Method for determining working width of agricultural machinery, processor and agricultural machinery

Abstract

The embodiment of the present application provides a method, device, processor, agricultural machinery and storage medium for determining the working width of agricultural machinery. The method includes: determining the number of working rows according to the area parameters of the area to be operated, and determining the first target working width and length when the agricultural machinery operates on the current working row; determining the first real-time working width and length according to the first working image; adjusting the first real-time working width; determining the remaining working width of the area to be operated according to the first target working length, the first real-time working length and the adjusted first real-time working width; decreasing the number of working rows and determining the next working row as the current working row; determining the second target working width and length when the agricultural machinery operates on the next working row; returning to the step of determining the target working width and length of the current working row again, until the value of the number of working rows is equal to the preset value, so as to determine that the operation of the agricultural machinery on the area to be operated has been completed.

Description

Technical Field

[0001] The present application relates to the field of intelligent agricultural machinery, and specifically to a method, device, processor, agricultural machinery and storage medium for determining the working width of agricultural machinery. Background Art

[0002] With the acceleration of my country's industrialization and urbanization, the demand for agricultural machinery in agricultural development is increasing. Smart agriculture and intelligent agricultural machinery are gradually becoming a new trend in the development of agricultural machinery.

[0003] Crop planting is an important part of the agricultural industry. At present, the planting methods in my country include direct seeding, transplanting and throwing. In the actual planting process, most planting areas are not completely regular areas. Therefore, when working through the pre-planned operation route, agricultural machinery may not be able to plant with a suitable operating width when it reaches the last row. In view of this situation, manual transplanting is generally used to plant the planting area where the last row is located, or it is chosen not to plant. This method not only increases the labor and time costs of planting, but also reduces the utilization rate of the planting area. Therefore, in the prior art, the operating width is also adjusted by replacing the operating tools of the agricultural machinery to ensure that the agricultural machinery completes the operation of the last row. However, due to the limitations of the shape of the planting area, the frequent replacement of operating tools will also increase the labor and time costs of the operation. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, processor, agricultural machinery and storage medium for determining the working width of agricultural machinery.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining the working width of an agricultural machinery, comprising:

[0006] Get the area parameters of the area to be operated;

[0007] Determine the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters, and determine the first target operation width and the first target operation length when the agricultural machinery operates on the current operation row;

[0008] Determine, according to the first operation image of the current operation row, a first real-time operation width and a first real-time operation length when the agricultural machinery operates on the current operation row;

[0009] Adjusting the first real-time working width so that the first real-time working width approaches the first target working width;

[0010] Determine the remaining working width of the area to be worked according to the first target working length, the first real-time working length and the adjusted first real-time working width;

[0011] Decrement the value of the number of job rows, and when the value of the number of job rows after decrement is greater than a preset value, determine the next job row as the current job row;

[0012] Determine a second target working width and a second target working length when the agricultural machinery operates on the next working row according to the remaining working width and the number of working rows after decrementing the preset value;

[0013] Return to the step of determining the target working width and target working length of the current working row again, until the value of the number of working rows is equal to the preset value, it is determined that the work of the agricultural machinery on the area to be worked has been completed.

[0014] In an embodiment of the present application, adjusting the first real-time working width includes: comparing the first target working width with the first real-time working width; when the first real-time working width is greater than the first target working width, reducing the motor speed of the agricultural machinery to reduce the difference between the first real-time working width and the first target working width to a first preset threshold; when the first real-time working width is less than the first target working width, increasing the motor speed to reduce the difference between the first real-time working width and the first target working width to a first preset threshold.

[0015] In an embodiment of the present application, determining the remaining working width of the area to be worked based on the first target working length, the first real-time working length and the adjusted first real-time working width includes: comparing the first real-time working length with the first target working length; when the first real-time working length is greater than the first target working length, determining that the agricultural machinery has completed the work on the current working row, and determining the remaining working width of the area to be worked based on the adjusted first real-time working width; when the first real-time working length is less than or equal to the first target working length, obtaining an updated first working image of the current working row to determine the first real-time working length again based on the updated first working image until the first real-time working length is greater than the first target working length.

[0016] In an embodiment of the present application, determining the remaining working width of the area to be operated based on the adjusted first real-time working width includes: for each updated first working image of the current working row, determining the first real-time working width of the agricultural machinery when operating on the current working row, and adjusting the first real-time working width each time according to the first target working width; determining the average width of the agricultural machinery when operating on the current row based on all adjusted first real-time working widths; determining the remaining working width of the area to be operated based on the average width and the width of the inscribed rectangular area of ​​the area to be operated.

[0017] In the embodiment of the present application, the mean width is determined by formula (1):

[0018]

[0019] Among them, W m is the mean width corresponding to the mth row, is the real-time operating width after the kth adjustment, is the total real-time job width after k adjustments.

[0020] In the embodiment of the present application, the real-time working width of the agricultural machinery during operation is W n .

[0021] In an embodiment of the present application, the area parameters include the area shape and area area of ​​the area to be operated, and determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters includes: determining the inscribed rectangular area of ​​the area to be operated according to the area shape and area area; determining the areas of each closed area formed by the inscribed rectangular area and the area to be operated; determining the operation route of the agricultural machinery according to the area of ​​each closed area; and determining the number of operation rows according to the operation route.

