation angle by the following formula:

[0123]

[0124] wherein ψ is the turning exit compensation angle, W b is the front-rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, and W f is the width of the transplanter.

[0125] when and Rf when R > 0, ψ > 0;

[0126] when R > 0, ψ > 0; when R > 0, ψ < 0.

[0127] In the embodiments of the present application, the electric steering of the steering wheel can be controlled according to the automatic turning angle, the automatic turning operation of the transplanter is started, and whether the automatic turning operation is completed is determined according to the absolute value of the change of the heading angle. The whole turning process is automatically completed, which solves the problem that the driver manually turns or completes the turning through the turning planning and tracking control, and makes the turning operation of the transplanter complex. Since the automatic turning angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter, the technical solution provided by the embodiments of the present application does not need to perform path planning and tracking control, and thus does not need a large storage space and high computing power, can reduce the hardware cost, and improve the reliability.

[0128] The embodiments of the present application provide an electronic device, which comprises a transceiver, a memory, a processor, and a program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the automatic turning method of the transplanter.

[0129] It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0130] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0131] The embodiment of the present application further provides a readable storage medium, and the readable storage medium stores a program, the program is executed by a processor to realize each process of the step embodiment of the automatic turning method of the rice transplanter, and the same technical effects can be achieved, and details are not described herein again to avoid repetition. The readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to a magnetic memory (for example, a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (for example, a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (for example, a ROM, an EPROM, an EEPROM, a nonvolatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0132] It should be noted that in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, such that a process, method, article, or device that comprises a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article, or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article, or device that includes the element.

[0133] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and a necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. According to such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.

[0134] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

Claims

1. A rice transplanter automatic turning method, characterized by, The application comprises the following steps: At the beginning of the turning position, the electric steering wheel is controlled to turn according to the automatic turning steering angle obtained in advance, and the automatic turning operation of the rice transplanter is started, wherein the automatic turning steering angle is obtained according to the front-rear wheelbase of the rice transplanter and the minimum turning radius of the rice transplanter; The change amount of the heading angle of the rice transplanter after the automatic turning is started is obtained in real time; If the absolute value of the change amount of the heading angle is greater than the preset automatic turning exit angle threshold, the steering wheel is controlled to return to the normal position, and the automatic turning operation of the rice transplanter is ended; After the automatic turning operation of the rice transplanter is started at the turning position according to the automatic turning steering angle obtained in advance, before the steering wheel is controlled to return to the normal position and the automatic turning operation of the rice transplanter is ended if the absolute value of the change amount of the heading angle is greater than the preset automatic turning exit angle threshold, the application further comprises the following steps: The automatic turning exit angle threshold is obtained according to the turning exit advance angle obtained in advance and the turning exit compensation angle obtained in advance; Before the automatic turning exit angle threshold is obtained according to the turning exit advance angle obtained in advance and the turning exit compensation angle obtained in advance, the application further comprises the following steps: The driving speed information of the rice transplanter during the automatic turning operation of the rice transplanter is obtained; According to the driving speed information, a corresponding relationship table of speed and turning exit advance angle set according to test results is searched to obtain the turning exit advance angle corresponding to the driving speed information. The method for obtaining the turning exit compensation angle comprises the following steps: In the case that the minimum turning radius of the rice transplanter is equal to 1 / 2 of the width of the rice transplanter, the turning exit compensation angle is 0; Otherwise, the turning exit compensation angle is determined according to the front-rear wheelbase of the rice transplanter, the minimum turning radius of the rice transplanter and the width of the rice transplanter.

2. The method of claim 1, wherein, The automatic turning steering angle is obtained by the following formula: wherein δ is the automatic turn-around steering angle, W b is the front-to-rear wheelbase of the transplanter, and R is the minimum turning radius of the transplanter.

3. The method of claim 1, wherein, In the case that the minimum turning radius of the rice transplanter is not equal to 1 / 2 of the width of the rice transplanter, the turning exit compensation angle is determined by the following formula: wherein ψ is the turning-off compensation angle, W b is the front-rear wheelbase of the transplanter, R is the minimum turning radius of the transplanter, W f is the width of the transplanter; When and R < W f then ψ > 0; When R > 0 and then ψ < 0.

4. A rice transplanter automatic turning device characterized by comprising: The application comprises the following steps: The first module is used for controlling the electric steering wheel to turn at the beginning of the turning position according to the automatic turning steering angle obtained in advance, and starting the automatic turning operation of the rice transplanter, wherein the automatic turning steering angle is obtained according to the front-rear wheelbase of the rice transplanter and the minimum turning radius of the rice transplanter; The second module is used for obtaining the change amount of the heading angle of the rice transplanter after the automatic turning is started in real time; The third module is used for controlling the electric steering wheel to return to the normal position if the absolute value of the change amount of the heading angle is greater than the preset automatic turning exit angle threshold, and ending the automatic turning operation of the rice transplanter. The automatic turning device of the rice transplanter further comprises the following steps: The fourth module is used for obtaining the automatic turning exit angle threshold according to the turning exit advance angle obtained in advance and the turning exit compensation angle obtained in advance. The fourth module is further configured to acquire driving speed information of the transplanter during the automatic turning operation of the transplanter, and acquire a turning exit lead angle corresponding to the driving speed information by searching a correspondence table of speed and turning exit lead angle which is set in advance according to test results. The fourth module is further configured to set the turning exit compensation angle to 0 when the minimum turning radius of the transplanter is equal to 1 / 2 of the width of the transplanter, or determine the turning exit compensation angle according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter, and the width of the transplanter.

5. A rice transplanter automatic turning device comprising: The processor, the transceiver, and the electric steering wheel are characterized in that: The transceiver is configured to acquire a change in a heading angle of the transplanter after the automatic turning is started in real time. The processor is configured to control the electric steering wheel to perform steering according to a preset automatic turning steering angle at a turning start position, and start the automatic turning operation of the transplanter, and control the electric steering wheel to return to the normal position and end the automatic turning operation of the transplanter if an absolute value of the change in the heading angle is greater than a preset automatic turning exit angle threshold, wherein the automatic turning steering angle is obtained according to the front-rear wheelbase of the transplanter and the minimum turning radius of the transplanter. The processor is further configured to acquire the automatic turning exit angle threshold according to a preset turning exit lead angle and a preset turning exit compensation angle. The transceiver is further configured to acquire driving speed information of the transplanter during the automatic turning operation of the transplanter. The processor is further configured to acquire a turning exit lead angle corresponding to the driving speed information by searching a correspondence table of speed and turning exit lead angle which is set in advance according to test results. The processor is further configured to set the turning exit compensation angle to 0 when the minimum turning radius of the transplanter is equal to 1 / 2 of the width of the transplanter, or determine the turning exit compensation angle according to the front-rear wheelbase of the transplanter, the minimum turning radius of the transplanter, and the width of the transplanter.

6. An electronic device comprising: The electric steering wheel, the transceiver, the memory, the processor, and a program stored in the memory and executable on the processor are characterized in that: The processor is configured to read the program in the memory to implement the steps in the automatic turning method of the transplanter according to any one of claims 1 to 3.

7. A readable storage medium for storing a program, characterized by The program, when executed by the processor, implements the steps in the automatic turning method of the transplanter according to any one of claims 1 to 3.

Images