Method for controlling agricultural machinery and method for configuring agricultural machinery parameters

Abstract

The embodiments of the present application provide a method for controlling agricultural machinery, a method for configuring agricultural machinery parameters, a device, a processor, a storage medium, and agricultural machinery. The method includes: obtaining an operation signal of the agricultural machinery during operation in the automatic driving mode; determining an action mode of the agricultural machinery based on the operation signal, the action mode including at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode; and controlling the agricultural machinery to perform an action corresponding to the action mode. Through the above technical solution, the agricultural machinery can adjust its action mode according to different operation requirements during operation in the automatic driving mode, without the need for manual intervention to repeatedly adjust the action of the agricultural implement, thereby reducing the labor intensity of the operator and improving operation efficiency.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery, and specifically to a method for controlling agricultural machinery, a method for configuring agricultural machinery parameters, a device, a processor, a storage medium, and agricultural machinery. Background Art

[0002] With the popularization of unmanned agricultural machinery, the demand for coordinated operation between unmanned agricultural machinery and agricultural implements is also increasing. From the current development of agricultural machinery, the development of unmanned tractors is the most important part.

[0003] Taking unmanned tractor control as an example, current methods for controlling plows are relatively simple, limited to controlling the rear lift and lowering when the tractor turns or makes a U-turn. However, due to the diversity of agricultural operating environments, different operating methods are required. For example, when using a tractor for operations, it is also necessary to control functions such as plow flipping and rotary tillage PTO output to meet the tractor's operational needs.

[0004] In existing technologies, controlling functions such as plow rotation and rotary tillage PTO output requires manual intervention, making precise control difficult. Furthermore, repeated manual adjustments to control the movement of agricultural implements are labor-intensive and inefficient for operators. Alternatively, control can be achieved by modifying the tractor's vehicle controller and navigation controller. However, if the tractor needs to replace the plow, further program modifications are required, resulting in low operability. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method for controlling agricultural machinery, a method for configuring agricultural machinery parameters, a device, a processor, a storage medium, and agricultural machinery.

[0006] In order to achieve the above objectives, the present application provides, in a first aspect, a method for controlling an agricultural machine, comprising:

[0007] Acquiring operation signals of agricultural machinery when the agricultural machinery is in an automatic driving mode;

[0008] determining an action mode of the agricultural machinery according to the operation signal, the action mode including at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode;

[0009] Control the agricultural machinery to perform actions corresponding to the action mode.

[0010] Optionally, the agricultural machinery includes agricultural implements, and the action mode also includes an operation mode. Controlling the agricultural machinery to perform actions corresponding to the action mode includes: in the operation mode, controlling the agricultural implement to be lowered and controlling the hydraulic output to be in place; in the left turn mode or the right turn mode, controlling the agricultural implement to be lifted until the agricultural implement is lifted to a first preset height, controlling the agricultural implement to be flipped, and controlling the agricultural implement to be lowered after the flipping is completed; in the obstacle avoidance mode, controlling the agricultural implement to be lifted to a first preset height, and controlling the agricultural implement to be lowered after the bypass is completed; wherein, in the process of controlling the agricultural implement to be lifted, when the agricultural implement is lifted to a second preset height, the rear power output clutch of the agricultural machinery is automatically disengaged; in the process of controlling the agricultural implement to be lowered, when the agricultural implement is lowered to the second preset height, the rear power output clutch is automatically engaged.

[0011] Optionally, the agricultural machinery further includes a touch screen and / or an adjustment knob, and the method further includes: receiving a first preset height and a second preset height set by the user through the touch screen and / or the adjustment knob.

[0012] Optionally, the method also includes: receiving an automatic driving request; detecting the entire vehicle status of the agricultural machinery according to the automatic driving request; and controlling the agricultural machinery to enter the automatic driving mode when it is determined that the agricultural machinery meets the automatic driving conditions according to the entire vehicle status.

[0013] Optionally, the agricultural machinery is determined to meet the automatic driving conditions when all of the following conditions are met: the agricultural machinery has no faults; the gear of the agricultural machinery is in neutral or in neutral; the engine of the agricultural machinery is in the started state; the brake of the agricultural machinery is in the untriggered state; the parking brake of the agricultural machinery is in the unopened state; the rear lifting function of the agricultural machinery is in the ready state and has no faults.

[0014] Optionally, the method also includes controlling the agricultural machinery to exit the automatic driving mode when any one of the following conditions is met: the agricultural machinery fails; the rear lifting controller of the agricultural machinery issues a fault prompt; a signal to exit the automatic driving is received from the automatic driving remote control terminal of the agricultural machinery; the parking brake of the agricultural machinery is in the open state; the brake of the agricultural machinery is in the triggered state; the engine of the agricultural machinery is in the off state.

[0015] Optionally, the method further includes: acquiring a parameter item selected by the user through the first parameter setting interface; and determining an action corresponding to each action mode according to the selected parameter item.

[0016] Optionally, the parameter items include types of agricultural implements and parameter groups, the types of agricultural implements include non-hydraulic agricultural implements and hydraulic agricultural implements, each parameter group includes actions corresponding to each action mode, and the method further includes: when the selected parameter items include non-hydraulic agricultural implements, the actions corresponding to the action mode include controlling the lifting and lowering of the agricultural implements; when the selected parameter items include hydraulic agricultural implements, the actions corresponding to the action mode include controlling the lifting and lowering of the agricultural implements and controlling the hydraulic output flip to be executed in place.

[0017] Optionally, the method further includes: obtaining an editing instruction for any parameter group triggered by the user through the first parameter setting interface; entering the second parameter setting interface according to the editing instruction; and obtaining the action corresponding to each action mode set by the user through the second parameter setting interface.

[0018] Optionally, obtaining the action corresponding to each action mode set by the user through the second parameter setting interface also includes: obtaining the action corresponding to each action mode and the action time of each action set by the user through the second parameter setting interface; wherein, when the action time is less than or equal to the preset time threshold, the execution time of the corresponding action is controlled according to the action time; when the action time is greater than the preset time threshold, the corresponding action is maintained in the started state according to the action time control.

[0019] Optionally, the agricultural machine is a tractor.

[0020] A second aspect of the present application provides a processor configured to execute the above-mentioned method for controlling agricultural machinery.

[0021] A third aspect of the present application provides a device for controlling agricultural machinery, comprising the above-mentioned processor.

[0022] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned method for controlling agricultural machinery.