[0022] In an embodiment of the present application, determining the operating route of agricultural machinery based on the area of ​​each closed area includes: determining the first long side closed area and the second long side closed area formed by the long sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the long side closed areas corresponding to the first long side closed area and the second long side closed area; determining the first short side closed area and the second short side closed area formed by the short sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the short side closed areas corresponding to the first short side closed area and the second short side closed area; when the total area of ​​the long side closed areas is greater than the total area of ​​the short side closed areas, determining the direction of the short sides of the inscribed rectangular area as the operating direction of the agricultural machinery; when the total area of ​​the long side closed areas is less than or equal to the total area of ​​the short side closed areas, determining the direction of the long sides of the inscribed rectangular area as the operating direction of the agricultural machinery; determining the operating route of the agricultural machinery based on the operating direction of the agricultural machinery and the area area of ​​the area to be operated.

[0023] In an embodiment of the present application, determining the number of operation rows of agricultural machinery for the area to be operated based on area parameters also includes: determining the target number of operation rows based on the width of the inscribed rectangular area and the preset operation width; when the target number of operation rows is an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the target number of operation rows; when the target number of operation rows is not an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the integer closest to the target number of operation rows.

[0024] In an embodiment of the present application, determining the first target operating width and the first target operating length when the agricultural machinery is operating on the current operating row includes: determining the quotient of the width of the inscribed rectangular area and the number of operating rows as the first target operating width; and determining the first target operating length according to the operating route of the agricultural machinery.

[0025] A second aspect of the present application provides a processor configured to execute the above-mentioned method for determining the working width of agricultural machinery.

[0026] A third aspect of the present application provides a device for determining the working width of agricultural machinery, comprising: an image acquisition device for acquiring working images of the agricultural machinery during operation; and the above-mentioned processor.

[0027] A fourth aspect of the present application provides an agricultural machinery, comprising the above-mentioned device for determining the working width of the agricultural machinery.

[0028] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for determining the working width of agricultural machinery.

[0029] Through the above technical solution, the working width of the agricultural machinery for the current working row can be adjusted in real time, and the target working width of the next row of work can be determined according to the remaining working width of the area to be worked, so as to ensure that the agricultural machinery can work with the appropriate working width when it reaches the last row. While reducing the time cost and labor participation cost of agricultural machinery operations, it can also further increase the working area of ​​the area to be worked, greatly improving the operation quality of agricultural machinery.

[0030] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 specific implementations, 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:

[0032] Figure 1 A schematic diagram of a process flow of a method for determining the working width of an agricultural machinery according to an embodiment of the present application is schematically shown;

[0033] Figure 2 A schematic diagram of an application environment of a method for determining an operating width of an agricultural machinery according to an embodiment of the present application is schematically shown;

[0034] Figure 3A schematic diagram of a flow chart of a method for determining the working width of an agricultural machinery according to another embodiment of the present application is schematically shown;

[0035] Figure 4 The structure block diagram of the device for determining the working width of agricultural machinery according to an embodiment of the present application is schematically shown;

[0036] Figure 5 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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.

[0038] Figure 1 The flowchart of the method for determining the working width of agricultural machinery according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for determining the working width of an agricultural machinery is provided, comprising the following steps:

[0039] Step 101, obtaining the area parameters of the area to be operated.

[0040] Step 102, determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters, and determining a first target operation width and a first target operation length when the agricultural machinery operates on the current operation row.

[0041] Step 103 : determining a first real-time working width and a first real-time working length of the agricultural machinery when operating the current working row according to the first working image of the current working row.

[0042] Step 104 , adjusting the first real-time operating width so that the first real-time operating width approaches the first target operating width.

[0043] Step 105 , determining the remaining working width of the area to be worked according to the first target working length, the first real-time working length and the adjusted first real-time working width.

[0044] Step 106 , decrement the value of the number of operation rows, and when the value of the number of operation rows after decrement is greater than a preset value, determine the next operation row as the current operation row.

[0045] Step 107 : determining a second target working width and a second target working length when the agricultural machinery operates on the next working row according to the remaining working width.

[0046] Step 108, returning to the step of determining the target working width and target working length of the current working row, until the value of the number of working rows is equal to the preset value, it is determined that the work of the agricultural machinery on the area to be worked has been completed.

[0047] Agricultural machinery refers to various machines used in the process of crop planting, as well as in the primary processing and treatment of agricultural products. Furthermore, agricultural machinery may refer to machinery used for agricultural planting. For example, machinery for planting rice may also be power machinery, farmland construction machinery, soil tillage machinery, planting and fertilizing machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery and agricultural transport machinery, etc., used for agricultural planting. The area to be operated of agricultural machinery may refer to the area where crops are to be planted or where agricultural operations are to be performed. The area to be operated may be an operating area of ​​regular shape or an operating area of ​​irregular shape. In the case where the area to be operated is an irregularly shaped area, the agricultural machinery cannot operate with a suitable operating width when it operates to the last row. Therefore, the operating width can be adjusted in real time to improve the operation quality of the agricultural machinery.

[0048] Before the agricultural machinery is officially put into use, a navigation and dotting device can be installed on the agricultural machinery. After the area to be operated is determined, the agricultural machinery can be controlled to move around the boundary line of the area to be operated to determine the area parameters of the area to be operated. Among them, the area parameters of the area to be operated may include the area shape and the area area. The navigation and dotting device can send the detected area shape and area to the processor. After the processor obtains the area shape and area of ​​the area to be operated, it can determine the number of operation rows of the agricultural machinery for the area to be operated according to the area shape and area, and determine the target operation width and target operation length when the agricultural machinery operates on each operation row.

