Automatic line control method, device, operation vehicle and storage medium

Abstract

The embodiments of the present invention relate to the field of agricultural machinery, and disclose an automatic row-aligning control method, device, work vehicle, and storage medium. The method comprises: obtaining the distance between the work vehicle and the plant row detected in real time by a flexible detection device on the work vehicle; determining whether the work vehicle has row deviation according to the distance, and obtaining the current wheel angle and offset of the work vehicle when it is determined that the row deviation has occurred; determining the target driving direction of the work vehicle when it reaches row-aligning driving according to the offset, and calculating the required target rotation angle according to the current wheel angle and offset; adjusting the work vehicle according to the target rotation angle so that the driving direction of the work vehicle is consistent with the target driving direction. The embodiments of the present invention realize automatic row-aligning driving of the work vehicle, and ensure the real-time performance of the row-aligning driving control of the work vehicle.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to an automatic row control method, device, operating vehicle and storage medium. Background Art

[0002] The annual output of domestic corn harvesters with more than 4 rows, grain harvesters, silage harvesters, and stalk-ear harvesters is about 40,000 units, and the market stock is about 200,000 units. The models are basically row-harvesting products (the header needs to be aligned with the crop plant row). During the operation, the operator needs to observe the row alignment of the vehicle header in real time and adjust the steering wheel in real time to keep the vehicle in row harvesting. The operation is labor-intensive and seriously limits work efficiency. In the case of uneven rows or untimely adjustments, the breakage rate and loss rate of corn harvest are increased. To solve this problem, some manufacturers use high-precision positioning and navigation technology to achieve automatic row control of harvesters.

[0003] Among them, the high-precision positioning and navigation technology receives high-precision positioning signals through the RTK-GPS (carrier phase difference technology) signal receiving device placed on the vehicle, and locates the vehicle position information. The attitude sensor measures the real-time running attitude of the vehicle, the angle sensor detects the steering angle of the front wheel, and the electronic steering wheel is used to drive the vehicle steering action. At present, the most applicable scenario of this high-precision positioning and navigation technology is to drive the vehicle to drive in a straight line, which can ensure that the vehicle's driving straightness reaches a good control accuracy. However, in the corn planting link, it is impossible to ensure that all high-precision positioning and navigation technologies are used for sowing operations, which causes inconsistent or crooked spacing between corn rows. At this time, high-precision straight driving is still used, which is bound to cause wrong harvesting of rows in many cases, increasing the loss rate and breakage rate in the harvesting link; even if high-precision navigation technology is used in the sowing link for straight-line planting, due to the complex ground environment and undulating ground, it is particularly prominent on the sloped ground, and the absolute straightness of corn sowing cannot be guaranteed. Therefore, in the corn harvesting link, the row spacing cannot be guaranteed to be uniform, which results in the loss rate and breakage rate not being well guaranteed when high-precision positioning and navigation technology is used for harvesting operations.

[0004] Based on this, how to achieve automatic row control of agricultural working vehicles such as harvesters is an urgent problem to be solved. Summary of the invention

[0005] In view of this, in order to solve the problems existing in the prior art, the present invention provides an automatic line control method, device, working vehicle and storage medium.

[0006] In a first aspect, the present invention provides an automatic line control method, comprising:

[0007] Acquire the distance between the working vehicle and the plant row detected in real time by a flexible detection device on the working vehicle;

[0008] Determining whether the working vehicle has a line deviation according to the distance, and when it is determined that the line deviation has occurred, obtaining a current wheel angle and an offset of the working vehicle;

[0009] Determining the target driving direction of the working vehicle when it reaches the opposite direction according to the offset, and calculating the required target turning angle according to the current wheel angle and the offset;

[0010] The working vehicle is adjusted according to the target turning angle so that the driving direction of the working vehicle is consistent with the target driving direction.

[0011] In an optional embodiment, the flexible detection device includes two flexible tentacles located on the left and right sides of the same axis and a pressure sensor arranged on the flexible tentacles, and the distance between the working vehicle and the plant row detected in real time by the flexible detection device on the working vehicle is obtained, including:

[0012] Obtaining the pressure value collected in real time by the pressure sensor on each flexible tentacle;

[0013] According to the pressure value of each flexible tentacle and the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row, the distance between each flexible tentacle and at least one adjacent row of plants is calculated; wherein, the greater the pressure value, the shorter the distance between the flexible tentacle and the plant row.

