A method and device for controlling a corn harvester to a row, and a storage medium

Abstract

The application relates to a corn harvester alignment control method and device and a storage medium, the method comprising the steps of: acquiring a first distance of a corn harvester from corn plants; acquiring a second distance of corn plants in front of the corn harvester; and controlling a running direction of the corn harvester according to the first distance and the second distance. The corn harvester alignment control method and device and the storage medium provided by the application have simple structures and high reliability; the whole vehicle is slightly changed, and the controller and the steering mechanism are universal.

Description

Technical Field

[0001] The present application relates to the field of belt warning, and in particular to a method, device and storage medium for row control of a corn harvester. Background Art

[0002] To achieve optimal harvesting results, corn harvesters require operators to constantly monitor the machine's direction of travel, ensuring the corn plants are positioned precisely between the two dividers. To reduce this workload, automatic row alignment technology was developed.

[0003] In the prior art, the distance between the divider and the two corn rows is detected by the row sensor, and the corn harvester is controlled based on this to achieve automatic row alignment and reduce the labor intensity of the operator. Figure 5 In the situation shown, existing row control technology may cause the corn harvester to lose control, especially when the machine speed is relatively high (such as 2nd gear and above). When the corn plant row first appears an inner bend and then an outer bend, the corn harvester cannot automatically align the rows, but instead accelerates along the inner bend to drive out of the corn row, and the machine is completely out of control. Summary of the Invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a corn harvester row control method, device and storage medium.

[0005] In a first aspect, the present application provides a method for controlling rows of a corn harvester, the method comprising the steps of:

[0006] Obtaining a first distance between the corn harvester and the corn plant;

[0007] Obtaining a second distance between the corn plants in front of the corn harvester;

[0008] The running direction of the corn harvester is controlled according to the first distance and the second distance.

[0009] Preferably, obtaining the first distance between the corn harvester and the corn plant comprises the steps of:

[0010] A facing sensor is provided on the body of the corn harvester;

[0011] The facing sensor measures a first distance to the corn plant facing the side of the fuselage.

[0012] Preferably, obtaining the second distance of the corn plant in front of the corn harvester comprises the steps of:

[0013] A front sensor is provided at the front of the corn harvester;

[0014] The front sensor measures a second distance to the corn plant directly in front of the fuselage.

[0015] Preferably, the controlling the running direction of the corn harvester according to the first distance and the second distance comprises the steps of:

[0016] calculating a first derivative of the first distance;

[0017] calculating a second derivative of the second distance;

[0018] The running direction of the corn harvester is controlled according to the first derivative and the second derivative.

[0019] Preferably, the controlling the running direction of the corn harvester according to the first derivative and the second derivative comprises the steps of:

[0020] Get the extreme value of derivative;

[0021] The running direction of the corn harvester is controlled according to the first derivative, the second derivative and the derivative extreme value.

[0022] Preferably, the controlling the running direction of the corn harvester according to the first derivative, the second derivative and the derivative extreme value comprises the steps of:

[0023] Determining whether the first derivative and the second derivative are both less than or equal to the derivative extreme value;

[0024] If so, obtaining the signs of the first derivative and the second derivative;

[0025] If not, the running direction of the corn harvester is controlled according to the second derivative.

[0026] Preferably, the method of controlling the running direction of the corn harvester according to the first derivative, the second derivative and the derivative extreme value further comprises the steps of:

[0027] The running direction of the corn harvester is controlled according to the symbols.

[0028] Preferably, the controlling the running direction of the corn harvester according to the first derivative and the sign comprises the steps of:

[0029] determining whether the first derivative and the second derivative have the same sign;

[0030] If so, the running direction of the corn harvester is controlled according to the first derivative.

[0031] In a second aspect, the present application provides a row control device for a corn harvester, comprising:

[0032] The first distance acquisition module is used to obtain the first distance between the corn harvester and the corn plant

[0033] A second distance acquisition module, configured to acquire a second distance to the corn plants in front of the corn harvester;

[0034] A running direction control module is used to control the running direction of the corn harvester according to the first distance and the second distance.

[0035] According to a third aspect, an electronic device is provided, comprising:

[0036] at least one processor; and,

[0037] a memory communicatively connected to the at least one processor; wherein,

[0038] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the aforementioned corn harvester row control methods.