[0049] In one embodiment, the area parameters include the area shape and area area of ​​the area to be operated, and determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters includes: determining the inscribed rectangular area of ​​the area to be operated according to the area shape and area area; determining the areas of each closed area formed by the inscribed rectangular area and the area to be operated; determining the operation route of the agricultural machinery according to the area of ​​each closed area; and determining the number of operation rows according to the operation route.

[0050] The processor can determine the inscribed rectangular area of ​​the area to be operated based on the area shape and area area. The inscribed rectangular area can be a closed area consisting of two long sides and two short sides. Then, the processor can determine the area of ​​each closed area formed by the inscribed rectangular area and the area to be operated. Based on the area of ​​each closed area, the processor can determine the operation route of the agricultural machinery, and then determine the number of operation rows of the agricultural machinery.

[0051] In one embodiment, determining the operating route of agricultural machinery based on the area of ​​each closed area includes: determining the first long side closed area and the second long side closed area formed by the long sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the long side closed areas corresponding to the first long side closed area and the second long side closed area; determining the first short side closed area and the second short side closed area formed by the short sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the short side closed areas corresponding to the first short side closed area and the second short side closed area; when the total area of ​​the long side closed areas is greater than the total area of ​​the short side closed areas, determining the direction of the short sides of the inscribed rectangular area as the operating direction of the agricultural machinery; when the total area of ​​the long side closed areas is less than or equal to the total area of ​​the short side closed areas, determining the direction of the long sides of the inscribed rectangular area as the operating direction of the agricultural machinery; determining the operating route of the agricultural machinery based on the operating direction of the agricultural machinery and the area area of ​​the area to be operated.

[0052] The inscribed rectangular area may include a first long side, a second long side, a first short side, and a second short side. The processor may determine a first long side closed area formed by the first long side of the inscribed rectangular area and the area to be operated, and a second long side closed area formed by the second long side of the inscribed rectangular area and the area to be operated. Then, the processor may sum the areas of the first long side closed area and the second long side closed area to determine the total area of ​​the long side closed areas.

[0053] To further determine the working direction of the agricultural machinery, the processor may also determine a first short side closed area formed by the first short side of the inscribed rectangular area and the area to be worked, and a second short side closed area formed by the second short side of the inscribed rectangular area and the area to be worked. Then, the processor may sum the areas of the first short side closed area and the second short side closed area to determine the total area of ​​the short side closed areas.

[0054] The processor may compare the total area of ​​the long side closed area with the total area of ​​the short side closed area. When the total area of ​​the long side closed area is greater than the total area of ​​the short side closed area, the processor may determine the direction of the short side of the inscribed rectangular area as the operating direction of the agricultural machinery. When the total area of ​​the long side closed area is less than or equal to the total area of ​​the short side closed area, the processor may determine the direction of the long side of the inscribed rectangular area as the operating direction of the agricultural machinery. The operating direction of the agricultural machinery may refer to the horizontal direction of the long side or short side of the inscribed rectangular area.

[0055] After determining the working direction of the agricultural machinery, the processor can determine the working route of the agricultural machinery according to the working direction and the area of ​​the area to be worked. For each long side of the inscribed rectangular area, the working route of the agricultural machinery can include two. For example, Figure 2 As shown in FIG. 1 , the operation direction of the agricultural machinery is the horizontal direction of the long side of the inscribed rectangular area. For the long side L1 of the inscribed rectangular area, the operation route of the agricultural machinery may include: Figure 2 Similarly, for the long side L2 of the inscribed rectangular area, the agricultural machinery's operating routes may also include two.

[0056] The operating direction of the agricultural machinery can be determined by comparing the total area of ​​the long-side closed area with the total area of ​​the short-side closed area, and the operating route of the agricultural machinery can be determined by the operating direction of the agricultural machinery and the area area of ​​the area to be operated. This can increase the planting area of ​​crops in the area to be operated and at the same time ensure the utilization rate of the area to be operated to the greatest extent.

[0057] In one embodiment, determining the number of operation rows of the agricultural machinery for the area to be operated based on the area parameters also includes: determining the target number of operation rows based on the width of the inscribed rectangular area and the preset operation width; when the target number of operation rows is an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the target number of operation rows; when the target number of operation rows is not an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the integer closest to the target number of operation rows.

[0058] After determining the inscribed rectangular area of ​​the area to be operated according to the area shape and the area area, the processor may determine the width of the inscribed rectangular area. Then, the target number of operation rows is determined according to the width of the inscribed rectangular area and the preset operation width. If the target number of operation rows is an integer, the processor may determine the number of operation rows of the area to be operated as the target number of operation rows. If the target number of operation rows is not an integer, in order to facilitate the subsequent planning of the agricultural machinery operation route, the processor may determine the number of operation rows of the agricultural machinery for the area to be operated as the integer closest to the target number of operation rows.

[0059] Furthermore, the target number of operation rows can be determined by rounding. For example, when the target number of operation rows is 6.5 rows, the processor can round up the target number of operation rows to determine that the integer closest to the target number of operation rows is 7. At this time, the number of operation rows of the agricultural machinery for the area to be operated can be 7. When the target number of operation rows is 6.3 rows, the processor can round down the target number of operation rows to determine that the integer closest to the target number of operation rows is 6. At this time, the number of operation rows of the agricultural machinery for the area to be operated can be 6.