[0023] The fifth aspect of the present application provides a method for configuring agricultural machinery parameters, including: displaying a first parameter setting interface, the first parameter setting interface including multiple selectable parameter items; obtaining the parameter items selected by the user through the first parameter setting interface; determining the action corresponding to each action mode of the agricultural machinery when it is in automatic driving mode based on the selected parameter items, wherein the action mode includes at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode.

[0024] Optionally, the parameter items include parameter groups, each parameter group includes actions corresponding to each action mode, and the configuration method also includes: receiving an editing instruction for any parameter group triggered by the user through the first parameter setting interface; displaying the second parameter setting interface according to the editing instruction; and determining the actions corresponding to each action mode when the agricultural machinery is in automatic driving mode based on the actions and action times corresponding to each action mode set by the user through the second parameter setting interface.

[0025] Optionally, the agricultural machinery includes agricultural implements, and the second parameter setting interface also includes at least one of the following function setting options: automatically lowering the agricultural implements when the operation starts, automatically lifting the agricultural implements when turning, disabling automatic power shifting of the whole machine, and disabling automatic PTO engagement and disengagement; the configuration method also includes: determining the action corresponding to each action mode set by the parameter group corresponding to the second parameter setting interface according to the function setting option selected by the user.

[0026] Optionally, the parameter items also include the type of agricultural implements, and the types of agricultural implements include non-hydraulic agricultural implements and hydraulic agricultural implements. The configuration method also includes: when the selected parameter items include hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting, lowering, flipping, and hydraulic output execution of the agricultural implements; when the selected parameter items include non-hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting and lowering the agricultural implements.

[0027] Optionally, the agricultural machinery includes a touch screen, and displaying the first parameter setting interface includes: acquiring a setting instruction triggered by a user through the touch screen; and displaying the first parameter setting interface according to the setting instruction.

[0028] Optionally, the agricultural machinery also includes an adjustment knob and agricultural implements, and the configuration method also includes: obtaining a first preset height and a second preset height set by the user through the touch screen and / or the adjustment knob, wherein the first preset height is the lifting height of the agricultural implement in the left turn mode, the right turn mode and the obstacle avoidance mode, and the second preset height is the height at which the rear power output clutch engages and disengages.

[0029] Optionally, the configuration method further includes: updating the first parameter setting interface and the second parameter setting interface according to needs.

[0030] In a sixth aspect, the present application provides a processor configured to execute the above-mentioned method for configuring agricultural machinery parameters.

[0031] In a seventh aspect, the present application provides a device for configuring agricultural machinery parameters, including the above-mentioned processor.

[0032] An eighth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned method for configuring agricultural machinery parameters.

[0033] In a ninth aspect, the present application provides an agricultural machine, which includes: agricultural implements; the above-mentioned device for controlling the agricultural machine, and / or the above-mentioned device for configuring the parameters of the agricultural machine.

[0034] Optionally, the agricultural machine is a tractor.

[0035] Through the above technical solution, agricultural machinery can adjust its action mode according to different operation requirements during operation in automatic driving mode, without the need for manual intervention to repeatedly adjust the action of the agricultural implement, thereby reducing the labor intensity of the operator and improving operation efficiency.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0038] Figure 1 The following schematically shows a flow chart of a method for controlling agricultural machinery according to an embodiment of the present application;

[0039] Figure 2 Schematically illustrates a first parameter setting interface of a method for controlling agricultural machinery according to an embodiment of the present application;

[0040] Figure 3 Schematically illustrates a second parameter setting interface of a method for controlling agricultural machinery according to an embodiment of the present application;

[0041] Figure 4 Schematically illustrates a third parameter setting interface of a method for controlling agricultural machinery according to an embodiment of the present application;

[0042] Figure 5 A control principle diagram of a method for controlling agricultural machinery according to an embodiment of the present application is schematically shown;

[0043] Figure 6 The following schematically shows a flow chart of a method for configuring agricultural machinery parameters according to an embodiment of the present application;

[0044] Figure 7Schematically shows the internal structure of a computer device for controlling an agricultural machine according to an embodiment of the present application;

[0045] Figure 8 Schematically shows the internal structure of a computer device according to the method for configuring agricultural machinery parameters according to an embodiment of the present application; DETAILED DESCRIPTION

[0046] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0047] Figure 1 The flowchart of the method for controlling agricultural machinery according to the embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for controlling agricultural machinery is provided, comprising the following steps:

[0048] Step 101 : Acquire an operation signal of the agricultural machinery while the agricultural machinery is operating in an automatic driving mode.

[0049] Step 102 : determining an action mode of the agricultural machinery according to the operation signal, where the action mode includes at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode.

[0050] Step 103: Control the agricultural machinery to perform an action corresponding to the action mode.

[0051] In different agricultural operation environments, agricultural machinery can adopt different operation modes. In order to reduce the labor intensity of operators, agricultural machinery can adopt an automatic driving operation mode. In one embodiment, the agricultural machinery can be a tractor.

[0052] In one embodiment, the method also includes: receiving an automatic driving request; detecting the entire vehicle status of the agricultural machinery according to the automatic driving request; and controlling the agricultural machinery to enter the automatic driving mode when it is determined that the agricultural machinery meets the automatic driving conditions according to the entire vehicle status.

[0053] Agricultural machinery needs to perform autonomous driving operations. First, the processor may receive an autonomous driving request. Based on the autonomous driving request, the processor may detect the overall vehicle status of the agricultural machinery. The overall vehicle status may include the operating status, gear status, engine status, brake status, parking brake status, rear lift function status, and rear lift operating status. Based on the overall vehicle status, the processor may determine whether the agricultural machinery meets the autonomous driving conditions and control the agricultural machinery to enter autonomous driving mode. Autonomous driving mode enables the agricultural machinery to plan its operating path and autonomously drive the agricultural machinery.

[0054] In one embodiment, the agricultural machinery is determined to meet the automatic driving conditions when all the following conditions are met: the agricultural machinery has no faults; the gear of the agricultural machinery is in neutral or in the target gear; the engine of the agricultural machinery is in the started state; the brake of the agricultural machinery is not triggered; the parking brake of the agricultural machinery is not open; the rear lifting function of the agricultural machinery is in a ready state and has no faults.

