Automatic driving method, device and system, and computer readable storage medium
By installing cameras and positioning devices on agricultural machinery, images and trajectory lines of agricultural implements are acquired, and the working width and spacing of agricultural implements are accurately calculated. This solves the problem of inaccurate calibration of the working width of agricultural implements in automatic agricultural machinery operation, realizes precision farming and reasonable crop spacing, and improves the quality and efficiency of agricultural production.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-11
- Publication Date
- 2026-03-17
AI Technical Summary
In the automatic driving of agricultural machinery, existing technologies have difficulty in accurately calibrating the working width of agricultural implements, resulting in unreasonable spacing between adjacent working rows and affecting crop growth.
By acquiring images of the agricultural machinery's trajectory line in the current row and the implement's position in the work area, the actual working width of the implement is determined. The distance between the next row's trajectory line and the current row's trajectory line is calculated by combining the margin spacing. Cameras and positioning devices are installed on the agricultural machinery, avoiding the need to add detection devices to the implement, thus reducing costs and improving accuracy.
This improved the calibration accuracy of the width of agricultural implements, ensuring that the actual spacing between rows is reasonable, thus enhancing the quality and efficiency of agricultural production.
Smart Images
Figure CN115683148B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of automatic driving of agricultural machinery, and in particular to automatic driving methods, devices and systems, and computer-readable storage media. Background Technology
[0002] With the development of autonomous driving technology, agricultural machinery equipped with navigation and autonomous driving systems is gradually becoming more widespread, and the application of technologies integrating agricultural mechanization and information technology is also continuously expanding. Autonomous driving of agricultural machinery has many advantages, such as: no reliance on driver experience, good straightness, and high precision in alignment. Automatic navigation systems are particularly suitable for large-scale operations on large plots of land and operations with strict requirements for planting row spacing. Automatic navigation in agricultural machinery can bring positive and beneficial effects on operational standardization, land utilization, and agricultural machinery operation efficiency, playing a positive and powerful role in promoting the development of precision agriculture.
[0003] In automated agricultural machinery operation, the spacing between transition rows needs to be considered. Transition rows, also called connecting rows or ridge-joining rows, are crucial. In agricultural production, machinery travels along the row direction, moving to the next row after reaching the boundary of the work area. Due to agricultural requirements, a certain spacing must be maintained between transition rows. Inadequate spacing between adjacent work rows can negatively impact crop growth. Summary of the Invention
[0004] According to a first aspect of this disclosure, an autonomous driving method is provided, comprising:
[0005] Acquire images of the trajectory line of the agricultural machinery in the current row and the area of operation of the implements connected to the agricultural machinery in the current row;
[0006] Based on the image of the area where the farm implement has been used in the current row, determine the boundary of the area where the farm implement has been used in the current row;
[0007] The working width of the implement is determined based on the trajectory line that the agricultural machinery has traveled in the current row and the boundary of the area that the implement has worked in the current row, wherein the working width of the implement includes the working width of the implement on at least one side of the trajectory line that has been traveled.
[0008] Based on the working width of the agricultural implement and the blanking distance between the current row and the next row, determine the distance between the agricultural machine's trajectory line in the next row and the trajectory line in the current row.
[0009] In some embodiments, determining the working width of the implement based on the trajectory line already traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row includes:
[0010] The working width of the implement on one side of the traveled track is determined based on the distance between the current traveled track line and the boundary of the already worked area on one side of the traveled track line.
[0011] In some embodiments, the boundary of one side of the already-traveled trajectory line includes a plurality of trajectory points. Determining the working width of the implement on one side of the already-traveled trajectory line based on the distance between the agricultural machinery's currently-traveled trajectory line and the boundary of the already-traveled area on one side of the already-traveled trajectory line includes:
[0012] The working width of the implement on one side of the already traveled track is determined based on the average value of the vertical distance between multiple track points on one side of the boundary of the already worked area and the agricultural machinery on the currently traveled track.
[0013] In some embodiments, determining the working width of the implement based on the trajectory line already traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row includes:
[0014] The working width of the agricultural implement in the global coordinate system is determined based on the trajectory line traveled by the agricultural machinery in the current row and the boundary of the working area of the agricultural implement in the current row in the global coordinate system.