[0060] In one embodiment, determining a first target working width and a first target working length when the agricultural machinery is working on the current working row includes: determining the quotient of the width of the inscribed rectangular area and the number of working rows as the first target working width; and determining the first target working length according to the working route of the agricultural machinery.

[0061] The first target working width of the agricultural machinery when operating on the current working row can be determined based on the width of the inscribed rectangular area and the number of working rows of the agricultural machinery for the area to be operated. Specifically, the processor can determine the quotient of the width of the inscribed rectangular area and the number of working rows of the agricultural machinery for the area to be operated as the first target working width. Then, the processor can determine the first target working length of the agricultural machinery according to the operating route of the agricultural machinery. If the area to be operated of the agricultural machinery is an irregularly shaped area, then when operating on each row of the agricultural machinery, the corresponding first target working length may be different. If the area to be operated of the agricultural machinery is a regularly shaped area, then when operating on each row of the agricultural machinery, the corresponding first target working length may be the same.

[0062] When determining the first target working width and the first target working length of the agricultural machinery, the processor can first obtain the first working image captured by the image acquisition device. The first working image refers to the image of the agricultural machinery performing the current working operation captured by the image acquisition device. Among them, the image acquisition device can be a device with image acquisition function such as a camera, a video camera, a camera, a recorder, etc. In order to be able to obtain a large number of first working images in real time, an intelligent camera can be used. After capturing the first working image, the intelligent camera can promptly transmit the captured image to the processor by wireless transmission or wired transmission.

[0063] The processor can determine the first real-time working width and the first real-time working length of the agricultural machinery when operating the current operating row according to the first operating image of the current operating row obtained. Specifically, when the agricultural machinery operates on the current operating row, the agricultural machinery can plant plants in the area to be operated. When the first operating image is obtained, some plants in the first operating image can be determined by the plant detection algorithm, wherein the some plants refer to all plants planted by the agricultural machinery at the current moment. The first real-time operating width of the agricultural machinery when operating the current operating row can be determined according to the area where some plants are located. All plants in the first operating image can also be determined by the plant detection algorithm. Among them, all plants can refer to all plants planted by the agricultural machinery from the initial moment to the current moment. The first real-time operating length of the agricultural machinery when operating the current operating row can be determined according to the area where all plants are located. When the first real-time operating width and the first real-time operating length are determined, the processor can adjust the first real-time operating width so that the first real-time operating width approaches the first target operating width.

[0064] In one embodiment, adjusting the first real-time working width includes: comparing the first target working width with the first real-time working width; when the first real-time working width is greater than the first target working width, reducing the motor speed of the agricultural machinery to reduce the difference between the first real-time working width and the first target working width to a first preset threshold; when the first real-time working width is less than the first target working width, increasing the motor speed to reduce the difference between the first real-time working width and the first target working width to a first preset threshold.

[0065] The processor may compare the first target working width with the first real-time working width. If the first real-time working width is greater than the first target working width, the processor may control the motor speed of the agricultural machinery to decrease. At this time, the first real-time working width of the agricultural machinery also decreases accordingly. Accordingly, the difference between the first real-time working width and the first target working width also decreases accordingly, so that the first real-time working width approaches the first target working width. In order to make the first real-time working width closer to the first target working width, the processor may reduce the difference between the first real-time working width and the first target working width to a first preset threshold value. The first preset threshold value may be zero.

[0066] If the first real-time working width is less than the first target working width, the processor can control the motor speed of the agricultural machinery to increase. At this time, the first real-time working width of the agricultural machinery also increases accordingly. Correspondingly, the difference between the first real-time working width and the first target working width is also reduced accordingly, so that the first real-time working width approaches the first target working width. In order to make the first real-time working width closer to the first target working width, the processor can reduce the difference between the first real-time working width and the first target working width to a first preset threshold. Among them, the first preset threshold can be zero. After adjusting the first real-time working width, the processor can determine the remaining working width of the area to be operated based on the first target working length, the first real-time working length and the adjusted first real-time working width.

[0067] In one embodiment, determining the remaining working width of the area to be worked according to the first target working length, the first real-time working length and the adjusted first real-time working width includes: comparing the first real-time working length with the first target working length; when the first real-time working length is greater than the first target working length, determining that the agricultural machinery has completed the work for the current working row, and determining the remaining working width of the area to be worked according to the adjusted first real-time working width; when the first real-time working length is less than or equal to the first target working length, obtaining the updated first working image of the current working row, and determining the first real-time working length again according to the updated first working image, until the first real-time working length is greater than the first target working length. The processor can determine whether the work of the current working row of the agricultural machinery has been completed according to the first real-time working length and the first target working length. The processor can compare the first real-time working length with the first target working length.

[0068] When the first real-time operation length is greater than the first target operation length, the processor can determine that the operation of the agricultural machinery for the current operation row has been completed. At this time, the processor can determine the remaining operation width of the area to be operated based on the adjusted first real-time operation width. When the first real-time operation length is less than or equal to the first target operation length, the processor can determine that the operation of the agricultural machinery for the current operation row is not completed. Therefore, the processor can obtain the updated first operation image of the current operation row to determine the first real-time operation length again based on the updated first operation image until the first real-time operation length is greater than the first target operation length.