[0014] In an optional implementation manner, the process of acquiring the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row includes:

[0015] Analyzing the force process of the flexible tentacle to obtain the bending moment equation of the flexible tentacle in the cross section;

[0016] Based on the bending moment equation, an approximate differential equation of the deflection curve is calculated;

[0017] Determine the rotation angle equation and the deflection equation according to the deflection curve approximate differential equation and the displacement boundary condition;

[0018] According to the rotation angle equation and the deflection equation, a corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is calculated;

[0019] According to the corresponding relationship and the pressure value, the distance between each flexible tentacle and two adjacent rows of plants is calculated.

[0020] In an optional implementation manner, the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is expressed as:

[0021]

[0022] Wherein, F is pressure, E is the elastic modulus of the flexible tentacle, I is the moment of inertia of the flexible tentacle, θmax is the maximum bending angle of the flexible tentacle, and l is the length of the flexible tentacle.

[0023] In an optional embodiment, the offset includes an offset direction and an offset displacement of the working vehicle, and determining the target driving direction of the working vehicle when the working vehicle reaches the opposite direction according to the offset, and calculating the required target turning angle according to the current wheel angle and the offset, includes:

[0024] Determining, according to the offset direction, a target driving direction for the working vehicle to reach the opposite direction;

[0025] The target turning angle required by the working vehicle is calculated according to the offset displacement and the current wheel angle.

[0026] In an optional embodiment, the working vehicle is adjusted according to the target rotation angle so that the driving direction of the working vehicle is consistent with the target driving direction, including:

[0027] Collect the real-time angle of the wheel in real time;

[0028] Calculating the wheel correction angle required to be adjusted according to the real-time wheel angle and the target rotation angle;

[0029] The driving direction of the working vehicle is adjusted according to the wheel correction angle so that the driving direction is consistent with the target driving direction.

[0030] In a second aspect, the present invention provides an automatic line control device, comprising:

[0031] A distance detection module, used to obtain the distance between the working vehicle and the plant row detected in real time by a flexible detection device on the working vehicle;

[0032] A wheel angle acquisition module, used to determine whether the working vehicle has a line deviation according to the distance, and when it is determined that a line deviation has occurred, obtain the current wheel angle and the offset of the working vehicle;

[0033] A calculation module, used to determine the target driving direction of the working vehicle when it reaches the opposite direction according to the offset, and calculate the required target rotation angle according to the current wheel angle and the offset;

[0034] The travel control module is used to adjust the working vehicle according to the target turning angle so that the driving direction of the working vehicle is consistent with the target driving direction.

[0035] In a third aspect, the present invention provides a work vehicle, comprising a memory and at least one processor, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the aforementioned automatic lane control method.

[0036] In an optional embodiment, the working vehicle includes at least one set of flexible detection devices;

[0037] Each group of the flexible detection devices comprises two flexible tentacles respectively located on the left and right sides of the same axis and a pressure sensor arranged on the flexible tentacles;

[0038] The pressure sensor is used to detect the pressure exerted on the flexible tentacle.

[0039] In a fourth aspect, the present invention provides a computer storage medium storing a computer program, which, when executed, implements the aforementioned automatic row control method.

[0040] The embodiments of the present invention have the following beneficial effects:

[0041] The embodiment of the present invention uses a flexible detection device to detect the distance between the working vehicle and the plant row in real time, and judges whether the current working vehicle has a row deviation based on the distance, and obtains the current wheel angle when it is determined that the row deviation has occurred, calculates its deviation direction and deviation displacement, so as to determine the target driving direction and target rotation angle corresponding to the current row driving of the working vehicle; the working vehicle is adjusted according to the target driving direction so that the working vehicle can realize automatic row driving, and in this process, the real-time control of the row driving of the working vehicle is also guaranteed; in the process of controlling the working vehicle to drive in the row, this embodiment also automatically adjusts the driving direction of the working vehicle by collecting the real-time angle of the wheel in real time, thereby further improving the flexibility and accuracy of the row driving control of the working vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0043] Figure 1 A schematic diagram of the structure of a working vehicle in an embodiment of the present invention is shown;

[0044] Figure 2 A schematic diagram of the structure of a flexible detection device in an embodiment of the present invention is shown;

[0045] Figure 3a A schematic diagram of the structure of the flexible tentacles in an embodiment of the present invention is shown;

[0046] Figure 3b A schematic diagram of the structure of the flexible tentacles after elastic deformation in an embodiment of the present invention is shown;