[0015] In some embodiments, acquiring an image of the agricultural implement connected to the agricultural machinery in the currently operated area includes:
[0016] The camera mounted on the agricultural machinery acquires an image of the agricultural implement in the currently operated area.
[0017] In some embodiments, determining the boundary of the farm implement in the currently worked area based on an image of the farm implement in the currently worked area includes:
[0018] Based on the image of the farm implement in the current row's already-operated area, determine the boundary of the farm implement in the current row's already-operated area in the camera coordinate system of the camera;
[0019] Based on the boundary of the work area of the implement in the current row in the camera coordinate system, the coordinates of the camera in the global coordinate system, and the rotation parameters, the boundary of the work area of the implement in the current row in the global coordinate system is determined.
[0020] In some embodiments, obtaining the trajectory line that the agricultural machinery has traveled in the current row includes:
[0021] The positioning information of the agricultural machinery is obtained from the positioning device installed on the agricultural machinery;
[0022] Based on the positioning information of the agricultural machinery, determine the trajectory line that the agricultural machinery has traveled in the current row in the global coordinate system.
[0023] In some embodiments, determining the distance between the agricultural machinery's trajectory line in the next row and its trajectory line in the current row, based on the working width of the implement and the spacing between the current and next rows, includes:
[0024] The distance between the agricultural implement's working width, the spacing between the current row and the next row, the agricultural machine's direction of travel in the current row and the next row is determined based on the agricultural implement's working width, the spacing between the current row and the next row, and the agricultural machine's direction of travel in the next row.
[0025] In some embodiments, determining the distance between the agricultural implement's trajectory line in the next row and its trajectory line in the current row, based on the implement's working width, the spacing between the current row and the next row, and the agricultural implement's direction of travel in the current row and the next row, includes:
[0026] When the agricultural machinery travels in the same direction in the current row as it travels in the next row, the distance between the agricultural machinery's travel trajectory in the next row and its travel trajectory in the current row is determined based on the sum of the working width of the implement on one side of the already traveled trajectory, the working width of the implement on the other side of the already traveled trajectory, and the blank space between the current row and the next row.
[0027] In some embodiments, determining the distance between the agricultural implement's trajectory line in the next row and its trajectory line in the current row, based on the implement's working width, the spacing between the current row and the next row, and the agricultural implement's direction of travel in the current row and the next row, includes:
[0028] When the direction of travel of the agricultural machinery in the current row is different from the direction of travel in the next row, the distance between the movement trajectory line of the agricultural machinery in the next row and the movement trajectory line of the agricultural machinery in the current row is determined by the sum of twice the working width of the next row on the same side of the already traveled trajectory line and the blank spacing between the current row and the next row.
[0029] According to a second aspect of this disclosure, an autonomous driving device is provided, comprising:
[0030] The acquisition device is configured to acquire the trajectory line of the agricultural machinery that has traveled in the current row and the image of the agricultural implement connected to the agricultural machinery that has been working in the current row.
[0031] A boundary determination device is configured to determine the boundary of the farm implement in the currently worked area based on an image of the farm implement in the currently worked area;
[0032] The working width determining device is configured to determine the working width of the implement based on the trajectory line that the agricultural machinery has traveled in the current row and the boundary of the area that the implement has worked in the current row, wherein the working width of the implement includes the working width of the implement on at least one side of the trajectory line that has been traveled.
[0033] The spacing determining device is configured to determine the spacing between the agricultural implement's travel trajectory line in the next row and the travel trajectory line in the current row, based on the working width of the implement and the blanking distance between the current row and the next row.
[0034] According to a third aspect of this disclosure, an autonomous driving device is provided, comprising:
[0035] Memory; and
[0036] A processor coupled to the memory is configured to execute an autonomous driving method according to any embodiment of the present disclosure based on instructions stored in the memory.
[0037] According to a fourth aspect of this disclosure, a computer-storeable medium has computer program instructions stored thereon, which, when executed by a processor, implement the autonomous driving method according to any embodiment of this disclosure.