[0069] In one embodiment, determining the remaining working width of the area to be worked based on the adjusted first real-time working width includes: for each updated first working image of the current working row, determining the first real-time working width of the agricultural machinery when working on the current working row, and adjusting the first real-time working width each time according to the first target working width; determining the average width of the agricultural machinery when working on the current row based on all the adjusted first real-time working widths; and determining the remaining working width of the area to be worked based on the average width and the width of the inscribed rectangular area of ​​the area to be worked.

[0070] Before determining that the first real-time operation length is greater than the first target operation length, the processor can obtain multiple updated first operation images of the current operation row. For each updated first operation image of the current operation row, the processor can determine the first real-time operation width of the agricultural machinery when operating on the current operation row, and can adjust the first real-time operation width each time according to the first target operation width. After determining that the first real-time operation length is greater than the first target operation length, the processor can determine the average width of the agricultural machinery when operating on the current operation row according to all adjusted first real-time operation widths. Then, the remaining operation width of the area to be operated is determined according to the average width and the width of the inscribed rectangular area of ​​the area to be operated.

[0071] In one embodiment, the mean width is determined by formula (1):

[0072]

[0073] Among them, W m is the mean width corresponding to the mth row, is the real-time operating width after the kth adjustment, is the total real-time job width after k adjustments.

[0074] In one embodiment, the real-time working width of the agricultural machinery during operation is W n .

[0075] For example, if the processor obtains the first operation image at time t1 and determines that the adjusted first real-time operation width at this time is If the first real-time operation length L1 at this time is less than or equal to the first target operation length, the processor can continue to obtain the first operation image at time t2. If the first real-time operation length L2 is less than or equal to the first target operation length, the processor can continue to acquire the first operation image at time t3. If the determined first real-time operation length L3 is greater than the first target operation length, the processor can determine that the operation of the current operation row has been completed. At this time, the total real-time operation width after adjustment 3 times can be According to the above formula (1), the mean width can be determined Then, the processor can determine the remaining working width of the area to be worked on according to the difference between the width mean W1 and the width D of the inscribed rectangular area of ​​the area to be worked on. The first working image at time t2 is an updated first working image relative to the first working image at time t1. The first working image at time t3 is an updated first working image relative to the first working image at time t2.

[0076] After determining the remaining working width of the area to be operated, the processor may decrement the value of the number of working rows of the agricultural machinery, and compare the decremented value of the number of working rows with a preset value. The preset value may be zero. When the decremented value of the number of working rows is greater than the preset value, the processor may determine the next working row as the current working row. When determining that the agricultural machinery needs to operate the next working row, the processor may determine the second target working width and the second target working length when the agricultural machinery operates on the next working row according to the remaining working width and the number of working rows after decrementing the preset value.

[0077] When the second target working width and the second target working length of the agricultural machinery for the next working row are determined, the processor can return to the step of determining the target working width and the target working length of the current working row to adjust the working width of the agricultural machinery for the current row. When the value of the number of working rows is equal to the preset value, the processor can determine that the agricultural machinery has completed all the work on the area to be worked. That is, the agricultural machinery has completed the work of all working rows according to the planned working route.

[0078] Figure 3 A flowchart of a method for determining the working width of agricultural machinery according to yet another embodiment of the present application is schematically shown.

[0079] The navigation system plans the operation path of the agricultural machinery, and the processor can obtain the width W of the current operation row according to the planned operation route. t and the length L of the current job row t After the image acquisition device acquires the working image of the agricultural machinery for the current working row, the working image can be sent to the processor. The processor can detect the working width of the agricultural machinery according to the working image of the current working row to determine the real-time working width W of the agricultural machinery when operating the current working row. n and real-time operation length L nThe processor can further compare the width W of the current job line t With real-time working width W n The size of the agricultural machinery is used to control the motor speed, so that the real-time working width W n Approaching the width W of the current job line t .

[0080] The processor can count the real-time operation length L at this time n and the adjusted real-time working width, and the real-time working length L n The length L of the current job line t For comparison. In real-time operation length L n Less than the length L of the current job line t In the case of the real-time operation length L, the processor can obtain the next frame of the operation image again and detect the operation width of the agricultural machinery according to the next frame of the operation image. n Greater than or equal to the length L of the current job line t In this case, the processor may decrement the number of job rows N included in the job path planning, and determine whether the value of the decremented number of job rows is less than or equal to zero.

[0081] When the value of the number of operation rows after decrement is less than or equal to zero, the processor can determine that the operations of all operation rows included in the operation path planning have been completed. When the value of the number of operation rows after decrement is greater than zero, the processor can calculate the average operation width W of the agricultural machinery for the current operation row. m , and according to the mean working width W m The remaining working width W1 of the agricultural machinery is further calculated. After determining the remaining working width W1 of the agricultural machinery, the processor can determine the optimal working width W1 when the agricultural machinery performs work on the next working row. t At this time, the processor can determine the current working row as the next working row and obtain the working image of the next working row, so as to detect the working width of the agricultural machinery according to the working image of the next working row, until the value of the number of working rows of the agricultural machinery is equal to zero.

[0082] Through the above technical solution, the working width of the agricultural machinery for the current working row can be adjusted in real time, and the target working width of the next row of work can be determined according to the remaining working width of the area to be worked, so as to ensure that the agricultural machinery can work with the appropriate working width when working on the last row. At the same time, while reducing the time cost and labor participation cost of agricultural machinery operations, it can also further improve the utilization rate of the area to be worked and greatly improve the operation quality of agricultural machinery. In addition, by adjusting the real-time working width to the target working width as much as possible, it can provide a suitable spacing for the crops planted in the area to be worked, providing favorable conditions for the growth of subsequent crops.