[0047] Figure 4 A schematic diagram showing a first implementation of the automatic row control method in an embodiment of the present invention is shown;

[0048] Figure 5 A schematic diagram showing a second implementation of the automatic row control method in an embodiment of the present invention is shown;

[0049] Figure 6 A schematic diagram showing a third implementation of the automatic row control method in an embodiment of the present invention is shown;

[0050] Figure 7 A schematic diagram of force analysis of a flexible detection device in an embodiment of the present invention is shown;

[0051] Figure 8 A schematic diagram showing a fourth implementation of the automatic row control method in an embodiment of the present invention is shown;

[0052] Fig. 9 A fifth implementation schematic diagram of the automatic row control method in an embodiment of the present invention is shown;

[0053] Fig.10 A schematic structural diagram of an automatic row alignment control device in an embodiment of the present invention is shown.

[0054] Explanation of the main component symbols: 10 - flexible detection device; 11 - flexible tentacle; 12 - pressure sensor; 20 - cutting table; 30 - plant row. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0056] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0058] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0059] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. Terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0060] At present, some manufacturers also use mechanical navigation technology to achieve automatic row control of harvesters. Mechanical navigation technology uses a contact row sensor set in front of the header. The sensor uses an analog angle sensor component to convert the real-time distance between the vehicle and the crop into the angle value of the angle sensor to measure the deviation of the vehicle relative to the crop row, and perform steering correction control by driving the steering cylinder.

[0061] The use of contact-type row sensors to adjust according to the real-time collection of the deviation of the working vehicle relative to the row fundamentally solves the problems existing in the use of high-precision navigation technology. However, when using contact-type row sensors to collect row sensing signals, there are a large number of contact and rotating parts in the contact-type row sensors, and the overall mechanical structure is relatively complex. In addition, due to the complex environment at the harvesting platform during harvesting, the complex mechanical structure is difficult to ensure reliable operation during long-term work. At the same time, corn stalks cause long-term and high-frequency radial force impacts on the contact-type row sensors, which greatly reduces their working life, and thus cannot meet the requirements of long-term high-intensity operations.

[0062] Based on this, this embodiment realizes automatic steering control of the working vehicle by adopting a flexible detection device with a simple structure.

[0063] Example 1

[0064] An embodiment of the present invention provides an automatic row control method, which is applied to working vehicles in the field of agricultural machinery.

[0065] For example, Figure 1 , Figure 2 , Figure 3a and Figure 3b As shown, at least one set of flexibility detection devices 10 is provided on the working vehicle, and each set of flexibility detection devices 10 is provided at a preset position below the header 20. The flexibility detection devices 10 provided on the working vehicle can be multiple sets, and the specific number and preset position thereof are not limited here.

[0066] Each set of the flexible detection device 10 includes two flexible tentacles 11 located on the left and right sides of the same axis and a pressure sensor 12 arranged on the flexible tentacles 11. The pressure sensor 12 is used to detect the pressure from the plant row 30 on the flexible tentacles 11. Under the action of the pressure, the flexible tentacles 11 will undergo elastic deformation. The change process of the elastic deformation of the flexible tentacles 11 is as follows: Figure 3a , Figure 3b shown.

[0067] Since the pressure sensor 12 is arranged on the flexible tentacle 11, during actual use, the pressure sensor 12 does not directly contact the crop plants. That is, this embodiment can detect the pressure exerted on the flexible tentacle 11 by using a non-direct contact pressure sensor 12 to indirectly obtain the distance between the working vehicle and the plant row 30.

[0068] It should be noted that the working vehicle and the flexibility detection device 10 described in this embodiment are merely examples, and do not limit the structures or functions of the working vehicle and the flexibility detection device 10 .

[0069] Please refer to Figure 4 , the automatic steering control method applied to the above-mentioned working vehicle is described in detail below.

[0070] S100 , obtaining the distance between the working vehicle and the plant row 30 detected in real time by the flexibility detection device 10 on the working vehicle.

[0071] When the working vehicle performs the harvesting operation of plant rows 30 of crops planted in straight rows in the farmland, the working vehicle detects the distance between each group of flexible detection devices 10 and at least one adjacent row of plant rows 30 on the left and right in real time based on the flexible detection device 10, so that the main controller of the working vehicle obtains the distance detected by the flexible detection device 10 to adjust the driving direction of the working vehicle in real time.

