A mechanical crop row detection device and multi-source sensor fusion navigation method

Abstract

The technical problem to be solved by the present invention is to provide a mechanical crop row detection device and a multi-source sensor fusion navigation method, which integrates the collision recognition of plant positions by the mechanical crop row detection device and the recognition of plant positions by a visual track acquisition system to perform auxiliary navigation operations of machinery such as harvesting and plant protection, thereby improving the row operation accuracy and operation speed of the auxiliary navigation system. The device comprises a bracket, a crop row touch mechanism and a crop row sensing mechanism; each set of crop row touch structures comprises an elastic plate and a touch frame, and the touch frame is connected to the rear end of the bracket through the elastic plate; the crop row sensing mechanism comprises an angle sensor trigger mechanism and two deflection arms, the angle sensor trigger mechanism is arranged at the front end of the bracket, the angle trigger mechanism is used to trigger the angle sensor action, and the two deflection arms are symmetrically arranged on the left and right sides of the bracket, and the rear end of each deflection arm is rotatably connected to the bracket, and the front end is connected to the angle sensor trigger mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a mechanical crop row detection device and a multi-source sensor fusion navigation method. Background Art

[0002] During the process of unmanned or assisted driving of agricultural machinery, its active driving operation requires the identification of crop rows in advance and walking along the crop rows. Therefore, the recognition accuracy of crop rows is an important factor affecting the quality, efficiency and safety of unmanned or assisted driving of agricultural machinery. How to improve the recognition accuracy of crop rows is a key technical bottleneck restricting the improvement of the quality of unmanned or assisted driving of agricultural machinery. At present, the recognition of crop rows mainly focuses on the acquisition of crop rows by a single method.

[0003] (1) When using only sensors to touch crop plants to guide agricultural machinery to move, this single method has the following problems: ① The heading guidance effect is higher at low speeds, but it cannot adapt to the requirements of agricultural machinery operations at higher speeds, which seriously limits the improvement of the operating efficiency of unmanned agricultural machinery; ② In the case of missing or broken seedlings, the sensor has no guidance signal, and the machine is prone to heading deviation. (2) When using machine vision technology to extract crop rows, it has the following problems: Due to the problems of interlaced crop leaves and large differences in plant characteristics, the accuracy and timeliness of crop row extraction cannot be achieved at the same time. When ensuring accuracy, a large amount of data must be collected and calculated, which will inevitably sacrifice the timeliness of path acquisition; when ensuring timeliness, the amount of data collected and analyzed must be reduced, which will inevitably reduce the accuracy of path acquisition. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a mechanical crop row detection device and a multi-source sensor fusion navigation method, which integrates the collision identification of plant positions by the mechanical crop row detection device with the identification of plant positions by a visual track acquisition system to perform auxiliary navigation operations for harvesting, plant protection and other machinery, thereby improving the row operation accuracy and operation speed of the auxiliary navigation system.

[0005] The present invention is achieved through the following technical solutions:

[0006] A mechanical crop row detection device comprises a support, a crop row contact mechanism and a crop row sensing mechanism;

[0007] The crop row contact structure comprises two sets and is symmetrically arranged on the left and right sides of the bracket, and each set of the crop row contact structure comprises an elastic plate and a contact frame, and the contact frame is connected to the rear end of the bracket through the elastic plate;

[0008] The crop row sensing mechanism includes an angle sensor trigger mechanism and two deflection arms, wherein the angle sensor trigger mechanism is arranged at the front end of the bracket, and the angle trigger mechanism is used to trigger the angle sensor to operate. The two deflection arms are symmetrically arranged on the left and right sides of the bracket, and the rear end of each deflection arm is rotatably connected to the bracket, and the front end is connected to the angle sensor trigger mechanism;

[0009] A first sliding groove is provided at the front end of the deflection arm, and a first pin shaft which can cooperate with the first sliding groove and be slidably connected is provided on the inner side of the touch frame.

[0010] Furthermore, a sensor bracket is provided at the front end of the bracket, and the front ends of the deflection arms are connected to the sensor bracket via tension springs, and an angle sensor is provided on the sensor bracket.

[0011] Furthermore, the angle sensor trigger mechanism includes a swing arm, a swing rod and a rocker arm, the swing arms are two and symmetrically arranged on the left and right sides of the bracket, the tail end of the swing arm is hinged to the front end of the deflection arm, the middle part of the swing arm is hinged to the sensor bracket, the two ends of the swing rod are respectively hinged to the front ends of the two swing arms, a swing pin is provided in the middle position of the swing rod, one end of the rocker arm is connected to the rotating shaft of the angle sensor, and the other end is provided with a rocker arm long groove, and the rocker arm long groove is slidably connected to the swing pin.

[0012] Furthermore, a second slide groove is provided at the rear end of each deflection arm, and a fixing column is symmetrically provided at the rear end position on the bracket, and the fixing column is slidably connected to the second slide groove.