[0055] The processor may determine, based on the vehicle status, that the agricultural machinery meets the autonomous driving conditions when it detects that the agricultural machinery is in a fault-free state, the gear is in neutral or a target gear, the engine is started, the brakes are not activated, the parking brake is not engaged, and the rear lift function is in a ready state and fault-free state. If the agricultural machinery is determined to meet the autonomous driving conditions based on the vehicle status, the processor may control the agricultural machinery to operate in autonomous driving mode. The agricultural machinery may be either an automatic or manual transmission agricultural machinery. If the agricultural machinery is an automatic transmission agricultural machinery and meets the autonomous driving conditions, the gear may be in neutral. If the agricultural machinery is a manual transmission agricultural machinery and meets the autonomous driving conditions, the gear may be in the gear required for the target vehicle speed. Fault-free agricultural machinery means that the agricultural machinery has no faults that affect the vehicle's travel or steering. When the brakes cannot be applied while the agricultural machinery is in autonomous driving mode, this indicates that the brakes are not activated. If the rear lift controller of the agricultural machinery does not issue a fault indication, this indicates that the rear lift function is fault-free. The rear lift function is in a ready state when the implement is hung in place, the rear power take-off shaft is connected, and the hydraulic output circuit and pipeline are connected.

[0056] In one embodiment, the method also includes controlling the agricultural machinery to exit the automatic driving mode when any one of the following conditions is met: the agricultural machinery fails; the rear lifting controller of the agricultural machinery issues a fault prompt; a signal to exit the automatic driving is received from the automatic driving remote control terminal of the agricultural machinery; the parking brake of the agricultural machinery is in the open state; the brake of the agricultural machinery is in the triggered state; the engine of the agricultural machinery is in the off state.

[0057] When the agricultural machinery is in the automatic driving process, if the processor detects that the parking brake of the agricultural machinery is in the open state, or detects that the brake of the agricultural machinery is in the triggered state, or detects that the engine of the agricultural machinery is in the off state, the processor can control the agricultural machinery to exit the automatic driving mode. When the agricultural machinery fails, that is, the agricultural machinery has a fault that affects the driving or steering of the agricultural machinery, the processor can control the agricultural machinery to exit the automatic driving mode to adjust the operating state of the agricultural machinery. When the rear lifting controller fails, it cannot provide rotational power for the agricultural machinery. At this time, the processor can control the agricultural machinery to exit the automatic driving mode. When the processor receives an exit signal automatic driving signal sent by the automatic driving remote control terminal of the agricultural machinery, the processor can control the agricultural machinery to exit the automatic driving mode.

[0058] When an agricultural machine meets autonomous driving conditions and is operating in autonomous driving mode, the processor may acquire an operating signal from the agricultural machine. The operating signal may be to control the agricultural machine to initiate operation, to control the agricultural machine to turn left, to control the agricultural machine to turn right, etc. If the agricultural machine encounters an obstacle and is unable to proceed, the operating signal may also be to control the agricultural machine to avoid the obstacle and bypass it. Upon acquiring the operating signal from the agricultural machine, the processor may determine the operation mode of the agricultural machine based on the operating signal. The operation mode may be at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode. Specifically, if the operating signal is to control the agricultural machine to turn left, the operation mode of the agricultural machine may be a left turn mode; if the operating signal is to control the agricultural machine to turn right, the operation mode of the agricultural machine may be a right turn mode. The operation mode may also be an operation mode. If the operating signal is to control the agricultural machine to initiate operation, the operation mode of the agricultural machine may be an operation mode.

[0059] When the action mode of the agricultural machinery is determined, the processor may control the agricultural machinery to perform an action corresponding to the action mode. The agricultural machinery may include agricultural implements, such as plows.

[0060] In one embodiment, the agricultural machinery includes agricultural implements, and the action mode also includes an operation mode. Controlling the agricultural machinery to perform actions corresponding to the action mode includes: in the operation mode, controlling the agricultural implement to be lowered and controlling the hydraulic output to be in place; in the left turn mode or the right turn mode, controlling the agricultural implement to be lifted until the agricultural implement is lifted to a first preset height, controlling the agricultural implement to be flipped, and controlling the agricultural implement to be lowered after the flipping is completed; in the obstacle avoidance mode, controlling the agricultural implement to be lifted to a first preset height, and controlling the agricultural implement to be lowered after the bypass is completed; wherein, in the process of controlling the agricultural implement to be lifted, when the agricultural implement is lifted to a second preset height, the rear power output clutch of the agricultural machinery is automatically disengaged; in the process of controlling the agricultural implement to be lowered, when the agricultural implement is lowered to the second preset height, the rear power output clutch is automatically engaged.

[0061] In one embodiment, the agricultural machine further includes a touch screen and / or an adjustment knob, and the method further includes: receiving a first preset height and a second preset height set by a user through the touch screen and / or the adjustment knob.

[0062] If the agricultural machinery's action mode is determined to be an operating mode, to control the agricultural machinery to perform the action corresponding to the operating mode, the processor may first control the lowering of the agricultural implement in the operating mode and then control the hydraulic output to reach a predetermined position to complete the agricultural machinery's operating mode. The operating mode may be plowing. When the hydraulic output valve of the agricultural machinery has been opened or closed for a predetermined time, the hydraulic output is considered to have reached a predetermined position.

[0063] If the agricultural machinery's operation mode is determined to be a left-turn or right-turn U-turn mode, the processor may first control the agricultural implement to be raised to a first preset height. The first preset height may be set by the user via the touch screen and / or adjustment knob, and may be greater than or equal to a height that allows the agricultural implement to properly flip. After receiving the first preset height set by the user via the touch screen and / or adjustment knob, the processor may control the agricultural implement to be raised to the first preset height. Once the agricultural implement has been raised to the first preset height, the processor may control the agricultural implement to flip, and after the flip is complete, the processor may control the agricultural implement to be lowered.

[0064] Agricultural machinery may be equipped with obstacle avoidance radar. During operation, if the obstacle avoidance radar detects an obstacle ahead or a detour within the planned path, the processor may receive the obstacle signal detected by the radar. The obstacle signal may include, for example, the width of the obstacle. Upon receiving the obstacle signal, the processor may determine that the agricultural machinery's operation mode is obstacle avoidance and detour mode. For example, if the obstacle avoidance radar detects an obstacle ahead that blocks the agricultural machinery's operation widthwise, the processor may receive the obstacle width signal and determine that the agricultural machinery's operation mode is obstacle avoidance and detour mode. In this mode, the processor may determine a detour route based on the obstacle's size and control the lifting of the agricultural implement to a first preset height. The obstacle's size may be represented by its size, such as its width. The first preset height may be the safe height at which the agricultural implement is raised in left-turn, right-turn, and obstacle avoidance modes. When the obstacle avoidance radar detects that there are no obstacles ahead and the detour route is complete, the agricultural implement detour is determined to be complete. Upon completion of the detour, the processor may control the lowering of the agricultural implement.