[0072] Exemplarily, when the working vehicle is traveling, if the flexible detection device 10 is in direct contact with the plant row 30, the plant row 30 will compress the flexible tentacles 11 of the flexible detection device 10 to bend, so that the pressure sensor 12 on the flexible detection device 10 detects the pressure exerted on the flexible tentacles 11. The closer the distance between the flexible tentacles 11 and the plant row 30, the greater the thrust or pressure exerted on the flexible tentacles 11 by the plant row 30, resulting in a higher degree of bending of the flexible tentacles 11, and thus a greater pressure value detected by the pressure sensor 12 on the flexible tentacles 11.

[0073] Then, the distance between the working vehicle and the plant can be equivalently calculated based on the obtained pressure value.

[0074] In this embodiment, the working vehicle may be agricultural machinery such as a corn harvester, a silage harvester, a grain harvester, a stem and ear harvester, and the crops (plant rows 30) may be crops such as corn and wheat, which are not limited in this embodiment.

[0075] In one embodiment, if Figure 5 As shown, step S100 specifically includes the following steps:

[0076] S110 , obtaining the pressure value collected in real time by the pressure sensor 12 on each flexible tentacle 11 .

[0077] S120, calculate the distance between each flexible tentacle 11 and at least one adjacent row of plants 30 according to the pressure value of each flexible tentacle 11 and the corresponding relationship between the pressure value of the flexible tentacle 11 and the distance between the flexible tentacle 11 and the plant row 30; wherein, the greater the pressure value, the shorter the distance between the flexible tentacle 11 and the plant row 30.

[0078] In this embodiment, the working principle of the flexible tentacle 11 in the flexible detection device 10 is to use a pressure sensor 12 as the main detection element. During the driving process of the working vehicle, when the working vehicle deviates, the flexible tentacle 11 corresponding to the deviated side is squeezed and deformed, and a slight downward pressure on the shell of the signal processing terminal is generated at the root of the flexible tentacle 11, causing the shell to deform slightly. The pressure sensor 12 is arranged on the inner side of the shell of the flexible tentacle 11. When the shell is slightly deformed, the inner pressure sensor 12 will detect this slight deformation, and then detect the change of the flexible detection device 10. This slight pressure is proportional to the deformation of the flexible detection device 10. The main controller of the working vehicle calculates the travel deviation (offset displacement) of the working vehicle during the actual driving process through the slight pressure value.

[0079] During normal row-to-row driving, each group of flexible tentacles 11 of the working vehicle is located between two rows of plants 30. That is, when each group of flexible tentacles 11 is driving in the farmland, if the pressure value of any group of flexible tentacles 11 is 0, it means that the working vehicle is driving in row at this time.

[0080] Furthermore, the distance between each flexible tentacle 11 and the plant row 30 , the distance between each group of flexible tentacles 11 and the plant rows 30 on both sides, and the current driving direction of the working vehicle can be calculated based on the pressure values ​​collected by each flexible tentacle 11 .

[0081] Furthermore, if the pressure values ​​corresponding to the left and right flexible tentacles 11 in a group of flexible tentacles 11 are different, the direction and distance of the group of flexible tentacles 11 relative to the row of plants 30 in contact can be determined based on the pressure values. For example, in a group of flexible tentacles 11, if the pressure value corresponding to the right flexible tentacles 11 is greater than the pressure value of the left flexible tentacles 11, it means that the working vehicle is traveling to the right, and the right flexible tentacles 11 are closer to the row of plants 30 in contact than the left flexible tentacles 11. Therefore, the working vehicle can be controlled to deviate to the left to achieve automatic alignment.

[0082] Optionally, the pressure value collected by the pressure sensor 12 may be a pressure value range that includes a preset error range, that is, the pressure value is not a numerical value, but a pressure range value within the preset error range.

[0083] Optionally, the pressure value collected by the pressure sensor 12 can be preset and processed by the corresponding sensor signal processing terminal on the working vehicle before being transmitted to the main controller of the working vehicle, so as to reduce the workload of the main controller and improve the working efficiency of the main controller; or, the pressure sensor 12 can directly transmit the collected pressure value to the main controller for corresponding processing.

[0084] In one embodiment, if Figure 6 As shown, the process of obtaining the corresponding relationship between the pressure value of the flexible tentacle 11 and the distance between the flexible tentacle 11 and the plant row 30 may specifically include the following steps:

[0085] S131, analyzing the force process of the flexible tentacle 11 to obtain a bending moment equation of the flexible tentacle 11 in the cross section.