[0039] In a fourth aspect, a non-transitory computer-readable storage medium is provided, which stores computer instructions for causing the computer to execute any of the aforementioned corn harvester row control methods.

[0040] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0041] The present application provides a corn harvester row control method, device and storage medium with simple structure and high reliability; the whole vehicle requires little modification, and the controller and steering mechanism are universal. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 This is a flow chart of a corn harvester row control method provided by an embodiment of the present invention;

[0045] Figure 2 This is a structural diagram of a row control device for a corn harvester provided by an embodiment of the present invention;

[0046] Figure 3It is a structural schematic diagram of an electronic device provided by the present invention;

[0047] Figure 4 is a structural diagram of a non-transitory computer-readable storage medium provided by the present invention;

[0048] Figure 5 This is a schematic diagram of the row control state of a corn harvester in the prior art;

[0049] Figure 6 The present invention provides a schematic diagram of a corn harvester row control state in a corn harvester row control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] Figure 1 A flowchart of a corn harvester row control method provided in an embodiment of the present application.

[0052] The present application provides a method for controlling rows of a corn harvester, the method comprising the steps of:

[0053] S1: Obtain the first distance between the corn harvester and the corn plant;

[0054] In an embodiment of the present application, obtaining a first distance between the corn harvester and the corn plant includes the following steps:

[0055] A facing sensor is provided on the body of the corn harvester;

[0056] The facing sensor measures a first distance to the corn plant facing the side of the fuselage.

[0057] Specifically, the facing sensor is used to detect a first distance D1 between the corn plant on the side of the fuselage and the fuselage.

[0058] S2: Acquire a second distance between the corn plants in front of the corn harvester;

[0059] In an embodiment of the present application, obtaining the second distance of the corn plant in front of the corn harvester includes the steps of:

[0060] A front sensor is provided at the front of the corn harvester;

[0061] The front sensor measures a second distance to the corn plant directly in front of the fuselage.

[0062] Specifically, the front sensor is used to detect a second distance D2 between the corn plant in front of the fuselage and the front of the fuselage.

[0063] S3: Controlling the running direction of the corn harvester according to the first distance and the second distance.

[0064] In an embodiment of the present application, controlling the running direction of the corn harvester according to the first distance and the second distance includes the following steps:

[0065] calculating a first derivative of the first distance;

[0066] calculating a second derivative of the second distance;

[0067] The running direction of the corn harvester is controlled according to the first derivative and the second derivative.

[0068] Specifically, controlling the running direction of the corn harvester according to the first derivative and the second derivative includes the following steps:

[0069] Get the extreme value of derivative;

[0070] The running direction of the corn harvester is controlled according to the first derivative, the second derivative and the derivative extreme value.

[0071] Specifically, a derivative extreme value is set in advance for the operation of the corn harvester, the first distance and the second distance are differentiated to obtain the first derivative and the second derivative, and then the first derivative and the second derivative are compared with the derivative extreme value respectively, and then the running direction of the corn harvester is controlled according to the comparison result.

[0072] In an embodiment of the present application, controlling the running direction of the corn harvester according to the first derivative, the second derivative, and the derivative extreme value includes the steps of:

[0073] Determining whether the first derivative and the second derivative are both less than or equal to the derivative extreme value;

[0074] If so, obtaining the signs of the first derivative and the second derivative;

[0075] If not, the running direction of the corn harvester is controlled according to the second derivative.

[0076] In an embodiment of the present application, the controlling the running direction of the corn harvester according to the first derivative, the second derivative and the derivative extreme value further includes the steps of:

[0077] The running direction of the corn harvester is controlled according to the symbols.

[0078] In an embodiment of the present application, controlling the running direction of the corn harvester according to the first derivative and the sign includes the following steps:

[0079] determining whether the first derivative and the second derivative have the same sign;

[0080] If so, the running direction of the corn harvester is controlled according to the first derivative.