[0083] Figure 1 FIG. 1 is a flow chart of a method for determining the working width of an agricultural machine 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. Moreover, 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.

[0084] In one embodiment, Figure 4 As shown, a device for determining the working width of agricultural machinery is provided, comprising an image acquisition device 401 and the above-mentioned processor 402. The image acquisition device 401 is used to acquire working images of agricultural machinery during operation.

[0085] 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 determining the working width of agricultural machinery is implemented.

[0086] 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 determining the working width of agricultural machinery when it is run.

[0087] 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 5As 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 regional parameters. 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 determining the working width of agricultural machinery is implemented.

[0088] Those skilled in the art will understand that Figure 5 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 those shown in the figure, or combine certain components, or have a different arrangement of components.

[0089] The embodiment of the present application provides a device, the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the following steps when executing the program: obtaining regional parameters of an area to be operated; determining the number of operation rows of the agricultural machinery for the area to be operated according to the regional parameters, and determining a first target operation width and a first target operation length when the agricultural machinery operates on the current operation row; determining a first real-time operation width and a first real-time operation length when the agricultural machinery operates on the current operation row according to a first operation image of the current operation row; adjusting the first real-time operation width so that the first real-time operation width approaches the first target operation width; determining a remaining operation width of the area to be operated according to the first target operation length, the first real-time operation length, and the adjusted first real-time operation width; decreasing the value of the number of operation rows, and determining the next operation row as the current operation row when the value of the number of operation rows after decreasing is greater than a preset value; determining a second target operation width and a second target operation length when the agricultural machinery operates on the next operation row according to the remaining operation width and the number of operation rows after decreasing the preset value; returning to the step of determining the target operation width and the target operation length of the current operation row again, until the value of the number of operation rows is equal to the preset value, it is determined that the operation of the agricultural machinery on the area to be operated has been completed.

[0090] In one embodiment, adjusting the first real-time working width includes: comparing the first target working width with the first real-time working width; when the first real-time working width is greater than the first target working width, reducing the motor speed of the agricultural machinery to reduce the difference between the first real-time working width and the first target working width to a first preset threshold; when the first real-time working width is less than the first target working width, increasing the motor speed to reduce the difference between the first real-time working width and the first target working width to a first preset threshold.

[0091] In one embodiment, determining the remaining working width of the area to be worked based on the first target working length, the first real-time working length and the adjusted first real-time working width includes: comparing the first real-time working length with the first target working length; when the first real-time working length is greater than the first target working length, determining that the agricultural machinery has completed the work on the current working row, and determining the remaining working width of the area to be worked based on the adjusted first real-time working width; when the first real-time working length is less than or equal to the first target working length, obtaining an updated first working image of the current working row to determine the first real-time working length again based on the updated first working image until the first real-time working length is greater than the first target working length.

[0092] In one embodiment, determining the remaining working width of the area to be worked based on the adjusted first real-time working width includes: for each updated first working image of the current working row, determining the first real-time working width of the agricultural machinery when working on the current working row, and adjusting the first real-time working width each time according to the first target working width; determining the average width of the agricultural machinery when working on the current row based on all the adjusted first real-time working widths; and determining the remaining working width of the area to be worked based on the average width and the width of the inscribed rectangular area of ​​the area to be worked.

[0093] In one embodiment, the mean width is determined by formula (1):

[0094]

[0095] Among them, W m is the mean width corresponding to the mth row, is the real-time operating width after the kth adjustment, is the total real-time job width after k adjustments.

[0096] In one embodiment, the real-time working width of the agricultural machinery during operation is W n .

[0097] In one embodiment, the area parameters include the area shape and area area of ​​the area to be operated, and determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters includes: determining the inscribed rectangular area of ​​the area to be operated according to the area shape and area area; determining the areas of each closed area formed by the inscribed rectangular area and the area to be operated; determining the operation route of the agricultural machinery according to the area of ​​each closed area; and determining the number of operation rows according to the operation route.

[0098] In one embodiment, determining the operating route of agricultural machinery based on the area of ​​each closed area includes: determining the first long side closed area and the second long side closed area formed by the long sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the long side closed areas corresponding to the first long side closed area and the second long side closed area; determining the first short side closed area and the second short side closed area formed by the short sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the short side closed areas corresponding to the first short side closed area and the second short side closed area; when the total area of ​​the long side closed areas is greater than the total area of ​​the short side closed areas, determining the direction of the short sides of the inscribed rectangular area as the operating direction of the agricultural machinery; when the total area of ​​the long side closed areas is less than or equal to the total area of ​​the short side closed areas, determining the direction of the long sides of the inscribed rectangular area as the operating direction of the agricultural machinery; determining the operating route of the agricultural machinery based on the operating direction of the agricultural machinery and the area area of ​​the area to be operated.

[0099] In one embodiment, determining the number of operation rows of the agricultural machinery for the area to be operated based on the area parameters also includes: determining the target number of operation rows based on the width of the inscribed rectangular area and the preset operation width; when the target number of operation rows is an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the target number of operation rows; when the target number of operation rows is not an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the integer closest to the target number of operation rows.

