A turning control method, device, equipment, system and storage medium

Abstract

Embodiments of the present application disclose a turning control method, device, equipment, system and storage medium. The technical scheme provided by the embodiments of the present application determines the working area of the target plot according to the set first positioning line and the second positioning line, and controls the working equipment to perform the turning operation when the turning instruction generated in response to the working equipment exceeding the working area is detected, or the turning instruction generated in response to the turning control operation of the working equipment. Whether to update the working area is determined according to the position of the working equipment when performing the turning operation. The subsequent turning control of the working equipment can be based on the updated working area. The turning control of the target plot is no longer limited by the shape of the plot, effectively improving the generality of the automatic driving of the agricultural machine and the efficiency of the agricultural operation.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a turning control method, device, equipment, system and storage medium. Background Technology

[0002] With the development of agricultural technology, automatic driving technology for agricultural machinery has gradually attracted widespread attention. The goal of automatic driving technology for agricultural machinery is to improve agricultural efficiency, freeing operators from monotonous and dangerous operations, and providing a guarantee for sustainable agricultural production. Automatic driving technology for agricultural machinery typically focuses on tracking the work path; automatic turning of the machinery relies on high-precision maps and the planning of the turning route.

[0003] When agricultural machinery enters automatic driving mode, its turning operation relies on precise boundary information of the target plot, meaning the working path of the target plot must be obtained in advance through path planning. However, obtaining precise plot boundary information often requires workers to use handheld coordinate recording instruments to mark points, which is labor-intensive and costly, reducing the versatility of automatic driving and hindering agricultural machinery operation efficiency. Summary of the Invention

[0004] This application provides a turning control method, device, equipment, system, and storage medium to solve the technical problems in the prior art where turning control based on precise plot boundary information has high labor intensity and cost, low versatility of agricultural machinery automatic driving, and is not conducive to agricultural machinery operation efficiency, thereby effectively improving the versatility of agricultural machinery automatic driving and agricultural machinery operation efficiency.

[0005] In a first aspect, embodiments of this application provide a U-turn control method, comprising:

[0006] The working area of ​​the target plot is determined based on the established first and second positioning lines.

[0007] The work equipment is controlled to perform a turning operation based on a turning command, wherein the turning command is generated in response to the work area or in response to a turning control operation on the work equipment;

[0008] Whether to update the work area is determined based on the position of the working equipment when performing the turning operation.

[0009] In a second aspect, embodiments of this application provide a U-turn control device, including an area initialization module, a U-turn control module, and an area update module, wherein:

[0010] The area initialization module is used to determine the working area of ​​the target plot based on the set first and second positioning lines.

[0011] The turning control module is used to control the working equipment to perform a turning operation based on a turning command. The turning command is generated in response to the working area or in response to the turning control operation of the working equipment.

[0012] The area update module is used to determine whether to update the work area based on the position of the working equipment when it performs a turn-around operation.

[0013] In a third aspect, embodiments of this application provide a turning control device, including: a memory and one or more processors;

[0014] The memory is used to store one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the turn control method as described in the first aspect.

[0016] In a fourth aspect, embodiments of this application provide a U-turn control system, including a control terminal and an autonomous driving device;

[0017] The control terminal is used to issue a turning command to the working equipment;

[0018] The self-driving device is used to control the operating equipment to perform operations in the work area according to the U-turn control method described in the first aspect.

[0019] In a fifth aspect, embodiments of this application provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the turn-around control method as described in the first aspect.

[0020] This application embodiment determines the working area of ​​the target plot based on the set first and second positioning lines. When a turning command is detected in response to the working equipment exceeding the working area, or in response to a turning control operation of the working equipment, the working equipment is controlled to perform a turning operation. The working area is updated based on the position of the working equipment when performing the turning operation. Subsequent turning control of the working equipment can be based on the updated working area. The turning control of the target plot is no longer limited by the shape of the plot, effectively improving the versatility of automatic agricultural machinery and the efficiency of agricultural machinery operation. Attached Figure Description

[0021] Figure 1 This is a flowchart of a U-turn control method provided in an embodiment of this application;

[0022] Figure 2 This is a flowchart of another U-turn control method provided in the embodiments of this application;

[0023] Figure 3 This is a schematic diagram of a U-turn control based on a rectangular working area provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of a turning control based on a working equipment equipped with an actuator, provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of a turning control for a non-rectangular working area provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of another non-rectangular working area turning control provided in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of the structure of a turning control device provided in an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of the structure of a turning control device provided in an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but additional steps not included in the drawings may also be present. The above processes can correspond to methods, functions, procedures, subroutines, subroutines, etc.

[0030] Figure 1 A flowchart of a U-turn control method provided in an embodiment of this application is given. The U-turn control method provided in this embodiment of the application can be executed by a U-turn control device, which can be implemented by hardware and / or software and integrated into a U-turn control device.

[0031] The following description uses a U-turn control device to execute a U-turn control method as an example. (Reference) Figure 1 The U-turn control method includes:

[0032] S101: Determine the working area of ​​the target plot based on the set first and second positioning lines.

[0033] The first and second positioning lines provided in this solution can be pre-set according to the shape of the target plot, and are used to indicate the two boundaries of the working area of ​​the target plot. Generally, if the positioning line coincides with or is close to the boundary of the working area of ​​the target plot, the working equipment (such as agricultural machinery or other mobile working devices or vehicles that can travel on the target plot) working on the target plot moves towards a positioning line. When it moves to a turning position determined based on the working area corresponding to the positioning line, it needs to perform a turning operation to change the direction of movement of the working equipment. The turning position determined based on the working area corresponding to the positioning line can be a position close to or beyond the positioning line, or a position on the positioning line.

[0034] Understandably, when the working area of ​​the target plot is a rectangular area, the first and second positioning lines are parallel to each other, and the working area of ​​the target plot is contained within the area enclosed by the first and second positioning lines. In this case, the operating equipment can be configured with an automatic turning control mode throughout the process. That is, when the operating equipment moves to the turning position determined by the first or second positioning line, it can be determined that the operating equipment has completed the operation on the current column of crops (parallel to the current direction of movement of the operating equipment), and the operating equipment needs to perform a turning operation to operate on the next column of crops.

[0035] It is understandable that when the working area of ​​the target plot is a non-rectangular area, there will be at least one positioning line that does not correspond to the boundary of the corresponding working area (for example, the positioning line does not coincide with or is not close to the boundary of the corresponding working area of ​​the target plot, or the positioning line is composed of multiple line segments in different directions, or the included angle between the two positioning lines is greater than the set angle). In this case, the actual working area of ​​the target plot does not completely correspond to the area enclosed by the first positioning line and the second positioning line, and there will be a situation where part of the working area protrudes or is recessed relative to the area enclosed by the first positioning line and the second positioning line.

[0036] In existing technologies, automatic turning operations for work equipment can only be applied to rectangular areas. If the work area is not rectangular, the equipment can only perform automatic turning operations according to the positions of the first and second positioning lines. Turning occurs too late when the work area boundary is within the positioning lines, and too early when the boundary is outside the lines, resulting in unsatisfactory turning control. Alternatively, workers can collect precise positioning information from the target site beforehand (e.g., using a handheld RTK positioning module to mark points on the target site) and pre-plan the work path and turning path of the equipment based on a high-precision map. However, turning control for non-rectangular sites requires precise boundary information, which is labor-intensive and costly, affecting the versatility of the automatic driving system.