[0065] During the process of controlling the lifting of the agricultural implement, the processor may control the lifting of the agricultural implement to a second preset height. When the agricultural implement reaches the second preset height, the rear power take-off clutch of the agricultural machine may automatically disengage. At this point, the agricultural machine may not output rotational power. Based on the operational requirements of the agricultural machine, the processor may control the lowering of the agricultural implement. During the process of controlling the lowering of the agricultural implement, when the agricultural implement descends to the second preset height, the rear power take-off clutch may automatically engage. At this point, the agricultural machine may output rotational power to the agricultural implement. The second preset height may be greater than the first preset height. The second preset height may be the height at which the rear power take-off clutch engages and disengages.

[0066] The first preset height and the second preset height can be set by the user through a touch screen and / or an adjustment knob. The touch screen can be an APP interface, etc. By setting the first preset height and the second preset height through the touch screen, human-computer interaction can be achieved, making the operation process of the agricultural machinery more flexible. The adjustment button can be a knob with a numerical adjustment function, such as an armrest knob. When the user sets the first preset height and the second preset height through the touch screen and / or the adjustment knob, the processor can receive the first preset height and the second preset height set by the user.

[0067] In one embodiment, the method further includes: obtaining a parameter item selected by the user through the first parameter setting interface; and determining an action corresponding to each action mode according to the selected parameter item.

[0068] In one embodiment, the parameter items include the type of agricultural implement and the parameter group, the type of agricultural implement includes non-hydraulic agricultural implement and hydraulic agricultural implement, each parameter group includes an action corresponding to each action mode, and the method further includes: when the selected parameter items include non-hydraulic agricultural implements, the actions corresponding to the action mode include controlling the lifting and lowering of the agricultural implement; when the selected parameter items include hydraulic agricultural implements, the actions corresponding to the action mode include controlling the lifting and lowering of the agricultural implement and controlling the hydraulic output flip to be executed in place.

[0069] To meet the diverse demands of agricultural machinery, parameters can be configured through a parameter setting interface. The parameter setting interface may include a first parameter setting interface and a second parameter setting interface. The first parameter setting interface may include parameter items, each of which may include implement types and parameter groups. Specifically, implement types may include non-hydraulic implements and hydraulic implements, and each implement parameter group may include actions corresponding to each action mode.

[0070] like Figure 2 As shown, the first parameter setting interface can refer to the navigation information monitoring table of agricultural machinery. The type of agricultural implement can be selected as non-hydraulic agricultural implement or hydraulic agricultural implement. If the agricultural implement used is hydraulic agricultural implement, the non-hydraulic agricultural implement option can be unchecked. Agricultural implement parameters can be selected as parameter group 1, parameter group 2 and parameter group 3. Figure 2As shown, the first parameter setting interface can also display navigation status information. Furthermore, navigation status information can include navigation positioning information and navigation status information. Navigation positioning information can include compass bearing, navigation-based vehicle speed, navigation tilt angle, vehicle altitude, vehicle positioning latitude, and vehicle positioning longitude. Navigation status information can include navigation on status, navigation fault status, navigation fault code, navigation driving status, navigation requested vehicle speed, and navigation requested gear. For manual transmission agricultural machinery, the navigation controller can calculate the required gear based on the requested vehicle speed. For automatic transmission agricultural machinery, the navigation requested gear can be set to neutral. The first parameter device interface can also monitor agricultural implement status. Furthermore, agricultural implement status can include operating status, left turn, right turn, and obstacle avoidance detour. Specifically, operating status can include not in progress, implement lowering, valve operating, and operation completed. The valve operating status can refer to a hydraulic valve outputting hydraulic pressure, providing hydraulic power to the agricultural machinery to perform actions such as plow flipping. The status of a left turn can be: not executed, implement being raised, implement being flipped, implement being lowered, or left turn completed. The status of a right turn can be: not executed, implement being raised, implement being flipped, implement being lowered, or right turn completed. The status of an obstacle avoidance maneuver can be: not executed, implement being raised, maneuvering, implement being lowered, or maneuvering completed.

[0071] If the user selects the type of agricultural implement as hydraulic agricultural implement in the first parameter setting interface, the processor will display the second parameter setting interface according to the editing instruction. The second parameter setting interface may be displayed as follows: Figure 3 The second parameter setting interface is shown.

[0072] like Figure 3 The second parameter setting interface shown may refer to a hydraulic implement function setting table. The hydraulic implement function setting table may include options for hydraulic output and function settings. Figure 3 The second parameter setting interface shown can set the hydraulic output for the operation mode, left turn mode and right turn mode. Since the hydraulic output is controlled by the four-way hydraulic output valve, the hydraulic output can include 4 hydraulic outputs, such as Figure 3Output 1, output 2, output 3 and output 4 are shown. The hydraulic output of the hydraulic valve can provide hydraulic power for agricultural machinery. Three actions can be set for each hydraulic output. That is, each action can include three action options: forward opening, reverse opening and stop opening. At the same time, the action time can also be set for the three action options, that is, the time for the hydraulic valve to open. Furthermore, the action time can be 0s to 60s. If it is necessary to drive agricultural machinery with a hydraulic motor, the action time of the hydraulic valve can be set to 61s. At this time, the valve of the hydraulic valve can be considered to be in a normally open state. Different functions can be set according to the action requirements of different agricultural implements. For example Figure 3 The second parameter setting interface shown may also include function setting options, specifically, options for automatically lowering the implement at the start of an operation, automatically raising the implement during a turn, disabling automatic power shifting for the entire machine, and disabling automatic PTO engagement and disengagement. The option to disable automatic power shifting for the entire machine may be specific to agricultural machinery with power shifting. During operation of a power shifting agricultural machinery, if the option to disable automatic power shifting for the entire machine is not selected, automatic shifting can be performed within a preset range based on the load and speed of the agricultural machinery. The option to disable automatic PTO engagement and disengagement may disable the automatic engagement and disengagement of the agricultural machinery's rear power take-off clutch. This option may be specific to agricultural machinery that requires rotary power output, such as agricultural machinery with implements such as rotary plows. During operation of the agricultural machinery, if the option to disable automatic PTO engagement and disengagement is not selected, i.e., when automatic PTO engagement and disengagement is enabled, the rear power take-off clutch automatically disengages when the implement is raised to the second preset height and automatically engages when the implement is lowered to the second preset height. If the Disable Automatic PTO Engage / Disengage option is selected, the rear PTO clutch will be engaged during implement raising and lowering.