[0013] Furthermore, an anti-entanglement roller is rotatably mounted on the outer side of the touch frame, a motor bracket is mounted on the touch frame, a drive motor is mounted on the motor bracket, and an output shaft of the drive motor is connected to one end of the anti-entanglement roller.

[0014] Furthermore, the anti-entanglement roller is a conical roller;

[0015] It also includes an anti-entanglement blade, the tail end of which is hinged on the touch frame, one side of the anti-entanglement blade is connected to a spring sheet, the other end of the spring sheet is connected to the touch frame, and the anti-entanglement blade contacts the anti-entanglement roller under the elastic force of the spring sheet.

[0016] Furthermore, the elastic plate is a spring steel plate.

[0017] A multi-source sensor fusion navigation method, comprising a visual track acquisition system and the mechanical crop row detection device according to claim 1, wherein the mechanical crop row detection device is installed in front of a harvester divider, and the visual track acquisition system comprises a camera and an image processor, wherein the camera is installed in the upper front part of a harvester implement cab;

[0018] It includes the following steps:

[0019] S01, the visual track acquisition system extracts the navigation baseline of the crop row by collecting images of the crop row, and provides a tracking path for the navigation of the machine;

[0020] Set the angle threshold allowed by the angle sensor of the mechanical crop row detection device to ;

[0021] S02, when the driving position of the implement is in the middle of the crop row, the crop plants do not touch the mechanical crop row detection device or touch the mechanical crop row detection device but the deflection arms do not deflect, at this time, the angle sensor in the mechanical crop row detection device senses an angle of 0°, and the implement maintains the same direction;

[0022] When the driving position of the implement deviates from the center of the crop row, the crop plants touch the mechanical crop row detection device. At this time, the detection value of the angle sensor is ; When the angle sensor detects the angle value in real time > When the machine travel direction controller adjusts the machine angle to control the machine to move to the middle of the crop row, until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine keeps the direction unchanged;

[0023] S03, set the angle between the current heading angle of the machine and the navigation reference line to , the allowed heading angle of the implement is ,when > , the machine's travel direction controller adjusts the machine's turning angle to control the machine's deflection toward the navigation reference line. Reach the set After that, stop adjusting; when ≤ The machine keeps the direction unchanged;

[0024] S04, when > , and > When the direction controller takes the navigation reference line collected by the visual track collection system as the adjustment target of the machine heading, the direction controller of the machine adjusts the machine turning angle to control the machine to deflect toward the navigation reference line. Reach the set Then stop adjusting;

[0025] judge relationship, when > When the machine travel direction controller adjusts the machine angle to control the machine to move to the middle of the crop row, until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine maintains the same direction.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention provides a mechanical crop row detection device, which is installed at the front end of a crop divider and located between crop rows. When the machine deviates from the center of the crop row, the touch frame on one side will collide with the crop, and the touch arm will rotate inward to drive the deflection arm to move, thereby triggering the angle sensor triggering mechanism. The angle sensor generates deflection angle data to provide data basis for adjusting the machine;

[0028] 2. The angle sensor trigger mechanism includes a swing arm, a swing rod and a rocker arm. A swing pin is provided in the middle of the swing rod. One end of the rocker arm is connected to the rotating shaft of the angle sensor, and the other end is provided with a rocker arm long groove. The rocker arm long groove is slidably connected to the swing pin. The rocker arm can be controlled to rotate the rotating shaft of the angle sensor through the swing arm, so as to obtain the deflection angle data. The structure is compact and flexible to use.

[0029] 3. An anti-entanglement roller is rotatably installed on the outer side of the touch frame, a motor bracket is installed on the touch frame, a drive motor is installed on the motor bracket, the output shaft of the drive motor is connected to one end of the anti-entanglement roller, and the anti-entanglement blade is used to cut the entangled plants to prevent the plants from being entangled on the touch frame and causing detection failure;

[0030] 4. The present invention provides a multi-source sensor fusion navigation method, which integrates the collision identification of plant positions by a mechanical crop row detection device and the identification of plant positions by a visual track acquisition system to perform auxiliary navigation operations for harvesting, plant protection and other machinery. It can accurately identify crop rows in real time during the operation and control the harvesting operation of the harvester at high speed, thereby improving the accuracy and speed of the row harvesting operation. The present invention can be applied to automatic driving operations such as harvesting and plant protection of crops such as cotton and corn, and has a broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the structure of the mechanical crop row detection device of the present invention;

[0032] Figure 2 This is a schematic diagram of the anti-entanglement roller structure of the present invention;

[0033] Figure 3 It is a partially enlarged schematic diagram of the anti-winding mechanism of the present invention;

[0034] Figure 4 This is a structural schematic diagram of the crop row detection mechanism of the present invention;

[0035] Figure 5 This is a schematic diagram of the installation of the mechanical crop row detection device of the present invention.