[0037] To address the aforementioned technical issues, this solution provides a universal turning control method applicable to both rectangular and non-rectangular plots. A first and second positioning line are pre-set on the target plot, defining the initial working area. During the movement of the work equipment, if the position requiring a turn in the current direction coincides with the opposite positioning line (the first or second positioning line facing the direction of travel) or the distance is within a set distance threshold, the work equipment can be controlled automatically. When the work equipment reaches the turning position determined based on the working area of ​​the target plot (e.g., the work equipment approaches, reaches, or exceeds the positioning line), the work equipment automatically performs the turning operation. If the position requiring a turn in the current direction does not match the turning position determined based on the working area of ​​the target plot (e.g., the position requiring a turn in the current direction does not coincide with the opposite positioning line or the distance is beyond the set distance threshold), the automatic control mode of the work equipment can be canceled (i.e., the operator takes over control of the turning operation). When the work equipment reaches the position requiring a turn, the operator initiates the turning control operation to control the work equipment to perform the turning operation. Meanwhile, after the operating equipment performs a turning operation, the working area is updated based on the turning position of the operating equipment. In the next direction of movement, the turning control of the operating equipment can be carried out based on the updated working area. The turning control of the target plot is no longer limited by the shape of the plot, which effectively improves the versatility of agricultural machinery automatic driving and the efficiency of agricultural machinery operation.

[0038] For example, a first positioning line and a second positioning line are determined, and the initial working area of ​​the target plot is determined based on the first and second positioning lines. The first and second positioning lines can be drawn by workers on a map of the target plot, or they can be determined by setting positioning points at the start and end points in one direction of movement when using work equipment, and then using these two positioning points to determine the first and second positioning lines. The area enclosed by the first and second positioning lines includes the initial working area of ​​the target plot. Optionally, the first and second positioning lines can be set by setting the length of the positioning lines (including the first and second positioning lines), or by setting the start and end points in the direction corresponding to the final work path. In this case, the area enclosed by the first and second positioning lines of fixed length is the initially defined working area of ​​the target plot.

[0039] It is understandable that the initially set target plot work area is not consistent with the actual work area, and there will be a situation where the actual work area is inconsistent with the initially set work area. When the actual work area is inconsistent with the initially set work area, the set work area can be updated according to the position of the working equipment during the manual turn-around control operation, so that the updated work area is closer to the actual work area.

[0040] S102: Control the working equipment to perform a turning operation based on the turning command. The turning command is generated in response to the working area or in response to the turning control operation of the working equipment.

[0041] For example, during the process of controlling the movement of the working equipment to work on the crops on the movement path (at this time, the movement direction of the working equipment is towards one of the positioning lines), when a turning instruction is detected or received instructing the working equipment to turn around, the working equipment is controlled to perform a turning operation.

[0042] Understandably, when completing a turning operation, the working equipment changes its direction of movement to another positioning line, and moves laterally a certain distance relative to its original direction of movement, so that it can work on the next crop position after turning. The turning diameter of the working equipment during the turning operation can be determined based on the distance between two adjacent rows of crops.

[0043] It should be explained that the control modes of the operating equipment provided in this solution include automatic control mode and manual control mode. That is, the operating equipment can trigger a turning operation in both automatic and manual control modes. However, in manual control mode, the turning operation will not be automatically triggered. The real-time position of the operating equipment is detected. In automatic control mode, when the position of the operating equipment reaches the turning position determined based on the work area (either the initially set work area or the updated work area) (e.g., the turning position determined based on the boundary of the work area), a turning command is generated to control the operating equipment to perform the turning operation. Optionally, the turning position determined based on the work area can be on the boundary of the work area or within the work area. The distance from the turning position to the boundary can be determined according to the distance corresponding to the preparation operation or delay required for the operating equipment to perform the turning operation. The boundary corresponding to the initial work area is either the first positioning line or the second positioning line. In manual control mode (e.g., when the location where the equipment needs to turn around is not on the opposite positioning line or the turning position determined based on the work area, switching from automatic control mode to manual control mode to take over the turning operation control of the equipment), the equipment will move in the current direction of travel. When the equipment moves to the location where it needs to turn around, the operator can trigger the turning control operation. The turning control device will respond to the turning control operation by generating a turning command to control the equipment to perform the turning operation. Optionally, in automatic control mode, the operator can also initiate the turning control operation to control the equipment to perform the turning operation.

[0044] Optionally, the turning control device provided in this solution can be mounted on the control system of the working equipment. The control mode of the working equipment can be set on the control system, and turning control operations can be initiated. The turning control device can also be mounted on a remote control device for remotely controlling the working equipment. The control mode of the working equipment can be set and turning control operations can be initiated via the remote control device. For example, the remote control device can initiate a control mode switching operation or a turning control operation, and generate corresponding control mode switching commands or turning commands to the control system of the working equipment to control the working equipment to switch control modes or execute turning operations.

[0045] S103: Determine whether to update the work area based on the position of the working equipment when performing the turning operation.

[0046] For example, after controlling the work equipment to perform a turn-around operation based on a turn-around command, the system determines whether to update the work area based on the work equipment's position within the work area during the turn-around operation. If an update is required, the work area can be updated adaptively based on the turn-around position, improving the versatility of the automated driving system. For instance, if the work equipment's position during the turn-around operation is on or within a defined range of the work area boundary (in which case the turn-around position is determined based on the work area boundary), it can be determined that the work area will not be updated. However, if the work equipment's position during the turn-around operation is not on or outside the defined range of the work area boundary (in which case the turn-around position is the position where the user triggered the turn-around control operation), it can be determined that the work area will be updated.

[0047] Optionally, the work area can be updated based on the position of the work equipment and the positioning line facing the next direction of movement. For example, assuming the turning point determined based on the work area of ​​the target plot is the intersection of the current work path and the second positioning line, when the work equipment is traveling towards the second positioning line, if the work equipment responds to the automatic driving mode and performs a turning operation upon reaching the second positioning line, the updated work area is consistent with the initially set work area, which is within the area enclosed by the first and second positioning lines. If the work equipment responds to the manual driving mode and performs a turning operation before reaching the second positioning line, the updated work area is the range between the turning point and the first positioning line, and the length of the movement path after the turning point is less than the distance between the first and second positioning lines in the next direction of movement. If the work equipment responds to the manual driving mode and performs a turning operation a certain distance after reaching the second positioning line, the updated work area is the range between the turning point and the first positioning line, and the length of the movement path after the turning point is greater than the distance between the first and second positioning lines in the next direction of movement.

[0048] In one possible embodiment, after a complete operation on the target plot, the initially set work area and the updated work area can be recorded. The next time an operation is performed on the target plot, it can be based on the recorded work area, enabling automatic turning operations on the target plot. Therefore, after determining whether to update the work area based on the position of the operating equipment during the turning operation, this solution further includes: determining the work area record for the target plot based on the update results of the work area.

[0049] For example, the initial working area determined by the first and second positioning lines, as well as the working area updated after each turning operation, are recorded to obtain the working area record for the target plot. At this time, the overall working area of ​​the target plot recorded in the working area record is closer to the actual working area of ​​the target plot. Subsequently, the automatic turning operation of the operating equipment can continue to be controlled based on this working area record, eliminating the need for manual control of the operating equipment turning by the staff, thereby improving the versatility of automatic agricultural machinery and the efficiency of agricultural machinery operations.

[0050] Correspondingly, the U-turn control method provided in this solution also includes: configuring the work area of ​​the target plot based on the work area record. For example, when it is necessary to determine the work area of ​​the target plot, the work area record generated by the previous control of the work equipment to perform operations on the target plot based on the U-turn control method can be obtained, and the work area of ​​the target plot can be configured according to the work area record corresponding to the target plot.

[0051] Optionally, the work area record can be determined automatically or specified by the worker. For example, for automatically determined work area records, the corresponding work area record can be determined based on the current target plot or the target plot determined by positioning. For worker-specified work area records, before controlling the work equipment to work on the target plot, the worker can choose whether to perform the work based on the work area record corresponding to the current target plot. If the user chooses to perform the work based on the work area record corresponding to the current target plot, the system responds to the worker's selection operation by retrieving the work area record corresponding to the current target plot and configuring the work area of ​​the target plot. Optionally, after configuring the work area of ​​the target plot based on the work area record, the system can control the turning operation performed by the work equipment when working on the target plot based on the work area record. That is, when the work equipment moves to the turning position determined based on the work area, a turning command is generated and the turning operation is performed in response to the turning command, without requiring the user to manually trigger the turning operation.