[0038] According to a fifth aspect of this disclosure, an autonomous driving system includes:
[0039] An autonomous driving device according to any embodiment of this disclosure;
[0040] A positioning device is configured to generate positioning information for the agricultural machinery; and
[0041] The camera is configured to generate an image of the farm implement in the currently worked area.
[0042] According to a sixth aspect of this disclosure, an agricultural machine includes:
[0043] An autonomous driving device according to any embodiment of the present disclosure; and
[0044] The positioning device is configured to generate positioning information for the agricultural machinery.
[0045] In some embodiments, the agricultural machinery further includes:
[0046] The camera is configured to generate an image of the farm implement in the currently worked area. Attached Figure Description
[0047] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.
[0048] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:
[0049] Figure 1 A flowchart illustrating an autonomous driving method according to some embodiments of the present disclosure is shown;
[0050] Figure 2 A top view of a work scenario according to some embodiments of the present disclosure is shown;
[0051] Figure 3 A side view of an agricultural machinery operation scenario according to some embodiments of the present disclosure is shown;
[0052] Figure 4 A top view showing a work scenario according to other embodiments of this disclosure;
[0053] Figure 5 A schematic diagram illustrating boundary extraction according to some embodiments of the present disclosure is shown;
[0054] Figure 6 A top view of a work scenario according to some embodiments of the present disclosure is shown;
[0055] Figure 7 A schematic diagram illustrating a spacing calculation method according to some embodiments of the present disclosure is shown;
[0056] Figure 8 A block diagram of an autonomous driving device according to some embodiments of the present disclosure is shown;
[0057] Figure 9 Block diagrams of an autonomous driving device according to other embodiments of the present disclosure are shown;
[0058] Figure 10 A block diagram of a computer system for implementing some embodiments of the present disclosure is shown. Detailed Implementation
[0059] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.
[0060] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.
[0061] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.
[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.
[0063] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0064] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.
[0065] During agricultural machinery operations, due to factors such as the gaps in the connection between the machinery and implements and the complexity of farmland terrain, the actual working width of the implements deviates from its theoretical width. If the machinery operates according to the theoretical working width, the spacing between adjacent rows will be unreasonable, thus affecting crop growth.
[0066] In related technologies, manual calibration is used to correct the offset of agricultural implements, which is inefficient, costly, and has low accuracy; or theoretical offset is used to calculate the working width, which has low calibration accuracy.
[0067] Figure 1 A flowchart illustrating an autonomous driving method according to some embodiments of the present disclosure is shown.
[0068] like Figure 1 As shown, the autonomous driving method includes steps S1-S4.
[0069] In step S1, images of the trajectory line that the agricultural machinery has traveled in the current row and the area that the implements connected to the agricultural machinery have worked in the current row are acquired.
[0070] Figure 2 A top view of a work scenario according to some embodiments of the present disclosure is shown.
[0071] like Figure 2 As shown, agricultural machinery carrying implements is operating in the field. The machinery travels in the current row, while the implements attached to it perform operations along that row. Figure 2 The reference center line of the working row is the trajectory line that the agricultural machinery has already traveled in the current row. The farmland behind the agricultural machinery that has already been cultivated ( Figure 2 The gray area in the diagram represents the area where the farm implements have already been used in the current row.
[0072] In some embodiments, acquiring an image of an implement connected to the agricultural machinery in the currently operated area includes: acquiring an image of the implement in the currently operated area from a camera mounted on the agricultural machinery.
[0073] For example, a camera mounted on a farm machine takes a picture of the currently cultivated farmland behind it (in the opposite direction of the farm machine's travel), i.e. Figure 2 Medium gray area.
[0074] In some embodiments, obtaining the trajectory line that the agricultural machinery has traveled in the current row includes: obtaining the positioning information of the agricultural machinery from a positioning device installed on the agricultural machinery; and determining the trajectory line that the agricultural machinery has traveled in the current row in the global coordinate system based on the positioning information of the agricultural machinery.
[0075] For example, a positioning device installed on agricultural machinery is used to detect the positioning information of the machinery. The line formed by connecting the positioning information of the machinery at multiple points is used as the trajectory line (i.e., the reference center line of the work row).