[0086] The flexibility detection device 10 can be equivalent to a mathematical model of the cantilever beam being subjected to force and bending deformation, such as Figure 7 As shown, a balance analysis of the force process of the flexible tentacles 11 in the flexible detection device 10 can be obtained:

[0087] Fax = 0;

[0088] Fay = F;

[0089] Ma=Fl;

[0090] Among them, F is the pressure exerted on the flexible tentacle 11; Fax is the component of the pressure exerted on the flexible tentacle 11 at point a on the x-section; Fay is the component of the pressure exerted on the flexible tentacle 11 at point a on the y-section; Ma is the bending moment at point a; l is the length of the flexible tentacle 11.

[0091] Furthermore, the bending moment equation of the x section can be obtained as: M(x)=-F(lx)=F(xl); where M(x) is the bending moment on the x section and x is the independent variable.

[0092] S132, based on the bending moment equation, an approximate differential equation of the deflection curve is calculated.

[0093] Based on the bending moment equation on the x section obtained above, the corresponding approximate differential equation of the deflection curve can be calculated as:

[0094]

[0095] Among them, EI is the bending stiffness, which is equal to the product of the preset elastic modulus (E) and the moment of inertia (I) of the beam section about the axis of interest.

[0096] Integrating the above approximate differential equation of the deflection curve, we get:

[0097]

[0098] Among them, C and D are constants, and w is the deflection.

[0099] S133, determining the rotation angle equation and the deflection equation according to the deflection curve approximate differential equation and the displacement boundary conditions.

[0100] According to the displacement boundary conditions, the integral constants x = 0, θa = 0, wa = 0 can be determined, where wa is the deflection at point a; substituting the integral constants into the above deflection curve approximate differential equation for solution, we obtain:

[0101]

[0102]

[0103] Thus, the rotation angle equation and deflection equation can be determined as:

[0104]

[0105]

[0106] S134, calculating the corresponding relationship between the pressure value of the flexible tentacle 11 and the distance between the flexible tentacle 11 and the plant row 30 according to the rotation angle equation and the deflection equation.

[0107] S135 , calculating the distance between each flexible tentacle 11 and two adjacent rows of plants 30 according to the corresponding relationship and the pressure value.

[0108] Based on the above rotation angle equation and deflection equation, the maximum rotation angle equation can be calculated as:

[0109]

[0110] By transforming the above maximum rotation angle equation, we can get:

[0111]

[0112] Therefore, according to the above relationship between F and l, the corresponding relationship between the pressure value (F) of the flexible tentacle 11 and the distance (l) between the flexible tentacle 11 and the plant row 30 can be obtained.

[0113] It can be understood that when in a fixed position, θmax is a fixed value. At this time, the force F on each flexible tentacle 11 and the distance l between the plant row 30 and each flexible tentacle 11 or the pressure sensor 12 are 2 That is, by measuring the pressure F applied to the pressure sensor 12, the distance between each flexible tentacle 11 and one or two adjacent plant rows 30 can be indirectly calculated.

[0114] S200, determining whether the working vehicle has a line deviation according to the distance, and when it is determined that the line deviation has occurred, obtaining the current wheel angle and the offset of the working vehicle.

[0115] Based on the distance between each flexible tentacle 11 and two adjacent rows of plants 30 calculated by the above process, it is determined whether the working vehicle has a row deviation. Specifically, when each set of flexible detection devices 10 is located between two adjacent rows of plants 30, that is, the distance between each set of flexible detection devices 10 and a row adjacent to either side thereof or two adjacent rows of plants 30 on the left and right is within a preset range, it is determined that the working vehicle is traveling in the opposite row, and at this time, there is no need to adjust the driving direction of the working vehicle. If the distance between each set of flexible detection devices 10 and one or two adjacent rows of plants 30 is not within the preset range, it is determined that the working vehicle has a row deviation.

[0116] Optionally, since the setting spacing of each group of flexible detection devices 10 is predetermined, the intervals between the plant rows 30 can also be measured in advance. Therefore, when judging whether the working vehicle has row deviation, it can be judged directly based on the distance between any group of flexible detection devices 10 and its adjacent plant rows 30.

[0117] When the working vehicle deviates from the line, the corresponding offset of the working vehicle is obtained. The offset can reflect the degree of deviation of the current working vehicle from the line, and the offset includes the offset direction and the offset displacement.