[0052] Optionally, when controlling the operation of agricultural machinery based on work area records, operators can also manually control the timing of the turning operation based on the manual control mode. In this case, the work area at the corresponding location (next work path) can be updated according to the position of the agricultural machinery when manually controlling the turning operation. A new work area record is generated after the work on the target plot is completed. When working on the target plot subsequently, the turning operation of the agricultural machinery can be controlled based on the selection of different work area records. This solution records the work area generated after the completion of the work on the target plot. When working on the target plot subsequently, the turning operation of the agricultural machinery can be automatically controlled based on the work area record, realizing automatic turning of agricultural machinery in both regular and irregular plots, achieving more intelligent agricultural machinery operation.

[0053] The above describes a system that determines the working area of ​​a target plot based on a first and second positioning line. When a turning command is detected in response to the working equipment exceeding the working area, or in response to a turning control operation on the working equipment, the system controls the working equipment to perform a turning operation. The system then determines whether to update the working area based on the position of the working equipment during the turning operation. Subsequent turning control of the working equipment can be based on the updated working area. The turning control of the target plot is no longer limited by the shape of the plot, effectively improving the versatility of automatic agricultural machinery operation and the efficiency of agricultural machinery operations.

[0054] Based on the above embodiments, Figure 2 A flowchart of another U-turn control method provided in an embodiment of this application is given. (Reference) Figure 2 The U-turn control method includes:

[0055] S201: Determine the first positioning line and the second positioning line based on the set first positioning point and the second positioning point, and determine the area enclosed by the first positioning line and the second positioning line as the initial working area of ​​the target plot.

[0056] For example, the positioning line provided by this solution can be determined based on positioning points on the target plot. For instance, the operating equipment is controlled to determine a first positioning point at the starting point of the operation on the target plot (an endpoint or corner of a boundary of the work area), and then controlled to determine a second positioning point along the work path towards the opposite endpoint (the point where the first turning operation is performed). A first positioning line and a second positioning line are then determined based on the first positioning point and the second positioning line. The operating equipment's path in this operation is perpendicular to both the first and second positioning lines.

[0057] After determining the first and second positioning lines, the area enclosed by these lines can be defined as the initial working area for the current target site. The location of the working area (left or right of the line connecting the first and second positioning points) can be set by the operator or determined based on the turning direction of the equipment when performing a U-turn operation after reaching the second positioning point (e.g., the working area is located to the left or right of the line connecting the first and second positioning points when turning counter-clockwise or clockwise). This solution determines the first and second positioning lines by setting the first and second positioning points, facilitating the initial setting of the working area and effectively improving the efficiency of U-turn control.

[0058] S202: Control the working equipment to perform a turning operation based on the turning command. The turning command is generated in response to the work area or in response to the turning control operation of the working equipment.

[0059] The turn-around instructions provided in this solution include those generated in response to the work area in automatic control mode, and those generated in response to turn-around control operations on the work equipment in manual control mode.

[0060] In response to a turn-around command generated in the work area, the automatic turn-around function of the work equipment can be activated. The turn-around position is determined according to the work area, and a control command is generated when the work equipment reaches the turn-around position. The turn-around control command controls the work equipment to perform the turn-around operation. The turn-around position can be on the boundary corresponding to the work area, or it can be a position set within the work area (e.g., a position set at a distance in front of the corresponding boundary).

[0061] To generate a turn-around command in response to the turn-around control operation of the working equipment, the automatic turn-around function of the working equipment needs to be turned off before the equipment automatically turns around, and the turn-around should be controlled manually (through the equipment's control system or remote control). Therefore, this solution, before controlling the working equipment to perform the turn-around operation based on the turn-around command, also includes: if an automatic turn-around cancellation operation is received before the working equipment reaches the turn-around position corresponding to the work area, responding to the automatic turn-around cancellation operation and controlling the working equipment to move in a straight line; generating a turn-around command based on the turn-around control operation of the working equipment.

[0062] For example, when a work device is moving along a work path and needs to be manually turned around at the next turning point, the operator can trigger an automatic turning cancellation operation via the work device's control system or remote control before the work device reaches the corresponding turning point in the work area. This switches the control mode of the work device from automatic to manual control, stopping the automatic turning function. During this period, the work device will be controlled to move in a straight line along the current work path, and the operator can wait for the work device to reach the required turning point and trigger the turning control operation.

[0063] Optionally, after controlling the working equipment to perform a turning operation based on the turning command, this solution also includes: restoring the automatic turning function of the working equipment to restore the generation of turning commands when the working equipment exceeds the working area.

[0064] For example, after stopping the automatic turning function of the working equipment, if the next turning position is on the positioning line opposite to the direction of movement, that is, the working equipment can perform a turning operation after passing the positioning line, the automatic turning function of the working equipment can be restored to switch the control mode of the working equipment from manual control mode to automatic control mode, and restore the generation of turning instructions when the working equipment exceeds the working area.

[0065] Optionally, after the automatic turn-around function of the working equipment is stopped in response to the automatic turn-around cancellation operation, the automatic turn-around function can be automatically restored after the working equipment performs a turn-around operation based on the turn-around command generated in response to the turn-around control operation of the working equipment. Alternatively, the automatic turn-around function can be restored only after receiving an automatic turn-around restoration operation. During both periods, the operator needs to manually control the turn-around operation of the working equipment. When the working area of ​​the target plot is not rectangular, this solution can cancel the automatic turn-around function of the working equipment if the turn-around position is inconsistent with the positioning line, requiring the operator to manually control the turn-around operation. When the turn-around position is consistent with the positioning line, the automatic turn-around function of the working equipment can be maintained or restored. This automatic control of the turn-around operation of the working equipment meets the turn-around control requirements in both rectangular and non-rectangular areas, making the working equipment more adaptable to terrain and improving work efficiency.

[0066] In one possible embodiment, before controlling the work equipment to perform a turning operation based on the turning command, the solution further includes: controlling the work equipment to perform a set turning preprocessing operation.

[0067] For example, for work equipment that requires pre-processing before performing a U-turn, the pre-processing operations to be performed before the U-turn can be preset. Before executing the preset U-turn pre-processing operation, the pre-processing operation is performed first, and after the pre-processing operation is completed, the preset U-turn pre-processing operation is executed based on the U-turn command to ensure the work equipment can successfully complete the U-turn. The timing of performing the pre-processing operation before the U-turn can be determined based on the time required for the pre-processing operation and the moving speed of the work equipment. For example, the pre-processing operation distance can be determined by multiplying the time required for the pre-processing operation by the moving speed of the work equipment. When the distance between the work equipment and the position to be turned (the nearest positioning line) is within the pre-processing operation distance, the work equipment is controlled to perform the preset U-turn pre-processing operation.

[0068] In one possible embodiment, an actuator for operating on crops can be mounted on the working equipment. Before and after a turning operation, the actuator needs to be raised and lowered respectively to ensure normal turning and operation. Optionally, the actuator can be a spraying mechanism, a harvesting mechanism, a sowing mechanism, a cutting mechanism, etc. Based on this, this solution can control the actuator mounted on the working equipment to perform a raising operation before controlling the working equipment to perform a turning operation based on a turning command. Correspondingly, this solution can control the actuator mounted on the working equipment to perform a lowering operation after controlling the working equipment to perform a turning operation based on a turning command.

[0069] For example, for a work equipment equipped with an actuator, before controlling the work equipment to perform a turning operation based on a turning control command, the actuator mounted on the work equipment is controlled to lift up. The work equipment then performs the turning operation only after the actuator is lifted. Lifting the actuator before the work equipment turns reduces the likelihood of the actuator obstructing the turning operation and reduces the possibility of damage to the actuator due to collisions during the turning process. After the work equipment completes the turning operation, the lifted actuator is controlled to lower down to facilitate subsequent operations.

[0070] In one possible embodiment, when controlling the work equipment to lift the actuator, the solution includes: determining the lifting time and / or lifting position of the actuator based on the lifting delay time of the actuator mounted on the work equipment and the moving speed of the work equipment; and controlling the work equipment to lift the actuator based on the lifting time and / or lifting position.