[0076] Figure 3 A side view of an agricultural machinery operation scenario according to some embodiments of the present disclosure is shown.
[0077] like Figure 3 As shown, a camera is mounted on the upper rear of the agricultural machinery to detect the status of cultivated farmland in the current row behind it. A positioning device is installed at any position on the machinery to detect its location information. Agricultural implements for operation are mounted at the rear of the machinery.
[0078] Mounting depth cameras or positioning devices on agricultural implements requires separate consideration of issues such as power supply, communication, and vibration / shock, resulting in higher costs. According to some embodiments of this disclosure, depth cameras or positioning devices are mounted on agricultural machinery, eliminating the need for detection devices on the implements. This method is convenient, efficient, and low-cost, improving the versatility of autonomous driving systems and reducing system complexity.
[0079] In some embodiments, the camera is a depth camera.
[0080] In step S2, the boundary of the farm implement in the current row's already-operated area is determined based on the image of the farm implement in the current row's already-operated area.
[0081] Figure 4 A top view of a work scenario according to other embodiments of this disclosure is shown.
[0082] Ideally, the size of the implements should match the actual working width (i.e., Figure 4 The distance from the left boundary to the right boundary of the gray area already in operation is consistent. Furthermore, the left and right boundaries of the gray area are symmetrical with respect to the reference center line of the work row; that is, the theoretical actual left width of the work area is equal to the theoretical actual right width of the work area.
[0083] However, as Figure 4 As shown, during actual operation, due to installation errors or tilting of the implements, the implement dimensions differ from the actual working width. Furthermore, the distances from the two boundaries of the current row's tillage area to the reference center line of the working row are not equal; that is, the actual left working width (WL) is not equal to the actual right working width (WL). Therefore, the actual working width needs to be calibrated here.
[0084] Figure 5 A schematic diagram illustrating boundary extraction according to some embodiments of the present disclosure is shown.
[0085] like Figure 5 As shown, the boundary of the cultivated area is extracted from the image. In some embodiments, the boundary of the cultivated area is parallel or nearly parallel to the trajectory of the agricultural machinery. It should be noted that, although Figure 5 The image shows the boundary lines on both sides, but you can extract only the boundary line on one side as needed later.
[0086] In some embodiments, determining the boundary of the work area of the work implement in the current row based on the image of the work implement in the current row includes: determining the boundary of the work implement in the current row in the camera coordinate system based on the image of the work implement in the current row; and determining the boundary of the work implement in the current row in the global coordinate system based on the boundary of the work implement in the current row in the camera coordinate system, the coordinates of the camera in the global coordinate system, and rotation parameters.
[0087] For example, if the boundary is composed of multiple trajectory points, first, image processing is performed on the image output by the camera to extract the coordinates of these trajectory points in the camera coordinate system. Then, combining the camera's installation position (the camera's own positioning information) and installation angle, coordinate transformation is performed on the trajectory points in the camera coordinate system to obtain the operation boundary trajectory points in the global coordinate system (i.e., the navigation coordinate system).
[0088] The following describes a method for transforming the boundary from the camera coordinate system to the global coordinate system.
[0089] Assume the camera's position coordinates in the navigation coordinate system O(x,y,z) are (x... c ,y c ,z c The camera's mounting angle (rotation parameter) is (θ). x ,θ y ,θ z That is, the angles of rotation of the camera coordinate system relative to the navigation coordinate system in the three directions of x, y, and z. Assume that any trajectory point i included in the boundary of the already worked area lies in the camera coordinate system O. c The coordinates under (x, y, z) are (x ci ,yci ,z ci ).
[0090] make The coordinate matrix of trajectory point i in the navigation coordinate system is:
[0091]
[0092] Then the coordinates of point i in the navigation coordinate system are X i For (x) i ,y i ,z i ).
[0093] Among them, R x R y and R z R is the rotation matrix, calculated using the following formula. x R y and R z :
[0094]
[0095]
[0096]
[0097] In step S3, the working width of the implement is determined based on the trajectory line that the agricultural machinery has traveled in the current row and the boundary of the area that the implement has worked in the current row. The working width of the implement includes the working width of at least one side of the trajectory line that the implement has traveled.