[0073] If the user selects the type of agricultural implement as non-hydraulic agricultural implement in the first parameter setting interface, the processor will display the second parameter setting interface according to the editing instruction. The second parameter setting interface may be displayed as follows: Figure 4 The second parameter setting interface is shown in the figure. Figure 4The second parameter setting interface shown may refer to a non-hydraulic implement function setting table. That is, the second parameter setting interface can set the parameter group of non-hydraulic implements. The non-hydraulic implement function setting table may include options for hydraulic output and function settings. Since the hydraulic output of the hydraulic valve can provide hydraulic power for agricultural machinery and perform actions such as flipping. Therefore, when the agricultural implement is a non-hydraulic agricultural implement, the corresponding action of the agricultural machinery in its action mode may not include flipping and controlling the hydraulic output to perform in place. Therefore, the hydraulic output may not be set through the non-hydraulic implement function setting table. When the type of agricultural implement is selected as a non-hydraulic agricultural implement, in the case of Figure 4 The second parameter setting interface shown allows you to set the functions of the implement. Function settings may include automatically lowering the implement at the start of work, automatically raising the implement when turning, disabling automatic power shifting, and disabling automatic PTO engagement and disengagement.

[0074] To set the parameters of an agricultural implement, the processor may first obtain the parameter items selected by the user through the first parameter setting interface. The parameter items may include the type of agricultural implement and a parameter group. Specifically, the agricultural implement types may include non-hydraulic agricultural implements and hydraulic agricultural implements, and the parameter group for each agricultural implement may include actions corresponding to each action mode.

[0075] Upon obtaining the parameter items selected by the user through the first parameter setting interface, the processor may determine the actions corresponding to each action mode based on the selected parameter items. Specifically, when the processor obtains that the user has selected non-hydraulic implements as the type of agricultural implement in the parameter items of the first parameter setting interface, that is, when the selected parameter items include non-hydraulic implements, the processor may determine the actions corresponding to the action mode based on the selected parameter items. In this case, the actions corresponding to the action mode may include controlling the lifting and lowering of agricultural implements. When the processor obtains that the user has selected hydraulic implements as the type of agricultural implement in the parameter items of the first parameter setting interface, that is, when the selected parameter items include hydraulic implements, the processor may determine the actions corresponding to the action mode based on the selected parameter items. In this case, the actions corresponding to the action mode may include lifting and lowering agricultural implements and controlling the hydraulic output flip execution.

[0076] In one embodiment, the method further includes: obtaining an editing instruction for any parameter group triggered by the user through the first parameter setting interface; entering the second parameter setting interface according to the editing instruction; and obtaining the action corresponding to each action mode set by the user through the second parameter setting interface.

[0077] In one embodiment, obtaining the action corresponding to each action mode set by the user through the second parameter setting interface also includes: obtaining the action corresponding to each action mode and the action time of each action set by the user through the second parameter setting interface; wherein, when the action time is less than or equal to the preset time threshold, the execution time of the corresponding action is controlled according to the action time; when the action time is greater than the preset time threshold, it is determined that the action corresponding to the action time control is maintained in the started state.

[0078] In the case of determining the action corresponding to each action mode, the processor can specifically set the action corresponding to each action mode through the second parameter setting interface. First, the processor can obtain the editing instruction for any parameter group triggered by the user through the first parameter setting interface, and enter the second parameter setting interface according to the triggered editing instruction. For example, in the case of 3 parameter groups, the 3 parameter groups can be represented as parameter group 1, parameter group 2 and parameter group 3. The user can trigger the editing instruction of parameter group 1 through the first parameter setting interface, or trigger the editing instruction of parameter group 2, or trigger the editing instruction of parameter group 3. If the user triggers the editing instruction of parameter group 1 through the first parameter setting interface, the second parameter setting interface can be entered according to the editing instruction to set the parameters of parameter group 1.

[0079] After entering the second parameter setting interface, the processor can obtain the action corresponding to each action mode set by the user through the second parameter setting interface. Furthermore, the processor can obtain the action corresponding to each action mode and the action time of each action set by the user through the second parameter setting interface. Among them, the action mode can be a start operation mode, a left turn mode, and a right turn mode, corresponding to the start operation implement setting option, the left turn implement setting option, and the right turn implement setting option in the second parameter setting interface. The action corresponding to each action mode can be forward flip, reverse flip, and stop flip, corresponding to the hydraulic output forward option, the hydraulic output reverse option, and the hydraulic output stop option in the second parameter setting interface.

[0080] The action time of each action can also be set in the second parameter setting interface. When the action time is less than or equal to the preset time threshold, the processor can control the execution time of the corresponding action according to the action time. The action time can be 0s to 60s. The preset time threshold can be 60s. For example, when the action time is 30s, the action time is less than or equal to the preset time threshold of 60s, and the processor can control the execution time of the corresponding action to be 30s. When the action time is greater than the preset time threshold, the processor can determine that the action position corresponding to the action time control is in the start state. For example, when it is necessary to drive agricultural machinery with a hydraulic motor, the action time of the hydraulic valve can be set to 61s. At this time, the action time is greater than the preset time threshold of 60s, that is, the valve of the hydraulic valve is in the normally open state, and the processor can control the corresponding action to maintain the start state according to the action time control.

[0081] In one embodiment, Figure 5 As shown, in unmanned operation mode, agricultural machinery can access direction and speed control via a navigation controller, and simultaneously feed direction and speed control signals back to the vehicle controller. The vehicle controller makes execution decisions based on touchscreen parameter settings or programmed implement motion. Once the vehicle controller makes an execution decision, it sends instructions to the rear lift controller and transmission controller to control the movement of the rear lift hydraulic cylinder, the ACV hydraulic output valve, and the PTO clutch. The rear lift controller and transmission controller can also feed back status information about the rear lift cylinder, ACV hydraulic output valve, and PTO clutch to the navigation controller. The movement of the rear lift hydraulic cylinder controls the lifting and lowering of the implement, the movement of the ACV hydraulic output valve controls the tilting of the implement, and the movement of the PTO clutch provides rotational power for the agricultural machinery. The PTO clutch can refer to the aforementioned rear power take-off clutch.

[0082] Through the above technical solution, agricultural machinery can adjust its action mode according to different operation requirements during operation in automatic driving mode, without the need for manual intervention to repeatedly adjust the action of the agricultural implement, thereby reducing the labor intensity of the operator and improving operation efficiency.