[0071] Optionally, the lifting time and / or lifting position of the control actuator can be determined upon receiving a turn-around command (before performing the turn-around operation) or when the turn-around position is determined based on the work area. For example, the lifting delay time for the actuator mounted on the work equipment to perform the lifting operation, and the current moving speed of the work equipment, are determined. The lifting delay time can be a default delay time, a delay time determined according to the type of actuator, or a delay time input by the user. Further, the lifting time and / or lifting position of the control actuator are calculated based on the lifting delay time and the moving speed. For example, the lifting time of the control actuator can be determined by moving the time corresponding to at least the lifting delay time forward from the time the turn-around command is generated. Alternatively, the first distance required to lift the actuator can be determined based on the product of the lifting delay time and the moving speed, and the position corresponding to moving at least the first distance forward from the turn-around position determined based on the work area can be determined as the lifting position of the control actuator.

[0072] After determining the lifting time and / or lifting position of the control actuator, during the linear movement of the controlled work equipment, upon reaching the lifting time and / or lifting position, the control equipment lifts the actuator. After the actuator is lifted and reaches the turning position determined based on the work area, a turning command is generated, and the work equipment is controlled to perform a turning operation in response to the turning command. This scheme determines the lifting time and / or lifting position of the control actuator based on the lifting delay time of the actuator and the moving speed of the work equipment, accurately determining the timing of the actuator's lifting to ensure the normal execution of the turning operation.

[0073] In one possible embodiment, when the actuator mounted on the control work equipment performs a lowering operation, the present solution includes: determining the lowering time and / or lowering position of the control actuator based on the lowering delay time of the lowering operation of the actuator mounted on the control work equipment and the moving speed of the control work equipment; and controlling the control work equipment to lower the actuator based on the lowering time and / or lowering position.

[0074] Optionally, the lowering time and / or lowering position of the control actuator can be determined before the turning operation is completed, or when the turning position is determined based on the work area. For example, the lowering delay time for the actuator mounted on the work equipment to perform the lowering operation, and the current moving speed of the work equipment (e.g., the moving speed during the turning process) are determined. The lowering delay time can be a default delay time, a delay time determined according to the type of actuator, or a delay time input by the user. Further, the lowering time and / or lowering position of the control actuator are calculated based on the lowering delay time and the moving speed. For example, the time point for completing the turning operation is estimated based on the moving speed, and the time point for completing the turning operation is shifted forward by at least the time corresponding to the lowering delay time as the lowering time of the control actuator. Alternatively, a second distance required to lower the actuator can be determined based on the product of the lowering delay time and the moving speed, and the position corresponding to shifting forward at least the second distance from the turning position determined based on the work area is determined as the lowering position of the control actuator.

[0075] After determining the lowering time and / or lowering position of the control actuator, during or after the control equipment performs a turning operation, the control equipment lowers the actuator upon reaching the lowering time and / or lowering position. After lowering the actuator, the control equipment can continue to move linearly along the reached work path to perform the operation. This scheme determines the lowering time and / or lowering position of the control actuator based on the lowering delay time of the actuator's lowering operation and the moving speed of the work equipment, accurately determining the timing of the actuator's lowering and ensuring the normal execution of the turning operation.

[0076] Taking a rice transplanter as an example, the transplanter can utilize its onboard seedling trays for operation during movement, and the trays need to be lifted when turning around. Assume that the working area is determined based on the first and second positioning lines, and after each update of the working area, the turning position for controlling the transplanter's turn is determined based on the working area. The lifting position for controlling the seedling tray lifting is determined based on the lifting delay time for the seedling tray lifting operation and the transplanter's movement speed along the working path. Similarly, the lowering position for controlling the seedling tray lowering is determined based on the lowering delay time for the seedling tray lowering operation and the transplanter's movement speed when performing the turn-around operation. During the linear movement of the transplanter, when the transplanter reaches the lifting position, the transplanter lifts the seedling tray, and when the transplanter reaches the corresponding turning position, the transplanter performs the turn-around operation. During the rice transplanter's turning process, the seedling tray is lowered simultaneously when the transplanter reaches the designated lowering position. The lowering of the seedling tray is completed as the transplanter finishes the turning operation. At this point, the transplanter can be controlled to move linearly along the next work path. This solution raises the seedling tray before performing the turning operation and lowers it before the turning is complete to prevent collisions between the seedling tray and other objects during the turning process. This ensures the transplanter can turn normally and perform transplanting operations on the next work path, effectively guaranteeing the transplanter's operational efficiency.

[0077] S203: Determine whether to update the work area based on the position of the working equipment when performing the turning operation.

[0078] In one possible embodiment, this solution determines to update the work area when a turn-around command is generated in response to a turn-around control operation on the working equipment; conversely, it determines that no update of the work area is required when a turn-around command is generated in response to a work area. It is understood that when a turn-around command is generated in response to a turn-around control operation on the working equipment, the actual turn-around position of the working equipment is inconsistent with the turn-around position determined based on the (latest) work area. After the working equipment turns around, the new work area will change, requiring an update of the work area based on the position of the working equipment at the time of the turn-around operation. Conversely, when a turn-around command is generated in response to a work area, the actual turn-around position of the working equipment is consistent with the turn-around position determined based on the (latest) work area. After the working equipment turns around, the work area will remain unchanged, and no update of the work area is required. This solution updates the work area promptly after controlling the working equipment to turn around based on a turn-around command generated in response to a turn-around control operation on the working equipment, making the subsequent turn-around position of the working equipment closer to the actual required turn-around position, thus improving the efficiency and versatility of turn-around control for working equipment operating on irregular terrain.

[0079] In one possible embodiment, when updating the work area, this solution may update the first positioning line and / or the second positioning line according to the position of the working equipment when performing a turning operation.

[0080] For example, when it is determined that the work area needs to be updated, the work area can be updated by updating the positions of the first positioning line and / or the second positioning line. For instance, when only the boundary corresponding to the turning of the working equipment in the work area needs to be updated (e.g., when the turning command corresponding to the last turning operation is generated in response to the original work area), the corresponding first positioning line or second positioning line is updated according to the position of the working equipment when performing the turning operation, so as to update the boundary corresponding to the work area. When both boundaries of the work area need to be updated simultaneously (e.g., when the turning command corresponding to the last turning operation is generated in response to the turning control operation of the working equipment), the first positioning line and the second positioning line are updated according to the positions of the working equipment when performing the turning operation in two consecutive times, so as to update the two boundaries corresponding to the work area. Specifically, when updating the first and second positioning lines, the updated first and second positioning lines are the boundaries corresponding to the updated work area; when only the first positioning line is updated, the updated first positioning line and the original second positioning line are the boundaries corresponding to the updated work area; and when only the second positioning line is updated, the original first positioning line and the updated second positioning line are the boundaries corresponding to the updated work area.

[0081] In one possible embodiment, when updating the work area, the solution includes: if the turning instruction corresponding to the last turning operation of the working equipment is generated in response to the turning control operation, updating the work area according to the current position of the working equipment and the position at the time of the last turning operation, or asking the user whether to update the work area using the position at the time of the last turning operation, and determining the update method of the work area based on the user's answer.

[0082] For example, when the turning command corresponding to the last turning operation of the working equipment is generated in response to the turning control operation, the working area can be updated based on the current and previous positions of the working equipment during the turning operation. Specifically, the positions of the first and second positioning lines are updated based on the current and previous positions of the working equipment during the turning operation. The updated first and second positioning lines then become the two boundaries of the working area. This solution can accurately update the working area based on the current and previous positions of the working equipment during the turning operation, ensuring that the subsequent turning position of the working equipment is closer to the actual required turning position. This improves the efficiency and versatility of turning control for working equipment operating on irregular terrain.

[0083] In one embodiment, the correspondence between the updated positioning line and the boundary of the work area can be determined according to the working direction of the working equipment. Based on this, when updating the work area according to the position of the working equipment at the current and previous turning operations, this solution can be as follows: when the current working direction of the working equipment is from the first positioning line to the second positioning line, the position of the second positioning line is updated according to the position of the working equipment at the current turning operation, and the position of the first positioning line is updated according to the position of the working equipment at the previous turning operation; when the current working direction of the working equipment is from the second positioning line to the first positioning line, the position of the first positioning line is updated according to the position of the working equipment at the current turning operation, and the position of the second positioning line is updated according to the position of the working equipment at the previous turning operation.