[0098] For example, based on the boundaries of the actual working marks of farm implements on the farmland in the image and the trajectory line used for reference, the offset of the working width caused by problems such as farm implement tilting is calibrated to obtain the actual working width on both sides of the trajectory line, rather than the theoretical offset, thereby eliminating theoretical errors and improving the calibration accuracy of the working width.
[0099] In some embodiments, determining the working width of the implement based on the trajectory line traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row includes: determining the working width of the implement on one side of the traveled trajectory line based on the distance between the trajectory line traveled by the agricultural machinery in the current row and the boundary of the area already worked on one side of the traveled trajectory line.
[0100] For example, please refer to Figure 3The distance between the left boundary of the area already worked by the implement in the current row and the track line already traveled by the agricultural machinery in the current row is the working width of the implement to the left of the track line. The distance between the right boundary of the area already worked by the implement in the current row and the track line already traveled by the agricultural machinery in the current row is the working width of the implement to the right of the track line.
[0101] In some embodiments, the boundary of one side of the already-traveled track line includes multiple track points. Determining the working width of the implement on one side of the already-traveled track line based on the distance between the already-traveled track line of the agricultural machinery in the current row and the boundary of the already-traveled area on one side of the already-traveled track line includes: determining the working width of the implement on one side of the already-traveled track line based on the average value of the vertical distance between the multiple track points of the boundary of one side of the already-traveled track line of the already-traveled track line of the agricultural machinery in the current row.
[0102] For example, calculate the perpendicular distance from each trajectory point on the left boundary to the trajectory line (reference line), and then average these distances to obtain the left width WL of the actual working area. Similarly, the right width WR can be obtained.
[0103] In some embodiments, determining the working width of the implement based on the trajectory line already traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row includes: determining the working width of the implement in the global coordinate system based on the trajectory line already traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row in the global coordinate system.
[0104] For example, in the previous steps S1 and S2, the trajectory line of the agricultural machinery in the current row and the boundary of the area worked by the agricultural implement in the current row in the global coordinate system were obtained respectively. Now the trajectory line and the boundary are unified in the same global coordinate system, so the working width is calculated in the global coordinate system.
[0105] In step S4, the distance between the agricultural implement's trajectory line in the next row and the trajectory line in the current row is determined based on the working width of the agricultural implement and the blanking distance between the current row and the next row.
[0106] Figure 6 A top view of a work scenario according to some embodiments of the present disclosure is shown.
[0107] like Figure 6 As shown, when handing over rows, it is necessary to ensure the white space DB between the boundaries of the work areas of two adjacent rows, and not to work on the white space area.
[0108] To ensure a reasonable actual spacing, the spacing DR (the distance between the machine's trajectory line in the next row and the trajectory line in the current row) is calculated based on at least one of the calculated left width WL and right width WR of the implement, as well as the preset spacing DB.
[0109] The following describes how to calculate the interleaving line spacing while maintaining the required whitespace (DB). Figure 6 (DR, the distance between the trajectory line of the next row and the trajectory line of the current row of the China National Agricultural Machinery Corporation).
[0110] In some embodiments, determining the distance between the agricultural implement's trajectory line in the next row and the trajectory line in the current row, based on the implement's working width and the spacing between the current row and the next row, includes: determining the distance between the agricultural implement's trajectory line in the next row and the trajectory line in the current row based on the implement's working width, the spacing between the current row and the next row, the agricultural implement's direction of travel in the current row and the direction of travel in the next row.
[0111] Figure 7 A schematic diagram illustrating a spacing calculation method according to some embodiments of the present disclosure is shown.
[0112] like Figure 7 As shown, based on the current row's direction of travel relative to the next row, combined with at least one of the calculated left width WL and right width WR of the implement, and the preset blanking spacing DB, the spacing DR (the distance between the implement's travel trajectory line in the next row and the travel trajectory line in the current row) is calculated at the next handover row.