[0118] Specifically, the current offset direction of the working vehicle can be determined according to the distance between the working vehicle and the plant row 30, and the offset displacement of the working vehicle in the offset direction can be calculated. For example, if the pressure value corresponding to the flexible tentacles 11 on the right side of the flexible detection device 10 is larger than the pressure value of the flexible tentacles 11 on the left side, it means that the current offset direction of the working vehicle is offset to the right, and then the offset displacement of the working vehicle in the current offset direction can be calculated according to the row spacing of the plant row 30.

[0119] Optionally, a wheel angle sensor may be provided on the work vehicle to collect the rotation angle of the wheel.

[0120] In this embodiment, when determining that the working vehicle is currently experiencing a line deviation, a wheel angle sensor provided on the working vehicle may be used to collect the current wheel angle when the line deviation occurs.

[0121] S300, determining the target driving direction of the working vehicle when it is traveling in the opposite direction according to the offset, and calculating the required target turning angle according to the current wheel angle and the offset.

[0122] The main controller obtains the current wheel angle of the working vehicle when the line deviation occurs. If the current wheel angle is inversely correlated with the offset, that is, the current wheel rotation direction is different from the offset direction, the target driving direction and the target rotation angle required for the wheel to reach the working vehicle when driving in the opposite direction can be calculated based on the offset and the current wheel angle.

[0123] In one embodiment, if Figure 8 As shown, step S300 specifically includes the following steps:

[0124] S310, determining a target driving direction for the working vehicle to reach the opposite direction according to the offset direction.

[0125] According to the current offset direction of the working vehicle, the target driving direction of the working vehicle when it reaches the opposite direction can be determined. For example, if the current offset direction of the working vehicle is offset to the right, the target driving direction corresponding to the offset direction of the working vehicle is determined to be driving to the left.

[0126] S320, calculating a target turning angle required by the working vehicle according to the offset displacement and the current wheel angle.

[0127] According to the current wheel angle and the offset displacement, a target rotation angle that the wheel needs to rotate when the driving direction of the working vehicle reaches the target driving direction is calculated.

[0128] Optionally, during this process, a preset adjustment time period can also be set, and the preset adjustment time period is divided into multiple time intervals, and the rotation angle required for the wheel to rotate in each time interval is calculated, that is, the target rotation angle required for the working wheel to achieve adjustment during driving is subdivided into time periods, thereby converting it into the corresponding target rotation angles adjusted in multiple time intervals.

[0129] S400: adjusting the working vehicle according to the target turning angle so that the driving direction of the working vehicle is consistent with the target driving direction.

[0130] After the target driving direction and the target turning angle are obtained, the driving direction of the working vehicle is adjusted according to the target turning angle so that the working vehicle reaches the target driving direction.

[0131] During this process, the present embodiment also collects the real-time wheel angle of the working vehicle in real time to adjust the target rotation angle according to the real-time wheel angle until the driving direction of the working vehicle is the target driving direction, that is, until the working vehicle does not deviate.

[0132] In one embodiment, if Fig. 9 As shown, step S400 specifically includes the following steps:

[0133] S410, collecting the real-time angle of the wheel in real time.

[0134] S420, calculating the wheel correction angle required to be adjusted according to the real-time wheel angle and the target rotation angle.

[0135] S430: Adjust the driving direction of the working vehicle according to the wheel correction angle so that the driving direction is consistent with the target driving direction.

[0136] The driving direction of the working vehicle is adjusted according to the target rotation angle, and in this process, the real-time wheel angle collected by the wheel angle sensor on the working vehicle is obtained in real time. According to the real-time wheel angle and the target rotation angle, the wheel correction angle required to be adjusted when the working vehicle adjusts the real-time wheel angle to the target rotation angle, that is, when the real-time driving direction of the working vehicle is turned to the target driving direction, is calculated; thus, the working vehicle is adjusted in real time according to the wheel correction angle until the working vehicle can drive in the target driving direction without deviation.

[0137] Optionally, the real-time wheel angle within a preset adjustment time period can be used to determine whether the real-time wheel angle within each time interval is consistent with the target rotation angle within the time interval. If the real-time wheel angle is consistent with the target rotation angle, it is determined that the work vehicle has completed the wheel rotation angle adjustment within the time interval; if the real-time wheel angle within the time interval is inconsistent with the target rotation angle, the wheel correction angle when the wheel of the work vehicle reaches the target rotation angle is calculated based on the real-time wheel angle, so as to adjust the work vehicle according to the wheel correction angle until the work vehicle can travel in the target driving direction within the preset adjustment time period without any line deviation.