[0084] For example, when the current operating direction of the working equipment is from the first positioning line to the second positioning line, the positioning line corresponding to the current turning operation of the working equipment can be determined as the second positioning line. The position of the second positioning line can then be updated based on the position of the working equipment during the current turning operation, and the position of the first positioning line can be updated based on the position of the working equipment during the previous turning operation. The updated first and second positioning lines constitute the two boundaries of the working area. Conversely, when the current operating direction of the working equipment is from the second positioning line to the first positioning line, the positioning line corresponding to the current turning operation of the working equipment can be determined as the first positioning line. The position of the first positioning line can then be updated based on the position of the working equipment during the current turning operation, and the position of the second positioning line can be updated based on the position of the working equipment during the previous turning operation. The updated first and second positioning lines constitute the two boundaries of the working area. This solution determines the correspondence between the updated positioning lines and the boundaries of the working area based on the operating direction of the working equipment, accurately updates the working area, ensures that the turning position of the working equipment matches the target plot, and improves the accuracy and efficiency of turning control of the working equipment.

[0085] In one possible embodiment, if the turning command corresponding to the last turning operation of the working equipment is generated in response to the turning control operation, the user can be first asked whether to update the work area using the position at the time of the last turning operation, and then the update method of the work area can be determined based on the user's answer.

[0086] Optionally, the work area can be updated using the position from the last turn operation, i.e., updating the work area based on the positions of the two turn operations, or it can be updated without using the position from the last turn operation, i.e., updating one of the positioning lines based on the current turn operation position, thereby updating the local boundary of the work area. For example, when both the current and last turn operation commands are generated in response to a turn control operation, the user can be asked whether to update the work area using the position from the last turn operation. The user can be prompted through an interactive control (e.g., a select or confirm button) on the user interface, and the user's response to the interactive control is used to determine the user's answer. The work area is then updated according to the user's selected update method. This solution, when the turn operation command for the last turn operation is generated in response to a turn control operation, can prompt the user for the update method of the work area, improving the flexibility of turn control for the work equipment.

[0087] In one embodiment, when determining the update method for the work area based on the user's response, the solution includes: if the user's response indicates that the work area should be updated using the position from the last time a turn-around operation was performed, determining that the update method for the work area is to update the work area based on the current position of the working equipment and the position from the last time a turn-around operation was performed; if the user's response indicates that the work area should not be updated using the position from the last time a turn-around operation was performed, determining that the update method for the work area is to update the work area based on the position from the current position of the working equipment when performing the turn-around operation.

[0088] For example, if the user answers yes to the question of whether to update the work area using the position from the last time the turn-around operation was performed, then the work area is updated using the position from the last time the turn-around operation was performed. The method of updating the work area using the position from the last time the turn-around operation was performed will not be described in detail in this solution.

[0089] When the user answers "no" to the question about updating the work area based on the position from the last turn-around operation, the work area is not updated using the position from the last turn-around operation. Instead, it is updated only based on the current position from the last turn-around operation. For example, if the current working direction of the equipment is from the first positioning line to the second positioning line, the position of the second positioning line is updated based on the position of the equipment at the time of the turn-around operation. If the current working direction of the equipment is from the second positioning line to the first positioning line, the position of the first positioning line is updated based on the position of the equipment at the time of the turn-around operation. This solution determines the update method for the work area based on the user's answer to the question about updating the work area based on the position from the last turn-around operation, improving the flexibility of turning control for the equipment.

[0090] In one possible embodiment, when updating the work area, the solution further includes: if the turning instruction corresponding to the last turning operation of the working equipment was in response to the generation of the work area, updating the work area according to the position of the working equipment when it is currently performing the turning operation.

[0091] For example, when the turning command corresponding to the last turning operation of the working equipment was in response to the generation of the work area, it can be determined that the working equipment performed the last turning operation based on the turning position determined by the work area. There is no need to update the boundary of the work area at that position. Instead, the work area can be updated based on the position of the working equipment at the current turning operation. That is, the position of the first positioning line or the second positioning line is updated based on the position of the working equipment at the current turning operation. The updated first positioning line or the second positioning line becomes one of the updated boundaries of the work area. This solution can update the work area accurately when the position of the last turning operation was the turning position determined by the work area, making the subsequent turning position of the working equipment closer to the actual required turning position. This improves the efficiency and versatility of turning control for working equipment operating on irregular terrain.

[0092] In one possible embodiment, the method for updating the work area can be determined based on the orientation of the working equipment. When updating the work area, the boundary of the work area corresponding to the end point of the next work path can be reset based on the opposing positioning line, or it can be determined based on the position of the last turn (i.e., using the work area corresponding to the last turn position). Based on this, when the turn command corresponding to the last turn operation of the working equipment was in response to the generation of the work area, this solution updates the work area based on the position of the working equipment at the time of the current turn operation, including: when the current working direction of the working equipment is from the first positioning line to the second positioning line, updating the position of the second positioning line based on the position of the working equipment at the time of the current turn operation; when the current working direction of the working equipment is from the second positioning line to the first positioning line, updating the position of the first positioning line based on the position of the working equipment at the time of the current turn operation.

[0093] For example, when the current operating direction of the working equipment is from the first positioning line to the second positioning line, the positioning line corresponding to the current turning operation of the working equipment can be determined as the second positioning line. The position of the second positioning line can then be updated based on the position of the working equipment during the current turning operation. The original first positioning line and the updated second positioning line then constitute the two boundaries of the working area. Conversely, when the current operating direction of the working equipment is from the second positioning line to the first positioning line, the positioning line corresponding to the current turning operation of the working equipment can be determined as the first positioning line. The position of the first positioning line can then be updated based on the position of the working equipment during the current turning operation. The updated first positioning line and the original second positioning line then constitute the two boundaries of the working area. This solution, when the turning command corresponding to the last turning operation of the working equipment was generated in response to the working area, determines the correspondence between the updated positioning line and the boundaries of the working area based on the operating direction of the working equipment, accurately updates the working area, ensures that the turning position of the working equipment matches the target plot, and improves the accuracy and efficiency of turning control of the working equipment.

[0094] For example, if the boundary of the work area corresponding to the end point of the next work path is reset according to the opposing positioning line, and the current direction of movement of the working equipment is from the first positioning line to the second positioning line (after turning around, the direction of movement changes from the second positioning line to the first positioning line), then the work area on the current work path is updated to the range from the position of the working equipment when performing the turning operation to the first positioning line. The updated work area is the work area on the work path after the turning around.

[0095] If the current direction of movement of the working equipment is from the second positioning line to the first positioning line (after turning around, the direction of movement changes to from the first positioning line to the second positioning line), then the working area on the current working path is updated to the range from the position of the working equipment when performing the turning operation to the corresponding second positioning line. The updated working area is the working area on the working path after the turning operation. This solution resets the endpoint of the next working path after performing the turning operation, allowing the working equipment to automatically turn around when it reaches or exceeds the positioning line without manual control of the turning operation. This facilitates the control of the turning operation and improves work efficiency. For example, if one boundary of the actual working area of ​​the target plot is a straight line and the other boundary is not a straight line, one of the positioning lines can be set at the position corresponding to the straight boundary. When moving towards the non-straight boundary, the working equipment can be manually controlled to turn around, while when moving towards the straight boundary, the working area can be automatically updated to the range from the turning position to the straight boundary. The working equipment can then automatically turn around after reaching the straight boundary, improving the control efficiency of the working equipment.

[0096] In one possible embodiment, when the boundary of the work area corresponding to the end point of the next work path is determined based on the position during the last turn, this solution determines whether to update the work area based on the position of the working equipment when performing the turn operation. Specifically, upon receiving a first operation to indicate that the turn position should be maintained, the work area is updated to the range from the position of the working equipment when performing the current turn operation to the position of the working equipment when performing the last turn operation.