[0113] Based on the working width of the implement, the spacing between the current row and the next row, and the direction of travel of the implement in the current row and the next row, determine the spacing between the implement's trajectory line in the next row and the trajectory line in the current row. This includes: when the direction of travel of the implement in the current row and the direction of travel in the next row are the same, determine the spacing between the implement's trajectory line in the next row and the trajectory line in the current row based on the working width of the implement on one side of the already traveled trajectory line, the working width of the implement on the other side of the already traveled trajectory line, and the sum of the spacing between the current row and the next row.
[0114] Continue to refer to Figure 7 If the agricultural machinery is traveling in the same direction in the current row as it is traveling in the next row, then the distance DR between the agricultural machinery's trajectory line in the next row and its trajectory line in the current row is calculated using the following formula:
[0115] DR = WL + WR + DB
[0116] In some embodiments, determining the distance between the agricultural implement's trajectory line in the next row and its trajectory line in the current row, based on the implement's working width, the spacing between the current row and the next row, and the agricultural implement's direction of travel in the current row and the next row, includes: when the agricultural implement's direction of travel in the current row and the next row are different, determining the distance between the agricultural implement's trajectory line in the next row and its trajectory line in the current row based on twice the working width of the next row on the same side of the already traveled trajectory line, and the sum of the spacing between the current row and the next row.
[0117] If the agricultural machinery's direction of travel in the current row is opposite to its direction of travel in the next row, and the next row is to the left of the current row (i.e., turning left at the transition point), then the distance DR between the agricultural machinery's trajectory line in the next row and its trajectory line in the current row is calculated using the following formula:
[0118] DR = WL * 2 + DB
[0119] Where WL is the width of the actual working area to the left of the trajectory line, and DB is the blank spacing.
[0120] Similarly, if the agricultural machinery's direction of travel in the current row is opposite to its direction of travel in the next row, and the next row is to the right of the current row (i.e., turning right at the transition), then the distance DR between the agricultural machinery's trajectory line in the next row and its trajectory line in the current row is calculated using the following formula:
[0121] DR = WR * 2 + DB
[0122] Where WR is the width of the actual working area to the right of the trajectory line, and DB is the white space.
[0123] According to some embodiments of the automatic driving method disclosed herein, the boundary of the area already worked by the agricultural implement is determined based on an image of the already worked area. The actual working width on at least one side of the agricultural machinery trajectory line is further determined, and the spacing between transition rows is calculated using the actual working width instead of the theoretical working width. This improves the calibration accuracy of the agricultural implement's working width, enables precision farming, ensures accurate actual spacing between transition rows, and improves the quality and efficiency of agricultural production.
[0124] Figure 8 A block diagram of an autonomous driving device according to some embodiments of the present disclosure is shown.
[0125] like Figure 8 As shown, the autonomous driving device 8 includes an acquisition device 81, a boundary determination device 82, an operating width determination device 83, and a spacing determination device 84.
[0126] Acquisition device 81 is configured to acquire images of the trajectory line traveled by the agricultural machinery in the current row and the area worked by the implements connected to the agricultural machinery in the current row, for example, by performing actions such as... Figure 1 Step S1 is shown.
[0127] Boundary determination device 82 is configured to determine the boundary of the farm implement in the currently worked area based on an image of the farm implement in the currently worked area, for example, by performing... Figure 2 Step S1 is shown.
[0128] The working width determining device 83 is configured to determine the working width of the implement based on the trajectory line already traveled by the agricultural machinery in the current row and the boundary of the area already worked by the implement in the current row. The working width of the implement includes the working width of the implement on at least one side of the already traveled trajectory line, for example, performing an operation such as... Figure 1 Step S3 is shown.
[0129] The spacing determining device 84 is configured to determine the spacing between the agricultural implement's travel trajectory line in the next row and the travel trajectory line in the current row, based on the implement's working width and the clearance between the current row and the next row. For example, it performs the following... Figure 1 Step S4 is shown.
[0130] According to some embodiments of the present disclosure, the automatic driving device determines the boundary of the area already worked by the implement based on an image of the already worked area, further determines the actual working width on at least one side of the agricultural machinery trajectory line, and calculates the spacing between the handover rows using the actual working width instead of the theoretical working width. This improves the calibration accuracy of the implement's working width, enables precision farming, ensures accurate actual spacing between handover rows, and improves the quality and efficiency of agricultural production.