[0138] In this embodiment, during the driving process of the working vehicle, the target driving direction is detected and the target turning angle is calculated in real time, so that the actual driving direction and the wheel turning angle are adjusted in real time according to the change of the target driving direction, thereby realizing automatic driving control.

[0139] Furthermore, the application scenario of the automatic row control method provided in the present embodiment is not limited to farmland where rows 30 of plants are planted in straight lines. Since the automatic row control method provided in the present embodiment can detect the vehicle's driving direction in real time during the operation process, and adjust the driving direction and wheel rotation angle of the working vehicle in real time according to the distance between the flexible detection device 10 and the crop plants and the wheel angle, the automatic row control method is also suitable for operations of working vehicles on curves and irregular routes, and has good practicality.

[0140] In the first aspect of this embodiment, the flexible detection device 10 is used to detect in real time the distance between the working vehicle and the plant row 30, and based on the distance, it is determined whether the current working vehicle has a row deviation, and when it is determined that the row deviation has occurred, the current wheel angle is obtained, and the deviation direction and the deviation displacement are calculated, so as to determine the target driving direction and the target rotation angle corresponding to the current row driving of the working vehicle; the working vehicle is adjusted according to the target driving direction so that the working vehicle can realize automatic row driving, and in this process, the real-time control of the row driving of the working vehicle is also guaranteed; secondly, in the process of controlling the row driving of the working vehicle, the present embodiment also automatically adjusts the driving direction of the working vehicle by collecting the real-time angle of the wheel in real time, thereby further improving the flexibility and accuracy of the row driving control of the working vehicle; thirdly, the present embodiment adopts the flexible detection device 10 to dynamically adjust the driving direction of the working vehicle to realize the automatic row control of the working vehicle, and the flexible detection device 10 adopted by it has the characteristics of simple structure and easy maintenance, which improves the reliability of the structure and reduces the production and maintenance costs.

[0141] Example 2

[0142] See also Fig.10 The embodiment of the present invention provides an automatic line control device, the device comprising:

[0143] The distance detection module 41 is used to obtain the distance between the working vehicle and the plant row detected in real time by the flexible detection device on the working vehicle;

[0144] The wheel angle acquisition module 42 is used to determine whether the working vehicle has a line deviation according to the distance, and when it is determined that a line deviation has occurred, obtain the current wheel angle and the offset of the working vehicle;

[0145] A calculation module 43, used to determine the target driving direction of the working vehicle when it reaches the opposite direction according to the offset, and calculate the required target rotation angle according to the current wheel angle and the offset;

[0146] The travel control module 44 is used to adjust the working vehicle according to the target turning angle so that the driving direction of the working vehicle is consistent with the target driving direction.

[0147] The above-mentioned automatic row control device corresponds to the automatic row control method of Example 1. Any optional items in Example 1 are also applicable to this embodiment and will not be described in detail here.

[0148] An embodiment of the present invention further provides a work vehicle, which includes a memory and at least one processor, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the automatic line control method of the above embodiment.

[0149] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the work vehicle (such as a target rotation angle, etc.), etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0150] An embodiment of the present invention also provides a computer-readable storage medium, which stores machine-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the steps of the automatic row control method of the above embodiment.

[0151] 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 schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0152] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0153] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0154] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic row control method, characterized in that: include: Obtaining the distance between the working vehicle and the plant row detected in real time by a flexible detection device on the working vehicle; wherein the flexible detection device comprises two flexible tentacles located on the left and right sides of the same axis and a pressure sensor arranged on the flexible tentacles, the pressure sensor being used to collect the pressure value exerted on the corresponding flexible tentacles when contacting the plant row, and the pressure value being used to calculate the distance between the working vehicle and the plant row; Determining whether the working vehicle has a line deviation according to the distance, and when it is determined that the line deviation has occurred, obtaining a current wheel angle and an offset of the working vehicle; Determining the target driving direction of the working vehicle when it reaches the opposite direction according to the offset, and calculating the required target turning angle according to the current wheel angle and the offset; Adjusting the working vehicle according to the target rotation angle so that the driving direction of the working vehicle is consistent with the target driving direction; The step of obtaining the distance between the working vehicle and the plant row detected in real time by the flexible detection device on the working vehicle comprises: Obtaining the pressure value collected in real time by the pressure sensor on each flexible tentacle; According to the pressure value of each flexible tentacle and the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row, the distance between each flexible tentacle and at least one adjacent plant row is calculated; wherein, the greater the pressure value, the shorter the distance between the flexible tentacle and the plant row; The process of obtaining the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row includes: Analyzing the force process of the flexible tentacle to obtain the bending moment equation of the flexible tentacle in the cross section; Based on the bending moment equation, an approximate differential equation of the deflection curve is calculated; Determine the rotation angle equation and the deflection equation according to the deflection curve approximate differential equation and the displacement boundary condition; According to the rotation angle equation and the deflection equation, a corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is calculated; The expression for the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is: Wherein, F is the pressure, E is the elastic modulus of the flexible tentacle, is the moment of inertia of the flexible tentacle, θmax is the maximum bending angle of the flexible tentacle, is the distance between the flexible tentacles and the plant row.