[0097] This solution can either set the work area update method to be determined based on the previous and next turn positions by triggering a first operation to indicate maintaining the turn position, or it can set the work area update method to be determined based on the current turn position and the positioning line opposite to the next work path (i.e., the positioning line that is furthest away) by triggering a second operation to indicate resetting the turn position.

[0098] For example, upon receiving a first operation instructing the maintenance of the turning position, the working area on the current work path is updated to the range corresponding to the position of the working equipment at the current turning operation to the position of the working equipment at the previous turning operation (which could be the position of the positioning line or the position of the manual turning). The updated working area is the working area on the working path after the turning. After performing a turning operation, this solution uses the starting point of the current working path to determine the ending point of the next working path, improving the versatility for working areas of different shapes and increasing work efficiency. For example, if the boundary of the actual working area of ​​the target plot is stepped (this boundary is composed of multiple straight lines, and the distance from each straight line to the positioning line is different), when turning around at the step-shaped turning point to the next straight line range, the working equipment is manually controlled to turn around once. Subsequently, when working within this straight line range, the working area is the range from this straight line to the previous turning position, or the range from the current turning position to this straight line. This eliminates the need for operators to manually control the working equipment to turn around multiple times at the same straight line position, improving the control efficiency of the working equipment.

[0099] It is understandable that, when a full-coverage operation is required for the entire target plot, after the operation is completed by controlling the equipment to turn around using the above-mentioned control method, the boundary of the resulting work area is close to the boundary of the entire target plot.

[0100] like Figure 3 A schematic diagram of a U-turn control based on a rectangular work area is provided. When the actual work area is a rectangle, the working equipment (C in the diagram) can be controlled to set a first positioning point (point A in the diagram) at the starting point of the initial work path (A1 in the diagram), and then control the working equipment to move along the work path to the end point of the work path, and set a second positioning point (point B in the diagram). Then, a first positioning line and a second positioning line can be determined based on the first and second positioning points (the first and second positioning lines are parallel to each other and perpendicular to the line connecting the first and second positioning points). The actual work area is the area enclosed by the first and second positioning lines. The arrows in the diagram indicate the forward direction of the corresponding work path, and the shaded area is the work area on the corresponding work path. Where d is the distance from the working equipment to the first positioning line (positive values ​​above the first positioning line and negative values ​​below it), d A d is a work area threshold, initially set to 0. B This is another work area threshold, initially set to the distance d between the first and second positioning lines. AB It is understandable that if d A ≤d≤d BIf the location is within the current working area, the equipment is confirmed to be outside the current working area; otherwise, the equipment is outside the current working area. After the equipment exceeds the second positioning line, a turn-around command is triggered, and the equipment is controlled to perform a turn-around operation, moving it to the next working path (A2 in the diagram). After the equipment performs the turn-around operation, the working area is updated, and the working area threshold d is set. A Update the distance d from the current working device to the first positioning line, and set the work area threshold d. B Updated to the distance d between the first and second positioning lines. AB (Non-rectangular areas can also have their work areas updated in this way). Since the current work area is a rectangular area, the length of the work path corresponding to the updated work area is the same as the previous work path length.

[0101] like Figure 4 A schematic diagram of a turning control for a work equipment equipped with an actuator is provided. For work equipment that needs to raise the actuator before performing a turning operation and lower the actuator before completing the turning operation, after determining multiple subsequent turning positions based on the latest working area, a first distance (E1 in the figure) required for the work equipment to raise the actuator is determined based on the lifting delay time of the actuator's lifting operation and the moving speed of the work equipment during straight-line movement. The position corresponding to at least the first distance forward from the subsequent turning position is determined as the lifting position of the work equipment on the corresponding work path (D1 in the figure). A second distance (E2 in the figure) required for the work equipment to lower the actuator is determined based on the lowering delay time of the actuator's lowering operation and the moving speed of the work equipment during turning. The position corresponding to at least the second distance forward from the end point of the turning path corresponding to the subsequent turning position is determined as the lowering position of the work equipment on the corresponding work path (D2 in the figure). The work equipment is controlled to perform movement operations along the current work path. When the work equipment reaches the lifting position of the current work path, the work equipment is controlled to raise the actuator. When the work equipment reaches the turning position of the current work path, the work equipment is controlled to perform a turning operation. When the working equipment reaches the lowering position on the current turning path during a turning operation, the lowering actuator is controlled. When the working equipment reaches the end of the current turning path, it moves to the beginning of the next working path. At the same time, the lowering operation of the actuator is completed, and the working equipment can continue to be controlled to move in a straight line along the next working path and use the actuator to perform the operation.

[0102] like Figure 5A schematic diagram of a turning control for a non-rectangular work area is provided. When the actual work area is a non-rectangular area, the working equipment (C in the figure) can be controlled to set a first positioning point (point A in the figure) at the starting point of the initial work path (B11 in the figure), and the working equipment can be controlled to move along the work path to the end point of the work path and set a second positioning point (point B in the figure). Then, a first positioning line and a second positioning line can be determined based on the first positioning point and the second positioning point (the first positioning line and the second positioning line are parallel to each other and perpendicular to the line connecting the first positioning point and the second positioning point). It is assumed that the actual work area is partly within the area enclosed by the first positioning line and the second positioning line, and partly outside the area enclosed by the first positioning line and the second positioning line. T11 is the turning position of the working equipment on the initial work path (i.e., the position of the first turning). Assuming the boundary of the work area corresponding to the end point of the next work path is reset according to the opposing positioning line, when the working equipment exceeds the initially set work area (S11 in the figure), the equipment is automatically controlled to turn around and move to the next work path (B12 in the figure). At this time, the work area corresponding to the next work path is updated to the range from the second positioning line to the first positioning line (S12 in the figure). Since the actual work area on work path B12 has not reached the first positioning line, a turning operation needs to be performed in advance. Therefore, when the working equipment reaches the turning position T12 on work path B12, the operator triggers the turning control operation of the working equipment, controlling the equipment to perform the turning operation at the turning position T12. The equipment turns around and moves to the next work path (B13 in the figure). At this time, the work area corresponding to the next work path is updated to the range from the straight line (parallel to the positioning line) corresponding to the turning position T12 to the second positioning line (S13 in the figure). Since the actual work area on work path B13 exceeds the second positioning line, the automatic turning function of the working equipment needs to be stopped and the turning operation delayed. When the working equipment reaches the turning position T13 on the working path B13, the operator triggers the turning control operation of the working equipment, controls the working equipment to perform the turning operation at the turning position T13, and the working equipment turns around and moves to the next working path (B14 in the figure). At this time, the working area corresponding to the next working path is updated to the range from the straight line (parallel to the positioning line) corresponding to the turning position T13 to the first positioning line (S14 in the figure).

[0103] like Figure 6Another diagram illustrating the turning control for a non-rectangular work area is provided. When the actual work area is non-rectangular, the working equipment (C in the diagram) can be controlled to set a first positioning point (point A in the diagram) at the starting point of the initial work path (B21 in the diagram), and the working equipment can be controlled to move along the work path to the end point of the work path and set a second positioning point (point B in the diagram). Then, a first positioning line and a second positioning line can be determined based on the first and second positioning points. It is assumed that the actual work area is partly within the area enclosed by the first and second positioning lines and partly outside the area enclosed by the first and second positioning lines. Assuming that the boundary of the work area corresponding to the end point of the next work path is reset according to the position during the last turning, when the working equipment exceeds the initially set work area (S21 in the diagram), since the actual work area on the work path B22 has not reached the first positioning line, a turning operation needs to be performed in advance. When the working equipment reaches the turning position T22 on the working path B22, the operator triggers the turning control operation, controlling the equipment to perform a turning operation at the turning position T22. The equipment automatically turns and moves to the next working path (B22 in the diagram). At this time, the working area corresponding to the current working path B21 is updated to the range from the second positioning line to the first positioning line (S22 in the diagram). The equipment turns and moves to the next working path (B23 in the diagram). At this time, the working area corresponding to the working path B23 is updated to the range from the straight line (parallel to the positioning line) corresponding to the turning position T22 to the second positioning line (S23 in the diagram). Since the actual working area on the working path B23 exceeds the second positioning line, the automatic turning function of the equipment needs to be stopped and the turning operation delayed. When the working equipment reaches the turning position T23 on the working path B23, the operator triggers the turning control operation of the working equipment, controls the working equipment to perform the turning operation at the turning position T23, and the working equipment turns around and moves to the next working path (B24 in the figure). At this time, the working area corresponding to the working path B24 is updated to the range from the straight line corresponding to the turning position T23 (parallel to the positioning line) to the straight line corresponding to the previous turning position T22 (S24 in the figure).