[0131] Figure 9 A block diagram of an autonomous driving device according to other embodiments of the present disclosure is shown.
[0132] like Figure 9 As shown, the autonomous driving device 9 includes a memory 91 and a processor 92 coupled to the memory 91, the memory 91 being used to store methods for executing autonomous driving. The processor 92 is configured to execute autonomous driving methods in any of the embodiments of this disclosure based on instructions stored in the memory 91.
[0133] Figure 10 A block diagram of a computer system for implementing some embodiments of the present disclosure is shown.
[0134] like Figure 10 As shown, the computer system 100 can be represented in the form of a general computing device. The computer system 100 includes a memory 1010, a processor 1020, and a bus 1000 connecting different system components.
[0135] The memory 1010 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for executing the autonomous driving methods in any of the embodiments of this disclosure. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.
[0136] The processor 1020 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the decision module and the determination module, can be implemented by executing instructions in the central processing unit (CPU) memory to perform the corresponding steps, or by implementing dedicated circuitry to perform the corresponding steps.
[0137] Bus 1000 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.
[0138] The computer system 100 may also include an input / output interface 1030, a network interface 1040, and a storage interface 1050. These interfaces 1030, 1040, and 1050, along with the memory 1010 and the processor 1020, can be connected via a bus 1000. The input / output interface 1030 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 1040 provides a connection interface for various networked devices. The storage interface 1050 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.
[0139] According to some embodiments of the present disclosure, an autonomous driving system is provided, including: an autonomous driving device according to any embodiment of the present disclosure; a positioning device configured to generate positioning information of the agricultural machinery; and a camera configured to generate an image of the agricultural implement in the currently operated area.
[0140] According to some embodiments of the present disclosure, an agricultural machine is provided, including: an automatic driving device according to any embodiment of the present disclosure; and a positioning device configured to generate positioning information of the agricultural machine.
[0141] In some embodiments, the agricultural machinery further includes a camera configured to generate an image of the implement in the currently worked area.
[0142] Hereinafter, various aspects of this disclosure are described with reference to flowchart illustrations and / or block diagrams of autonomous driving methods, apparatuses, systems, computer-readable storage media, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.
[0143] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.
[0144] These computer-readable program instructions are also readablely stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.
[0145] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.
[0146] The automatic driving method, device, system, computer-readable storage medium, and agricultural machinery described in the above embodiments improve the calibration accuracy of the working width of agricultural implements and ensure reasonable spacing between crops.
[0147] The autonomous driving methods, apparatus, and systems, computer-readable storage media, and agricultural machinery according to this disclosure have been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.
Claims
1. An automatic driving method, comprising: acquiring a trajectory line of a farm machine having traveled in a current row and an image of a work area of a farm implement connected to the farm machine having been worked in the current row; determining a boundary of the work area of the farm implement having been worked in the current row according to the image of the work area of the farm implement having been worked in the current row; determining a work width of the farm implement according to the trajectory line of the farm machine having traveled in the current row and the boundary of the work area of the farm implement having been worked in the current row, wherein a size of the farm implement is different from the work width of the farm implement, the work width of the farm implement is an actual work width and includes work widths of the farm implement on both sides of the traveled trajectory line, and the work widths of the farm implement on both sides of the traveled trajectory line are not equal; determining a spacing between a driving trajectory line of the farm machine in a next row and the driving trajectory line in the current row according to the work width of the farm implement and a spacing between the current row and the next row, including: in a case where a driving direction of the farm machine in the current row is the same as a driving direction of the farm machine in the next row, determining the spacing between the driving trajectory line of the farm machine in the next row and the driving trajectory line in the current row according to a sum of the work width of the farm implement on one side of the traveled trajectory line, the work width of the farm implement on the other side of the traveled trajectory line, and the spacing between the current row and the next row; and in a case where the driving direction of the farm machine in the current row is different from the driving direction of the farm machine in the next row, determining the spacing between the driving trajectory line of the farm machine in the next row and the driving trajectory line in the current row according to a sum of twice the work width on a same side of the traveled trajectory line of the next row and the spacing between the current row and the next row.