[0083] Figure 6 The flowchart of the method for configuring agricultural machinery parameters according to the embodiment of the present application is schematically shown. Figure 6 As shown, in one embodiment of the present application, a method for configuring agricultural machinery parameters is provided, comprising the following steps:

[0084] Step 601: Display a first parameter setting interface, which includes a plurality of selectable parameter items.

[0085] Step 602: Obtain the parameter item selected by the user through the first parameter setting interface.

[0086] Step 603, determining the action corresponding to each action mode when the agricultural machinery is in the automatic driving mode based on the selected parameter items, wherein the action mode includes at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode.

[0087] In one embodiment, the agricultural machine includes a touch screen, and displaying the first parameter setting interface includes: acquiring a setting instruction triggered by a user through the touch screen; and displaying the first parameter setting interface according to the setting instruction.

[0088] Agricultural machinery can operate in different ways in different agricultural environments. To reduce the workload of operators, agricultural machinery can be autonomous. The agricultural machinery can include a tractor, for example, and can include a touchscreen. This touchscreen can be an app interface, for example. Triggering settings on the touchscreen allows for human-machine interaction, making the operation of the agricultural machinery more flexible.

[0089] In order to meet the diverse needs of agricultural machinery, the parameters of agricultural machinery can be configured through the parameter setting interface. The parameter setting interface can include a first parameter setting interface and a second parameter setting interface. The details of the first parameter setting interface and the second parameter setting interface are as described above. Figure 2 、 Figure 3 and Figure 4 As shown, the functional descriptions of the first parameter setting interface and the second parameter setting interface are also consistent with those described in the above embodiment and will not be repeated here. In the above method for controlling agricultural machinery, when configuring the parameters of the agricultural machinery, the technical solutions corresponding to the method for configuring the parameters of the agricultural machinery involved in the embodiment can be used for configuration, and will not be repeated here.

[0090] When configuring parameters for agricultural machinery, the terminal may first display a first parameter setting interface. Specifically, the terminal may receive a setting instruction triggered by the user via the touch screen. Upon receiving the setting instruction, the terminal may display the first parameter setting interface based on the setting instruction. The first parameter setting interface may include multiple selectable parameter items. Parameter items may include parameter groups and implement types. Each parameter group may include actions corresponding to each action mode, and implement types may include non-hydraulic implements and hydraulic implements.

[0091] After displaying the first parameter setting interface, the terminal can obtain the parameter items selected by the user through the first parameter setting interface, that is, the parameter group and / or the type of agricultural implement selected by the user through the first parameter setting interface.

[0092] In one embodiment, the parameter items include parameter groups, each parameter group includes actions corresponding to each action mode, and the configuration method also includes: receiving an editing instruction for any parameter group triggered by a user through a first parameter setting interface; displaying a second parameter setting interface according to the editing instruction; and determining the actions corresponding to each action mode when the agricultural machinery is in automatic driving mode according to the actions and action times corresponding to each action mode set by the user through the second parameter setting interface.

[0093] After obtaining the parameter items, the terminal can determine the corresponding actions for each action mode of the agricultural machine when in autonomous driving mode based on the selected parameter items. The action mode can be at least one of an operating mode, a left-turn U-turn mode, a right-turn U-turn mode, and an obstacle avoidance mode. The agricultural machine can be considered to be in autonomous driving mode if it is fault-free, in neutral, with the engine started, the brakes deactivated, the parking brake not engaged, and the rear lift function ready and fault-free. Fault-free agricultural machinery means that the agricultural machinery has no faults that affect its travel or steering. The agricultural machinery can be either automatic or manual. If the agricultural machinery is automatic and meets autonomous driving requirements, the gear can be in neutral. If the agricultural machinery is manual and meets autonomous driving requirements, the gear can be in the gear required for the target vehicle speed. When the brakes cannot be used while the agricultural machinery is in autonomous driving mode, this can be indicated as being deactivated. If the rear lift controller of the agricultural machinery does not issue a fault indication, this indicates that the rear lift function is fault-free. The rear lift function is in a ready state when the implement is hung in place, the rear power take-off shaft is connected, and the hydraulic output circuit and pipeline are connected.

[0094] Specifically, the terminal can receive an edit instruction for any parameter group triggered by the user through the parameter setting interface, and can display the second parameter setting interface according to any edit instruction. For example, if there are three parameter groups, the three parameter groups can be represented as parameter group 1, parameter group 2, and parameter group 3. The user can trigger the edit instruction of parameter group 1 through the first parameter setting interface, or trigger the edit instruction of parameter group 2, or trigger the edit instruction of parameter group 3. If the user triggers the edit instruction of parameter group 1 through the first parameter setting interface, the second parameter setting interface can be displayed according to the edit instruction to set parameter group 1.

[0095] In one embodiment, the agricultural machinery includes agricultural implements, and the second parameter setting interface also includes at least one of the following function setting options: automatically lowering the agricultural implements when the operation starts, automatically lifting the agricultural implements when turning, disabling automatic power shifting of the entire machine, and disabling automatic PTO engagement and disengagement; the configuration method also includes: determining the action corresponding to each action mode set by the parameter group corresponding to the second parameter setting interface based on the function setting option selected by the user.

[0096] In one embodiment, the parameter items also include the type of agricultural implements, and the types of agricultural implements include non-hydraulic agricultural implements and hydraulic agricultural implements. The configuration method also includes: when the selected parameter items include hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting, lowering, flipping, and executing hydraulic output in place of the agricultural implements; when the selected parameter items include non-hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting and lowering the agricultural implements.

[0097] The second parameter setting interface may also include function setting options. These function setting options may include automatically lowering the implement at the start of an operation, automatically raising the implement during a turn, disabling automatic power shifting for the entire machine, and disabling automatic PTO engagement and disengagement. Therefore, the terminal can determine the actions corresponding to each action mode based on the function setting options selected by the user in the second parameter setting interface. The actions corresponding to each action mode are set by the parameter group corresponding to the second parameter setting interface. Specifically, when the user selects a hydraulic implement as the implement type in the parameter items selected in the second parameter setting interface, the actions configurable in the second parameter setting interface may include lifting, lowering, flipping, and controlling the hydraulic output to a certain position. When the user selects a non-hydraulic implement as the parameter items selected in the second parameter setting interface, the actions configurable in the second parameter setting interface may include lifting and lowering the implement. As can be seen from the above, when the implement type is non-hydraulic, the actions corresponding to the action mode may not include flipping and controlling the hydraulic output to a certain position.