[0104] The above-described system determines the working area of ​​the target plot based on the established first and second positioning lines. Upon detecting a turning command generated in response to the equipment exceeding the working area, or a turning command generated in response to a turning control operation on the equipment, the system controls the equipment to perform a turning operation. The system then determines whether to update the corresponding boundaries of the working area based on the position of the equipment during the turning operation. Subsequent turning control of the equipment can be based on the updated working area, eliminating the limitation of plot shape and effectively improving the versatility of automatic agricultural machinery operation and the efficiency of agricultural machinery operations. Simultaneously, the establishment of the first and second positioning lines by setting first and second positioning points facilitates the initial setting of the working area, effectively improving the efficiency of turning control. Furthermore, the automatic turning function of the equipment is canceled when the turning position does not match the positioning line, allowing manual control by the operator. The automatic turning function is maintained or restored when the turning position matches the positioning line, automatically controlling the turning operation to meet the turning control needs in both rectangular and non-rectangular areas. This enhances the terrain adaptability of the equipment and improves operational efficiency. It effectively lowers the threshold for automated agricultural machinery control in non-rectangular areas, reduces the need for agricultural personnel, and allows for configuration of agricultural machinery control methods according to specific scenarios. This makes agricultural machinery control more flexible and can be coordinated with the automatic control of agricultural implements, thus promoting unmanned agriculture.

[0105] Figure 7 A schematic diagram of a turning control device according to an embodiment of this application is provided. (Reference) Figure 7 The turning control device includes an area initialization module 71, a turning control module 72, and an area update module 73.

[0106] Among them, the area initialization module 71 is used to determine the working area of ​​the target plot based on the set first positioning line and second positioning line;

[0107] The turning control module 72 is used to control the working equipment to perform a turning operation based on a turning command. The turning command is generated in response to the working area or in response to the turning control operation of the working equipment.

[0108] The area update module 73 is used to determine whether to update the work area based on the position of the working equipment when performing a turn-around operation.

[0109] The above describes a system that determines the working area of ​​a target plot based on a first and second positioning line. When a turning command is detected in response to the working equipment exceeding the working area, or in response to a turning control operation on the working equipment, the system controls the working equipment to perform a turning operation. The system then determines whether to update the working area based on the position of the working equipment during the turning operation. Subsequent turning control of the working equipment can be based on the updated working area. The turning control of the target plot is no longer limited by the shape of the plot, effectively improving the versatility of automatic agricultural machinery operation and the efficiency of agricultural machinery operations.

[0110] Based on the above embodiments, the area initialization module 71 is specifically used to: determine the first positioning line and the second positioning line based on the set first positioning point and the second positioning point, and determine the area enclosed by the first positioning line and the second positioning line as the initial working area of ​​the target plot.

[0111] Based on the above embodiments, the area update module 73 is specifically used to: determine to update the work area when a turn-around command is generated in response to a turn-around control operation on the working equipment.

[0112] Based on the above embodiments, when updating the work area, the area update module 73 includes updating the first positioning line and / or the second positioning line according to the position of the working equipment when performing the turning operation.

[0113] Based on the above embodiments, when updating the work area, the area update module 73 includes: if the turning instruction corresponding to the last turning operation of the working equipment is generated in response to the turning control operation, updating the work area according to the current position of the working equipment and the position when the last turning operation was performed, or asking the user whether to use the position when the last turning operation was performed to update the work area, and determining the update method of the work area according to the user's answer.

[0114] Based on the above embodiments, when the area update module 73 updates the work area according to the current and previous positions of the working equipment during the turnaround operation, it includes:

[0115] When the current working direction of the working equipment is from the first positioning line to the second positioning line, the position of the second positioning line is updated according to the position of the working equipment when it is currently performing a turn-around operation, and the position of the first positioning line is updated according to the position of the working equipment when it last performed a turn-around operation.

[0116] When the current working direction of the working equipment is from the second positioning line to the first positioning line, the position of the first positioning line is updated according to the position of the working equipment when it is currently performing a turn-around operation, and the position of the second positioning line is updated according to the position of the working equipment when it last performed a turn-around operation.

[0117] Based on the above embodiments, when determining the update method for the work area according to the user's response, the area update module 73 includes:

[0118] If the user's response indicates that the work area should be updated using the position at the time of the last turn-around operation, the update method for the work area is determined to be updating the work area based on the current position of the working equipment and the position at the time of the last turn-around operation.

[0119] If the user's response indicates that the work area should not be updated using the position from the last turn-around operation, then the update method for the work area is determined to be updating the work area based on the position of the working equipment at the time of the current turn-around operation.

[0120] Based on the above embodiments, when updating the working area, the area update module 73 further includes:

[0121] If the turning command corresponding to the last turning operation of the working equipment was generated in response to the creation of the working area, the working area is updated according to the position of the working equipment when the current turning operation is performed.

[0122] Based on the above embodiments, when the area update module 73 updates the work area according to the position of the working equipment when it is currently performing a turnaround operation, it includes:

[0123] When the current working direction of the working equipment is from the first positioning line to the second positioning line, the position of the second positioning line is updated according to the position of the working equipment when it is currently performing a turning operation;

[0124] When the current working direction of the working equipment is from the second positioning line to the first positioning line, the position of the first positioning line is updated according to the position of the working equipment when it is currently performing a turning operation.

[0125] Based on the above embodiments, the turning control device further includes a manual control module, which is used for:

[0126] If an automatic turn-around cancellation operation is received before the working equipment reaches the corresponding turn-around position in the work area, the system responds to the automatic turn-around cancellation operation and controls the working equipment to move in a straight line.

[0127] A turning command is generated based on the turning control operation of the working equipment.

[0128] Based on the above embodiments, the turning control device further includes an area recording module. The area recording module is used to determine the work area record of the target plot based on the update result of the work area after determining whether to update the work area according to the position of the working equipment when performing the turning operation.

[0129] Based on the above embodiments, the turning control device also includes a region configuration module, which is used to configure the working area of ​​the target plot based on the working area record.

[0130] Based on the above embodiments, the turning control device further includes a mechanism lifting module and a mechanism lowering module, wherein:

[0131] The mechanism lifting module is used to control the actuator mounted on the work equipment to lift before the work equipment performs a turning operation based on the turning command;

[0132] The mechanism deployment module is used to control the actuators mounted on the work equipment to perform a deployment operation after the work equipment performs a turning operation based on the turning command.

[0133] Based on the above embodiments, the mechanism lifting module, when controlling the working equipment to lift the actuator, includes:

[0134] The lifting time and / or lifting position of the control actuator are determined based on the lifting delay time of the actuator mounted on the working equipment and the moving speed of the working equipment.

[0135] The lifting mechanism of the working equipment is controlled based on the lifting time and / or lifting position.

[0136] Based on the above embodiments, when the mechanism lowering module performs a lowering operation on the actuator mounted on the control work equipment, it includes:

[0137] The lowering time and / or lowering position of the control actuator are determined based on the lowering delay time of the actuator mounted on the working equipment and the moving speed of the working equipment.

[0138] Based on the time and / or location of deployment, control the deployment mechanism of the work equipment.