2. The automatic driving method according to claim 1, wherein The determining of the work width of the farm implement according to the trajectory line of the farm machine having traveled in the current row and the boundary of the work area of the farm implement having been worked in the current row, includes: determining the work width of the farm implement on one side of the traveled trajectory line according to a distance between the trajectory line of the farm machine having traveled in the current row and the boundary of the work area on the one side of the traveled trajectory line.
3. The method of claim 2, wherein, The boundary of the work area on the one side of the traveled trajectory line includes a plurality of trajectory points, and the determining of the work width of the farm implement on the one side of the traveled trajectory line according to the distance between the trajectory line of the farm machine having traveled in the current row and the boundary of the work area on the one side of the traveled trajectory line, includes: determining the work width of the farm implement on the one side of the traveled trajectory line according to an average of vertical distances between the plurality of trajectory points of the boundary of the work area on the one side of the traveled trajectory line and the trajectory line of the farm machine having traveled in the current row.
4. The automatic driving method according to claim 1, wherein The determining of the work width of the farm implement according to the trajectory line of the farm machine having traveled in the current row and the boundary of the work area of the farm implement having been worked in the current row, includes: The working width of the farm implement is determined according to the track line of the farm machine in the current row and the boundary of the work area of the farm implement in the current row in the global coordinate system.
5. The method of claim 4, wherein, The image of the work area of the farm implement connected with the farm machine in the current row is obtained by a camera installed on the farm machine. The image of the work area of the farm implement connected with the farm machine in the current row is obtained by a camera installed on the farm machine.
6. The method of claim 5, wherein, The boundary of the work area of the farm implement in the current row is determined according to the image of the work area of the farm implement in the current row. The boundary of the work area of the farm implement in the current row is determined according to the image of the work area of the farm implement in the current row. The boundary of the work area of the farm implement in the current row is determined according to the image of the work area of the farm implement in the current row.
7. The method of claim 6, wherein, The track line of the farm machine in the current row is obtained by a positioning device installed on the farm machine. The track line of the farm machine in the current row is determined according to the positioning information of the farm machine.
8. An automatic driving device, comprising: an obtaining device configured to obtain a track line of a farm machine in a current row and an image of a work area of a farm implement connected with the farm machine in the current row; a boundary determining device configured to determine a boundary of the work area of the farm implement in the current row according to the image of the work area of the farm implement in the current row; a working width determining device configured to determine a working width of the farm implement according to the track line of the farm machine in the current row and the boundary of the work area of the farm implement in the current row, wherein the size of the farm implement is different from the working width of the farm implement, the working width of the farm implement is an actual working width and includes working widths on both sides of the track line, and the working widths on both sides of the track line are not equal; a distance determining device configured to determine a distance between a track line of the farm machine in a next row and a track line of the farm machine in the current row according to the working width of the farm implement and a blank distance between the current row and the next row, including: in a case where a driving direction of the farm machine in the current row is the same as a driving direction of the farm machine in the next row, determining the distance between the track line of the farm machine in the next row and the track line of the farm machine in the current row according to a sum of the working width of one side of the track line, the working width of the other side of the track line, and the blank distance between the current row and the next row; and in a case where the driving direction of the farm machine in the current row is different from the driving direction of the farm machine in the next row, determining the distance between the track line of the farm machine in the next row and the track line of the farm machine in the current row according to a sum of twice the working width of the same side of the track line and the blank distance between the current row and the next row.
9. An automatic driving device, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method of any one of claims 1 to 7 based on instructions stored in the memory. 10.A computer storage medium having computer program instructions stored therein, which, when executed by a processor, implement the method of any one of claims 1 to 7. 11.An autonomous driving system, comprising: the autonomous driving device of claim 8 or 9; a positioning device configured to generate positioning information of the agricultural machine; and a camera configured to generate an image of the implement in a currently row worked area. 12.An agricultural machine, comprising: the autonomous driving device of claim 8 or 9; and a positioning device configured to generate positioning information of the agricultural machine. 13.The agricultural machine of claim 12, further comprising: a camera configured to generate an image of the implement in a currently row worked area.
Citation Information
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