[0098] In one embodiment, the agricultural machinery further includes an adjustment knob and an agricultural implement, and the configuration method further includes: obtaining a first preset height and a second preset height set by the user through the touch screen and / or the adjustment knob, wherein the first preset height is the lifting height of the agricultural implement in the left turn mode, the right turn mode and the obstacle avoidance mode, and the second preset height is the height at which the rear power output clutch engages and disengages.

[0099] During the lifting process of the agricultural implement, the terminal can obtain the first preset height and the second preset height set by the user via the touch screen and / or the adjustment knob. The first preset height can be the height at which the agricultural implement is lifted in left-turn U-turn mode, right-turn U-turn mode, and obstacle avoidance mode. The first preset height can be a height greater than or equal to the height at which the agricultural implement can normally turn. The second preset height can be the height at which the rear power take-off clutch engages and disengages when the agricultural implement is lifted or lowered.

[0100] In one embodiment, the configuration method further includes: updating the first parameter setting interface and the second parameter setting interface according to demand.

[0101] Because the operating environment of agricultural machinery is complex and changeable, the terminal can update the first parameter setting interface and the second parameter setting interface as needed to adjust the movement of the agricultural implement according to the different operating requirements of the agricultural machinery. Specifically, the terminal can update the first parameter setting interface and the second parameter setting interface according to the programming program of the agricultural implement movement input by the user through the touch screen.

[0102] The above technical solution allows for quick and easy adjustment of the corresponding motion modes of agricultural machinery through a parameter setting interface, adapting to the diverse operational requirements of agricultural machinery. Furthermore, programming the agricultural machinery's motions via the touch screen allows for precise control of the machinery's movements, significantly improving its efficiency. Furthermore, through programming, the agricultural implement's motion modes can be more accurately adapted to the needs of autonomous driving operations.

[0103] Figure 1 FIG. 1 is a flow chart of a method for controlling agricultural machinery in one embodiment. Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0104] Figure 6 FIG. 1 is a flow chart of a method for configuring parameters of agricultural machinery in one embodiment. It should be understood that although Figure 6The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 6 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0105] An embodiment of the present application provides a processor, which is used to run a program, wherein the program executes the above-mentioned method for controlling agricultural machinery when it is run.

[0106] In one embodiment, a device for controlling agricultural machinery is provided, comprising the above-mentioned processor.

[0107] An embodiment of the present application provides a processor, which is used to run a program, wherein the program executes the above-mentioned method for configuring agricultural machinery parameters when running.

[0108] In one embodiment, a device for configuring agricultural machinery parameters is provided, comprising the above-mentioned processor.

[0109] An embodiment of the present application provides a storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned method for controlling agricultural machinery is implemented.

[0110] An embodiment of the present application provides a storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned method for configuring agricultural machinery parameters is implemented.

[0111] An embodiment of the present application provides an agricultural machine, which includes an agricultural implement, the above-mentioned device for controlling the agricultural machine, and / or the above-mentioned device for configuring agricultural machine parameters.

[0112] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as operating signals of agricultural machinery. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for controlling agricultural machinery is implemented.

[0113] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a method for configuring agricultural machinery parameters is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0114] Those skilled in the art will understand that Figure 7 and Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0115] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and runnable on the processor. When the processor executes the program, the above-mentioned method for controlling agricultural machinery or the method for configuring agricultural machinery parameters is implemented.

[0116] The present application also provides a computer program product which, when executed on a data processing device, is suitable for executing a program for initializing method steps for controlling an agricultural machine or method steps for configuring parameters of an agricultural machine.

[0117] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0121] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0122] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0123] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0125] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling an agricultural machine, characterized in that The method comprises: During the operation of the agricultural machinery in the automatic driving mode, obtaining an operation signal of the agricultural machinery; determining an action mode of the agricultural machine according to the operation signal, the action mode comprising at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode; controlling the agricultural machine to perform an action corresponding to the action mode; The action corresponding to each action mode is determined by the following steps: Obtaining the parameter item selected by the user through the first parameter setting interface; Determining an action corresponding to each action mode based on the selected parameter items, wherein the parameter items include a type of agricultural implement and a parameter group, the types of agricultural implements including non-hydraulic agricultural implements and hydraulic agricultural implements, each parameter group including an action corresponding to each action mode, and when the selected parameter items include the non-hydraulic agricultural implement, the action corresponding to the action mode includes controlling the lifting and lowering of the agricultural implement; and when the selected parameter items include the hydraulic agricultural implement, the action corresponding to the action mode includes controlling the lifting and lowering of the agricultural implement and controlling the hydraulic output flip to be executed in place. The automatic driving mode is used to realize the operation path planning and automatic driving of the agricultural machinery; the operation signal includes: controlling the agricultural machinery to turn left, controlling the agricultural machinery to turn right, and controlling the agricultural machinery to avoid obstacles and detour; The method further comprises: When it is determined that the operation mode of the agricultural machine is the left turn mode or the right turn mode, first, the agricultural implement is controlled to be lifted; When an obstacle signal is received, the action mode of the agricultural machinery is determined to be the obstacle avoidance mode, a detour route is formulated according to the size of the obstacle, and the lifting of the agricultural implement is controlled.

2. The method for controlling an agricultural machine according to claim 1, characterized in that The agricultural machine includes an agricultural implement, the action mode further includes an operation mode, and controlling the agricultural machine to perform an action corresponding to the action mode includes: In the operation mode, the agricultural implement is controlled to be lowered and the hydraulic output is controlled to be in place; In the left turn mode or the right turn mode, controlling the agricultural implement to be lifted until the agricultural implement is lifted to a first preset height, controlling the agricultural implement to be flipped, and controlling the agricultural implement to be lowered after the flipping is completed; In the obstacle avoidance mode, the agricultural implement is controlled to be raised to the first preset height, and the agricultural implement is controlled to be lowered after the obstacle avoidance mode is completed; In the process of controlling the lifting of the agricultural implement, when the agricultural implement is lifted to a second preset height, the rear power output clutch of the agricultural machinery is automatically disengaged; in the process of controlling the lowering of the agricultural implement, when the agricultural implement is lowered to the second preset height, the rear power output clutch is automatically engaged.

3. The method for controlling an agricultural machine according to claim 2, characterized in that: The agricultural machine further includes a touch screen and / or an adjustment knob, and the method further includes: The first preset height and the second preset height set by the user through the touch screen and / or the adjustment knob are received.