[0081] Specifically, if Figure 5 The original control logic for a corn harvester with a single sensor is as follows: When the crop divider transitions from an inward bend to an outward bend, at time n, D1(n) is still decreasing (the machine is still turning inward). At time (n+1), the machine still adjusts to the left based on the error detection D1(n) from the previous time (n). However, the trend of D1(n+1) has changed, and the corn row has entered an outward bend. The result of this adjustment is that the machine loses control and drives directly out of the corn row.

[0082] like Figure 6 The control logic of a corn harvester row control method provided by the present application is as follows: when the divider transitions from the inner bend to the outer bend, D1 still decreases as the machine moves forward, while D2 increases significantly. Accordingly, There will be a significant change, indicating that the direction of the corn machine will turn in the opposite direction at the next moment or the next two moments. At this time, the direction adjustment of the machine will be based on D1 instead of D2. This can effectively avoid the loss of control caused by adjustment based on D1.

[0083] like Figure 2 The present application provides a row control device for a corn harvester, comprising:

[0084] The first distance acquisition module 10 is used to obtain the first distance between the corn harvester and the corn plant.

[0085] A second distance acquisition module 20 is used to acquire a second distance between the corn plants in front of the corn harvester;

[0086] The running direction control module 30 is used to control the running direction of the corn harvester according to the first distance and the second distance.

[0087] The present application provides a corn harvester row control device that can execute a corn harvester row control method provided by the above steps.

[0088] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

[0089] Reference below Figure 3 , which shows a schematic structural diagram of an electronic device 100 suitable for implementing an embodiment of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0090] like Figure 3 As shown, the electronic device 100 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 102 or a program loaded from a storage device 108 into a random access memory (RAM) 103. Various programs and data required for the operation of the electronic device 100 are also stored in the RAM 103. The processing device 101, the ROM 102, and the RAM 103 are connected to each other via a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0091] Typically, the following devices may be connected to the I / O interface 105: an input device 106 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 107 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 108 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 109. The communication device 109 may allow the electronic device 100 to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows the electronic device 100 with various devices, it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0092] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication device 109, or installed from the storage device 108, or installed from the ROM 102. When the computer program is executed by the processing device 101, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0093] Reference below Figure 4 , which shows a structural schematic diagram of a computer-readable storage medium suitable for implementing an embodiment of the present disclosure, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it can implement the corn harvester row control method as described in any of the above.

[0094] The present application provides a corn harvester row control method, device and storage medium with simple structure and high reliability; the whole vehicle requires little modification, and the controller and steering mechanism are universal.

[0095] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0096] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A corn harvester row control method, characterized in that: The method comprises the steps of: A facing sensor is provided on the body of the corn harvester; measuring a first distance to a corn plant facing the side of the fuselage by the facing sensor; A front sensor is provided at the front of the corn harvester; measuring a second distance to the corn plant directly in front of the fuselage by the front sensor; calculating a first derivative of the first distance; calculating a second derivative of the second distance; controlling a running direction of the corn harvester according to the first derivative and the second derivative; The controlling of the running direction of the corn harvester according to the first derivative and the second derivative comprises the following steps: Get the extreme value of derivative; controlling a running direction of the corn harvester according to the first derivative, the second derivative, and the derivative extreme value; The method of controlling the running direction of the corn harvester according to the first derivative, the second derivative and the derivative extreme value comprises the following steps: Determining whether the first derivative and the second derivative are both less than or equal to the derivative extreme value; If so, obtaining the signs of the first derivative and the second derivative; If not, controlling the running direction of the corn harvester according to the second derivative; The method of controlling the running direction of the corn harvester according to the first derivative, the second derivative and the derivative extreme value further comprises the steps of: Controlling the running direction of the corn harvester according to the symbols; The controlling of the running direction of the corn harvester according to the first derivative and the sign comprises the following steps: determining whether the first derivative and the second derivative have the same sign; If so, the running direction of the corn harvester is controlled according to the first derivative.

2. A corn harvester row control device for the control method according to claim 1, characterized in that: include: The first distance acquisition module is used to obtain the first distance between the corn harvester and the corn plant A second distance acquisition module, configured to acquire a second distance to the corn plants in front of the corn harvester; A running direction control module is used to control the running direction of the corn harvester according to the first distance and the second distance.

3. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the corn harvester row control method described in claim 1.

4. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the corn harvester row control method according to claim 1.

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