[0100] In one embodiment, determining a first target working width and a first target working length when the agricultural machinery is working on the current working row includes: determining the quotient of the width of the inscribed rectangular area and the number of working rows as the first target working width; and determining the first target working length according to the working route of the agricultural machinery.

[0101] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the following method steps: obtaining area parameters of the area to be operated; determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters, and determining a first target operation width and a first target operation length when the agricultural machinery operates on the current operation row; determining a first real-time operation width and a first real-time operation length when the agricultural machinery operates on the current operation row according to a first operation image of the current operation row; adjusting the first real-time operation width so that the first real-time operation width approaches the first target operation width; determining a remaining operation width of the area to be operated according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width; determining a second target operation width and a second target operation length when the agricultural machinery operates on the next operation row according to the remaining operation width; when the value of the operation row is greater than a preset value, determining the next operation row as the current operation row, and decreasing the value of the number of operation rows; returning to the step of determining the target operation width and the target operation length of the current operation row again, until the value of the number of operation rows is equal to the preset value, determining that the operation of the agricultural machinery on the area to be operated has been completed.

[0102] In one embodiment, adjusting the first real-time working width includes: comparing the first target working width with the first real-time working width; when the first real-time working width is greater than the first target working width, reducing the motor speed of the agricultural machinery to reduce the difference between the first real-time working width and the first target working width to a first preset threshold; when the first real-time working width is less than the first target working width, increasing the motor speed to reduce the difference between the first real-time working width and the first target working width to a first preset threshold.

[0103] In one embodiment, determining the remaining working width of the area to be worked based on the first target working length, the first real-time working length and the adjusted first real-time working width includes: comparing the first real-time working length with the first target working length; when the first real-time working length is greater than the first target working length, determining that the agricultural machinery has completed the work on the current working row, and determining the remaining working width of the area to be worked based on the adjusted first real-time working width; when the first real-time working length is less than or equal to the first target working length, obtaining an updated first working image of the current working row to determine the first real-time working length again based on the updated first working image until the first real-time working length is greater than the first target working length.

[0104] In one embodiment, determining the remaining working width of the area to be worked based on the adjusted first real-time working width includes: for each updated first working image of the current working row, determining the first real-time working width of the agricultural machinery when working on the current working row, and adjusting the first real-time working width each time according to the first target working width; determining the average width of the agricultural machinery when working on the current row based on all the adjusted first real-time working widths; and determining the remaining working width of the area to be worked based on the average width and the width of the inscribed rectangular area of ​​the area to be worked.

[0105] In one embodiment, the mean width is determined by formula (1):

[0106]

[0107] Among them, W m is the mean width corresponding to the mth row, is the real-time operating width after the kth adjustment, is the total real-time job width after k adjustments.

[0108] In one embodiment, the real-time working width of the agricultural machinery during operation is W n .

[0109] In one embodiment, the area parameters include the area shape and area area of ​​the area to be operated, and determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters includes: determining the inscribed rectangular area of ​​the area to be operated according to the area shape and area area; determining the areas of each closed area formed by the inscribed rectangular area and the area to be operated; determining the operation route of the agricultural machinery according to the area of ​​each closed area; and determining the number of operation rows according to the operation route.

[0110] In one embodiment, determining the operating route of agricultural machinery based on the area of ​​each closed area includes: determining the first long side closed area and the second long side closed area formed by the long sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the long side closed areas corresponding to the first long side closed area and the second long side closed area; determining the first short side closed area and the second short side closed area formed by the short sides of the inscribed rectangular area and the area to be operated, and the total area of ​​the short side closed areas corresponding to the first short side closed area and the second short side closed area; when the total area of ​​the long side closed areas is greater than the total area of ​​the short side closed areas, determining the direction of the short sides of the inscribed rectangular area as the operating direction of the agricultural machinery; when the total area of ​​the long side closed areas is less than or equal to the total area of ​​the short side closed areas, determining the direction of the long sides of the inscribed rectangular area as the operating direction of the agricultural machinery; determining the operating route of the agricultural machinery based on the operating direction of the agricultural machinery and the area area of ​​the area to be operated.

[0111] In one embodiment, determining the number of operation rows of the agricultural machinery for the area to be operated based on the area parameters also includes: determining the target number of operation rows based on the width of the inscribed rectangular area and the preset operation width; when the target number of operation rows is an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the target number of operation rows; when the target number of operation rows is not an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the integer closest to the target number of operation rows.

[0112] In one embodiment, determining a first target working width and a first target working length when the agricultural machinery is working on the current working row includes: determining the quotient of the width of the inscribed rectangular area and the number of working rows as the first target working width; and determining the first target working length according to the working route of the agricultural machinery.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0114] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0115] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions 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.

[0117] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0118] 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.

[0119] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 disk read-only memory (CD-ROM), digital versatile disk (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 temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0121] The above are only 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 changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the working width of an agricultural machine, characterized in that: The method comprises: Get the area parameters of the area to be operated; Determine the number of operation rows of the agricultural machinery for the area to be operated according to the area parameter, and determine a first target operation width and a first target operation length when the agricultural machinery operates on the current operation row; Determine, according to the first operation image of the current operation row, a first real-time operation width and a first real-time operation length when the agricultural machinery operates on the current operation row; adjusting the first real-time working width so that the first real-time working width approaches the first target working width; Determine the remaining working width of the area to be worked according to the first target working length, the first real-time working length and the adjusted first real-time working width; Decreasing the value of the number of job rows, and when the value of the number of job rows after decreasing is greater than a preset value, determining the next job row as the current job row; Determine a second target working width and a second target working length when the agricultural machinery operates on the next working row according to the remaining working width and the number of working rows after decrementing a preset value; Return to the step of determining the target working width and target working length of the current working row, until the value of the number of working rows is equal to the preset value, it is determined that the work of the agricultural machinery on the area to be worked has been completed.