2. The automatic row control method according to claim 1, characterized in that: The offset includes the offset direction and offset displacement of the working vehicle, and determining the target driving direction of the working vehicle when the working vehicle reaches the opposite direction according to the offset, and calculating the required target turning angle according to the current wheel angle and the offset, includes: Determining, according to the offset direction, a target driving direction for the working vehicle to reach the opposite direction; The target turning angle required by the working vehicle is calculated according to the offset displacement and the current wheel angle.

3. The automatic row control method according to claim 1, characterized in that: The step of adjusting the working vehicle according to the target rotation angle so that the driving direction of the working vehicle is consistent with the target driving direction includes: Collect the real-time angle of the wheel in real time; Calculating the wheel correction angle required to be adjusted according to the real-time wheel angle and the target rotation angle; The driving direction of the working vehicle is adjusted according to the wheel correction angle so that the driving direction is consistent with the target driving direction.

4. An automatic line control device, characterized in that: include: A distance detection module, used for obtaining the distance between the working vehicle and the plant row detected in real time by a flexible detection device on the working vehicle; wherein the flexible detection device comprises two flexible tentacles respectively located on the left and right sides of the same axis and a pressure sensor arranged on the flexible tentacles, the pressure sensor being used for collecting the pressure value exerted on the corresponding flexible tentacles when contacting the plant row, and the pressure value being used for calculating the distance between the working vehicle and the plant row; A wheel angle acquisition module, used to determine whether the working vehicle has a line deviation according to the distance, and when it is determined that a line deviation has occurred, obtain the current wheel angle and the offset of the working vehicle; A calculation module, used to determine the target driving direction of the working vehicle when it reaches the opposite direction according to the offset, and calculate the required target rotation angle according to the current wheel angle and the offset; A travel control module, used for adjusting the working vehicle according to the target turning angle so that the driving direction of the working vehicle is consistent with the target driving direction; The distance detection module is specifically used to: obtain the pressure value collected in real time by the pressure sensor on each flexible tentacle; calculate the distance between each flexible tentacle and at least one adjacent row of plants according to the pressure value of each flexible tentacle and the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the row of plants; wherein, the greater the pressure value, the shorter the distance between the flexible tentacle and the row of plants; The process of obtaining the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row includes: Analyzing the force process of the flexible tentacle to obtain the bending moment equation of the flexible tentacle in the cross section; Based on the bending moment equation, an approximate differential equation of the deflection curve is calculated; Determine the rotation angle equation and the deflection equation according to the deflection curve approximate differential equation and the displacement boundary condition; According to the rotation angle equation and the deflection equation, a corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is calculated; The expression for the corresponding relationship between the pressure value of the flexible tentacle and the distance between the flexible tentacle and the plant row is: Wherein, F is the pressure, E is the elastic modulus of the flexible tentacle, is the moment of inertia of the flexible tentacle, θmax is the maximum bending angle of the flexible tentacle, is the distance between the flexible tentacles and the plant row.

5. A working vehicle, characterized in that: The working vehicle comprises a memory and at least one processor, the memory storing a computer program, and the processor being configured to execute the computer program to implement the automatic lane control method according to any one of claims 1 to 3.

6. The working vehicle according to claim 5, characterized in that: The working vehicle includes at least one set of flexible detection devices; Each group of the flexible detection devices comprises two flexible tentacles respectively located on the left and right sides of the same axis and a pressure sensor arranged on the flexible tentacles; The pressure sensor is used to detect the pressure exerted on the flexible tentacle.

7. A computer storage medium, characterized in that: It stores a computer program, and when the computer program is executed, the automatic row control method according to any one of claims 1-3 is implemented.

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