[0139] It is worth noting that in the embodiments of the above-mentioned turning control device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0140] This application also provides a U-turn control device, which can integrate the U-turn control device provided in this application. Figure 8 This is a schematic diagram of a turning control device provided in an embodiment of this application. (Reference) Figure 8The U-turn control device includes: an input device 83, an output device 84, a memory 82, and one or more processors 81; the memory 82 is used to store one or more programs; when one or more programs are executed by one or more processors 81, the one or more processors 81 implement the U-turn control method provided in the above embodiments. The input device 83, output device 84, memory 82, and processor 81 can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0141] The memory 82, as a computing device readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the turn-around control method provided in any embodiment of this application (e.g., the area initialization module 71, turn-around control module 72, and area update module 73 in the turn-around control device). The memory 82 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 82 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 82 may further include memory remotely located relative to the processor 81, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0142] Input device 83 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 84 may include display devices such as a display screen.

[0143] The processor 81 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 82, thereby realizing the above-mentioned turning control method.

[0144] This application also provides a U-turn control system, which includes a control terminal and an autonomous driving device. The control terminal is used to initiate U-turn commands to the working equipment, and the autonomous driving device is used to control the working equipment to operate within the work area according to the U-turn control method provided in the above embodiments.

[0145] The U-turn control device, equipment, and system provided above can be used to execute the U-turn control method provided in any of the above embodiments, and have corresponding functions and beneficial effects.

[0146] This application embodiment also provides a storage medium for storing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute the turn-around control method provided in the above embodiment. The turn-around control method includes: determining the working area of ​​a target plot based on a set first positioning line and a second positioning line; controlling a work equipment to perform a turn-around operation based on a turn-around command, wherein the turn-around command is generated in response to the generation of the working area or in response to the turn-around control operation on the work equipment; and determining whether to update the working area based on the position of the work equipment when performing the turn-around operation.

[0147] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a first computer system in which a program is executed, or may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0148] Of course, the computer-executable instructions stored in the storage medium provided in the embodiments of this application are not limited to the turn-around control method provided above, but can also execute related operations in the turn-around control method provided in any embodiment of this application.

[0149] The U-turn control device, equipment, system, and storage medium provided in the above embodiments can execute the U-turn control method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the U-turn control method provided in any embodiment of this application.

[0150] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments provided herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A method of controlling a U-turn, characterized by, include: The working area of ​​the target plot is determined based on the established first and second positioning lines. The work equipment is controlled to perform a turning operation based on a turning command, wherein the turning command is generated in response to the work area or in response to a turning control operation on the work equipment; Determining whether to update the work area based on the position of the working equipment during the U-turn operation, wherein updating the work area includes: if the U-turn command corresponding to the last U-turn operation was generated in response to a U-turn control operation, asking the user whether to update the work area using the position from the last U-turn operation, and determining the update method based on the user's response; determining the update method based on the user's response includes: if the user's response indicates that the work area should be updated using the position from the last U-turn operation, determining that the update method is to update the work area based on the current and last U-turn positions of the working equipment; updating the work area further includes: if the U-turn command corresponding to the last U-turn operation was generated in response to the work area, updating the work area based on the current position of the working equipment during the current U-turn operation.

2. The turning control method according to claim 1, characterized in that, The process of determining the working area of ​​the target plot based on the set first and second positioning lines includes: Based on the established first and second positioning points, a first positioning line and a second positioning line are determined, and the area enclosed by the first and second positioning lines is defined as the initial working area of ​​the target plot.

3. The turning control method according to claim 1, characterized in that, The step of determining whether to update the work area based on the position of the working equipment during the turning operation includes: If the turn-around command is generated in response to a turn-around control operation on the work equipment, it is determined that the work area should be updated.

4. The turning control method according to claim 1, characterized in that, Updating the work area includes: The first positioning line and / or the second positioning line are updated according to the position of the working equipment when performing the turning operation.

5. The turning control method according to claim 1, characterized in that, Updating the work area includes: If the turning command corresponding to the last turning operation of the working equipment was generated in response to a turning control operation, the working area is updated according to the position of the working equipment at the current time and at the time of the last turning operation.

6. The turning control method according to claim 5, characterized in that, The step of updating the work area based on the position of the working equipment at the current time and the last time it performed a turning operation includes: When the current working direction of the working equipment is from the first positioning line to the second positioning line, the position of the second positioning line is updated according to the position of the working equipment when it is currently performing a turn-around operation, and the position of the first positioning line is updated according to the position of the working equipment when it last performed a turn-around operation. When the current working direction of the working equipment is from the second positioning line toward the first positioning line, the position of the first positioning line is updated according to the position of the working equipment when it is currently performing a turn-around operation, and the position of the second positioning line is updated according to the position of the working equipment when it last performed a turn-around operation.

7. The turning control method according to claim 1, characterized in that, The update method for the work area is determined based on the user's response, including: If the user's response indicates that the work area should not be updated using the position from the last time the turn-around operation was performed, then the update method for the work area is determined to be updating the work area based on the position of the working equipment at the time of the current turn-around operation.

8. The turning control method according to claim 1, characterized in that, The step of updating the work area based on the position of the working equipment when it is currently performing a turning operation includes: When the current working direction of the working equipment is from the first positioning line toward the second positioning line, the position of the second positioning line is updated according to the position of the working equipment when it is currently performing a turning operation; When the current working direction of the working equipment is from the second positioning line toward the first positioning line, the position of the first positioning line is updated according to the position of the working equipment when it is currently performing a turning operation.

9. The turning control method according to claim 1, characterized in that, Before the equipment is controlled to perform a turning operation based on the turning command, the following steps are also included: If an automatic turn-around cancellation operation is received before the working equipment reaches the turn-around position corresponding to the work area, the working equipment is controlled to move in a straight line in response to the automatic turn-around cancellation operation. A turning command is generated based on the turning control operation of the operating equipment.

10. The turning control method according to claim 1, characterized in that, After determining whether to update the work area based on the position of the working equipment during the turning operation, the method further includes: Based on the update results of the work area, the work area record of the target plot is determined.

11. The turning control method according to claim 10, characterized in that, The turning control method also includes: The working area of ​​the target plot is configured based on the working area record.

12. The turning control method according to claim 1, characterized in that, Before the equipment is controlled to perform a turning operation based on the turning command, the following steps are included: Control the actuator mounted on the work equipment to perform a lifting operation; After the equipment is controlled to perform a turning operation based on the turning command, the following steps are included: The actuator mounted on the control equipment performs the lowering operation.

13. The turning control method according to claim 12, characterized in that, The control device for lifting the actuator includes: The lifting time and / or lifting position of the actuator are determined based on the lifting delay time of the actuator performing the lifting operation on the working equipment and the moving speed of the working equipment. The lifting mechanism of the working equipment is controlled to lift based on the lifting time and / or the lifting position.

14. The turning control method according to claim 12, characterized in that, The actuator mounted on the control equipment performs a lowering operation, including: The lowering time and / or lowering position of the actuator are determined based on the lowering delay time of the actuator mounted on the working equipment and the moving speed of the working equipment. Based on the lowering time and / or the lowering position, control the lowering execution mechanism of the working equipment.

15. A turning control device, characterized in that, It includes a region initialization module, a turn-around control module, and a region update module, among which: The area initialization module is used to determine the working area of ​​the target plot based on the set first and second positioning lines. The turning control module is used to control the working equipment to perform a turning operation based on a turning command. The turning command is generated in response to the working area or in response to the turning control operation of the working equipment. The area update module is used to determine whether to update the work area based on the position of the working equipment when performing a U-turn operation. Updating the work area includes: if the U-turn command corresponding to the last U-turn operation was generated in response to a U-turn control operation, querying the user whether to update the work area using the position from the last U-turn operation, and determining the update method based on the user's response; specifically, if the user's response indicates that the work area should be updated using the position from the last U-turn operation, determining that the update method is to update the work area based on the current and previous positions of the working equipment; further specifically, if the U-turn command corresponding to the last U-turn operation was generated in response to the work area, updating the work area based on the current position of the working equipment when performing the U-turn operation.

16. A turning control device, characterized in that, include: Memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the turn-around control method as described in any one of claims 1-14.

17. A U-turn control system, characterized in that, Including control terminals and autopilots; The control terminal is used to issue a turning command to the working equipment; The self-driving device is used to control the working equipment to perform operations in the work area according to the turning control method according to any one of claims 1-14.

18. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the turn-around control method as described in any one of claims 1-14.

Images