2. The method for determining the working width of agricultural machinery according to claim 1, characterized in that: The adjusting the first real-time operating width comprises: comparing the first target working width with the first real-time working width; When the first real-time working width is greater than the first target working width, reducing the motor speed of the agricultural machinery to reduce the difference between the first real-time working width and the first target working width to a first preset threshold; When the first real-time working width is smaller than the first target working width, the motor speed is increased to reduce the difference between the first real-time working width and the first target working width to a first preset threshold.

3. The method for determining the working width of agricultural machinery according to claim 1, characterized in that: The method of determining the remaining working width of the area to be worked according to the first target working length, the first real-time working length and the adjusted first real-time working width comprises: comparing the first real-time operation length with the first target operation length; When the first real-time operation length is greater than the first target operation length, determining that the operation of the agricultural machinery on the current operation row has been completed, and determining the remaining operation width of the area to be operated according to the adjusted first real-time operation width; When the first real-time operation length is less than or equal to the first target operation length, an updated first operation image of the current operation row is obtained to re-determine the first real-time operation length according to the updated first operation image until the first real-time operation length is greater than the first target operation length.

4. The method for determining the working width of agricultural machinery according to claim 3, characterized in that: The method of determining the remaining working width of the area to be worked according to the adjusted first real-time working width comprises: For each updated first operation image of the current operation row, determining a first real-time operation width of the agricultural machinery when operating the current operation row, and adjusting the first real-time operation width each time according to the first target operation width; Determining an average width of the agricultural machinery when operating the current row according to all the adjusted first real-time operating widths; The remaining working width of the area to be worked on is determined according to the width mean and the width of the inscribed rectangular area of ​​the area to be worked on.

5. The method for determining the working width of agricultural machinery according to claim 4, characterized in that: The width mean is determined by formula (1): Among them, W m is the mean width corresponding to the mth row, is the real-time operating width after the kth adjustment, is the total real-time job width after k adjustments.

6. The method for determining the working width of agricultural machinery according to claim 5, characterized in that: The real-time working width of the agricultural machinery during operation is W. n .

7. The method for determining the working width of agricultural machinery according to claim 1, characterized in that: The area parameters include the area shape and area of ​​the area to be operated, and determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameters includes: Determine the inscribed rectangular area of ​​the area to be operated according to the shape of the area and the area of ​​the area; Determine the area of ​​each closed area formed by the inscribed rectangular area and the area to be operated; Determining the operation route of the agricultural machinery according to the area of ​​each closed area; The number of operation rows is determined according to the operation route.

8. The method for determining the working width of agricultural machinery according to claim 7, characterized in that: Determining the operation route of the agricultural machinery according to the area of ​​each closed area includes: Determine a first long side closed area and a second long side closed area formed by the long side of the inscribed rectangular area and the area to be operated, and a total area of ​​the long side closed areas corresponding to the first long side closed area and the second long side closed area; Determine a first short-side closed area and a second short-side closed area formed by the short side of the inscribed rectangular area and the area to be operated, and a total area of ​​short-side closed areas corresponding to the first short-side closed area and the second short-side closed area; When the total area of ​​the long-side closed area is greater than the total area of ​​the short-side closed area, the direction of the short side of the inscribed rectangular area is determined as the operating direction of the agricultural machinery; When the total area of ​​the long-side closed area is less than or equal to the total area of ​​the short-side closed area, the direction of the long side of the inscribed rectangular area is determined as the operating direction of the agricultural machinery; The operation route of the agricultural machinery is determined according to the operation direction of the agricultural machinery and the area of ​​the area to be operated.

9. The method for determining the working width of agricultural machinery according to claim 8, characterized in that: The step of determining the number of operation rows of the agricultural machinery for the area to be operated according to the area parameter further comprises: Determine the target number of operation rows according to the width of the inscribed rectangular area and the preset operation width; When the target number of operation rows is an integer, determining the number of operation rows of the agricultural machinery for the area to be operated as the target number of operation rows; When the target number of operation rows is not an integer, the number of operation rows of the agricultural machinery for the area to be operated is determined to be an integer closest to the target number of operation rows.

10. The method for determining the working width of agricultural machinery according to claim 9, characterized in that: The determining of a first target working width and a first target working length when the agricultural machinery performs working on the current working row comprises: Determine the quotient of the width of the inscribed rectangular area and the number of operation rows as the first target operation width; The first target operation length is determined according to the operation route of the agricultural machinery.

11. A processor, characterized in that: The method is configured to execute the method for determining the working width of agricultural machinery according to any one of claims 1 to 10.

12. A device for determining the working width of agricultural machinery, characterized in that: The device comprises: Image acquisition equipment, used to acquire images of agricultural machinery during operation; and A processor according to claim 11.

13. An agricultural machine, characterized in that: The invention comprises a device for determining the working width of an agricultural machine according to claim 12.

14. 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 determining the working width of agricultural machinery according to any one of claims 1 to 10.

Images