4. The method for controlling an agricultural machine according to claim 1, wherein: The method further comprises: Receive autonomous driving requests; detecting a vehicle status of the agricultural machinery according to the automatic driving request; When it is determined based on the whole vehicle state that the agricultural machinery meets the automatic driving conditions, the agricultural machinery is controlled to enter the automatic driving mode.

5. The method for controlling an agricultural machine according to claim 4, characterized in that The agricultural machinery is determined to meet the automatic driving conditions if all of the following conditions are met: The agricultural machinery is free of malfunctions; The gear of the agricultural machinery is in a neutral state or in a target gear; The engine of the agricultural machinery is in a started state; The brake of the agricultural machinery is in an untriggered state; The parking brake of the agricultural machinery is in an unengaged state; The rear lifting function of the agricultural machine is in a ready state and has no faults.

6. The method for controlling an agricultural machine according to claim 1, characterized in that: The method further includes controlling the agricultural machine to exit the automatic driving mode when any one of the following conditions is met: The agricultural machinery malfunctions; The rear lifting controller of the agricultural machinery issues a fault prompt; Receiving a signal for exiting the automatic driving from a remote control terminal of the automatic driving of the agricultural machinery; The parking brake of the agricultural machinery is in an open state; The brake of the agricultural machinery is in a triggered state; The engine of the agricultural machinery is in a flameout state.

7. The method for controlling an agricultural machine according to claim 1, characterized in that: The method further comprises: Obtaining an editing instruction for any parameter group triggered by the user through the first parameter setting interface; Enter the second parameter setting interface according to the editing instruction; The action corresponding to each action mode set by the user through the second parameter setting interface is obtained.

8. The method for controlling an agricultural machine according to claim 7, characterized in that The acquiring of the action corresponding to each action mode set by the user through the second parameter setting interface further includes: Obtaining the action corresponding to each action mode and the action time of each action set by the user through the second parameter setting interface; Wherein, when the action time is less than or equal to a preset time threshold, the execution time of the corresponding action is controlled according to the action time; When the action time is greater than the preset time threshold, the corresponding action is controlled to be maintained in the start state according to the action time.

9. The method for controlling an agricultural machine according to any one of claims 1 to 8, characterized in that: The agricultural machinery is a tractor.

10. A method for configuring agricultural machinery parameters, characterized in that: include: Displaying a first parameter setting interface, wherein the first parameter setting interface includes a plurality of selectable parameter items; Obtaining the parameter items selected by the user through the first parameter setting interface; Determining, based on the selected parameter items, an action corresponding to each action mode of the agricultural machine when in the automatic driving mode, wherein the action mode includes at least one of a left turn mode, a right turn mode, and an obstacle avoidance mode; The parameter items include parameter groups, each parameter group includes an action corresponding to each action mode, and the configuration method further includes: receiving an edit instruction for any parameter group triggered by the user through the first parameter setting interface; displaying a second parameter setting interface according to the edit instruction; and determining, based on the action and action time corresponding to each action mode set by the user through the second parameter setting interface, an action corresponding to each action mode when the agricultural machine is in the automatic driving mode; The parameter items also include the type of agricultural implement, which includes non-hydraulic agricultural implements and hydraulic agricultural implements. If the selected parameter items include the hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting, lowering, flipping, and hydraulic output execution of the agricultural implements. If the selected parameter items include the non-hydraulic agricultural implements, the configurable actions on the second parameter setting interface include lifting and lowering the agricultural implements. The automatic driving mode is used to implement the operation path planning and automatic driving of the agricultural machinery; the action mode is determined according to the operation signal of the agricultural machinery during the operation of the automatic driving mode; the operation signal includes: controlling the agricultural machinery to turn left, controlling the agricultural machinery to turn right, and controlling the agricultural machinery to avoid obstacles and detour; The actions corresponding to the action mode include: When it is determined that the operation mode of the agricultural machine is the left turn mode or the right turn mode, first, the agricultural implement is controlled to be lifted; When an obstacle signal is received and the action mode of the agricultural machinery is determined to be the obstacle avoidance mode, a detour route is formulated according to the size of the obstacle, and the lifting of the agricultural implement is controlled.

11. The method for configuring agricultural machinery parameters according to claim 10, characterized in that: The agricultural machinery includes an agricultural implement, and the second parameter setting interface further includes at least one of the following function setting options: automatically lowering the agricultural implement when an operation starts, automatically raising the agricultural implement when turning, disabling automatic power shifting of the entire machine, and disabling automatic PTO engagement and disengagement; The configuration method further includes: The action corresponding to each action mode set by the parameter group corresponding to the second parameter setting interface is determined according to the function setting option selected by the user.

12. The method for configuring agricultural machinery parameters according to claim 10 or 11, characterized in that: The agricultural machine includes a touch screen, and the display of the first parameter setting interface includes: Obtaining a setting instruction triggered by the user through the touch screen; The first parameter setting interface is displayed according to the setting instruction.

13. The method for configuring agricultural machinery parameters according to claim 12, characterized in that: The agricultural machine further includes an adjustment knob and an agricultural implement, and the configuration method further includes: Obtaining a first preset height and a second preset height set by a user through the touch screen and / or the adjustment knob, wherein the first preset height is the lifting height of the agricultural implement in the left turn mode, the right turn mode, and the lifting height of the agricultural implement in the obstacle avoidance mode, and the second preset height is the height at which a rear power take-off clutch engages and disengages.

14. The method for configuring agricultural machinery parameters according to claim 10, characterized in that: The configuration method further includes: The first parameter setting interface and the second parameter setting interface are updated as needed.

15. A processor, characterized in that: The apparatus is configured to execute the method for controlling an agricultural machine according to any one of claims 1 to 9.

16. A device for controlling agricultural machinery, characterized in that: comprising a processor according to claim 15.

17. A processor, characterized in that: The method is configured to execute the method for configuring agricultural machinery parameters according to any one of claims 10 to 14.

18. A device for configuring agricultural machinery parameters, characterized in that: comprising a processor according to claim 17.

19. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to perform the method for controlling an agricultural machine according to any one of claims 1 to 9.

20. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for configuring agricultural machinery parameters according to any one of claims 10 to 14.

21. An agricultural machine, characterized in that: The agricultural machinery includes: farm tools; The device for controlling an agricultural machine according to claim 16, and / or The device for configuring agricultural machinery parameters according to claim 18.

22. The agricultural machine according to claim 21, characterized in that The agricultural machinery is a tractor.

Images