[0036] Figure 6 It is a schematic diagram of the installation of the mechanical crop row detection device and camera fusion navigation of the present invention;

[0037] Figure 7 Schematic diagram of the control of the mechanical crop row detection device and camera fusion navigation solution of the present invention

[0038] In the figure, 1 bracket, 2 anti-winding mechanism, 3 crop row sensing mechanism, 201 spring steel plate, 202 motor, 203 motor bracket, 204 coupling, 205 anti-winding roller, 206 anti-winding roller bracket, 207 cantilever, 208 cantilever pin, 209 spring sheet, 210 anti-winding blade, 211 blade pin, 301 deflection arm, 302 hanging pin, 303 swing arm, 304 sensor bracket, 305 angle sensor, 306 rocker arm, 307 swing rod, 308 swing pin, 309 spring, 310 fixed column, 311 fixed block, 301-1 deflection arm slide slot one, 301-2 deflection arm slide slot two, 4 mechanical crop row detection sensor device, 5 machine travel direction controller, 6 proportional solenoid valve, 7 steering cylinder, 8 angle sensor, 9 camera. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In the description of the invention, it should be understood that the terms "front", "rear", "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the invention. The invention is further described below in conjunction with the drawings and embodiments.

[0041] The present embodiment discloses a mechanical crop row detection device, including a bracket 1, a crop row touch mechanism 2, and a crop row sensing mechanism 3. The bracket 1 is a long plate-shaped strip structure as a whole, a sensor bracket 304 is installed at the front end of the bracket 1, and an angle sensor 305 is fixed to the sensor bracket 304 by bolts. The crop row touch structure 2 is composed of two sets and is symmetrically arranged on the left and right sides of the bracket, and each set of the crop row touch structure 2 includes an elastic plate 201 and a touch frame 206. The elastic plate 201 is made of an elastic steel plate, one end of the elastic plate 201 is fixed to the rear end of the bracket 1, and the other end is fixedly connected to the rear end of the touch frame 206.

[0042] The crop row sensing mechanism 3 includes an angle sensor trigger mechanism and two deflection arms 301. The angle sensor trigger mechanism includes a swing arm 303, a swing rod 307 and a rocker arm 306. The two deflection arms are symmetrically arranged on the left and right sides of the bracket 1. A first slide groove 301-2 is processed at the front end of the deflection arm. A cantilever 207 is arranged on the inner side of the touch frame 206. A first pin 208 is installed at the other end of the cantilever 207. The first pin 208 is slidably connected with the first slide groove 301-2. A second slide groove 301-1 is processed at the rear end of each deflection arm. A fixed column is symmetrically arranged at the rear end of the bracket. The fixed column is slidably connected with the second slide groove, and a fixed block is installed at the top of the fixed column to prevent the deflection arm from detaching from the bracket 1. A hooking pin 302 is also installed at the front end of the deflection arm 301. The front end of the deflection arm 301 is connected to a tension spring 309 through the connecting pin 302. The other end of the tension spring 309 is fixed to the sensor bracket 304.

[0043] There are two swing arms 303 symmetrically arranged on the left and right sides of the bracket 1, the tail end of each swing arm 303 is hinged to the front end of the deflection arm 301, the middle part of the swing arm 303 is hinged to the sensor bracket 304, the two ends of the swing rod 307 are respectively hinged to the front ends of the two swing arms 303, a swing pin 308 is provided in the middle position of the swing rod 307, one end of the rocker arm 306 is connected to the rotating shaft of the angle sensor 305, and the other end is provided with a rocker arm long groove, the rocker arm long groove is slidably connected to the swing pin 308, when the swing rod moves, it can drive the rocker arm 306 to rotate, thereby triggering the angle sensor.

[0044] In order to prevent weeds and branches from being entangled on the touch frame 206, an anti-entanglement mechanism is also included, which mainly includes a driving motor 202, a motor bracket 203, a coupling 204, an anti-entanglement roller 205, a spring sheet 209, an anti-entanglement blade 210, and a blade pin 211. The anti-entanglement roller 205 is rotatably installed on the outer side of the touch frame 206, the motor bracket 203 is installed on the touch frame 206, the driving motor 202 is installed on the motor bracket 203, and the output shaft of the driving motor 202 is connected to one end of the anti-entanglement roller 205 through the coupling 204. The tail end of the anti-entanglement blade 210 is hingedly connected to the touch frame 206 through the blade pin 211, one side of the anti-entanglement blade 210 is fixedly connected to one end of the spring sheet 209, and the other end of the spring sheet 209 is fixedly connected to the touch frame 206. Under the elastic force of the spring sheet 209, the anti-entanglement blade 210 is in contact with the anti-entanglement roller 205. The anti-entanglement roller 205 is a conical roller, and its large round end is connected to the motor shaft of the drive motor 205. During operation, the drive motor 202 drives the anti-entanglement roller to rotate counterclockwise, so that the weeds and branches that are released from it can be separated. At the same time, during the forward movement of the machine, under the action of the conical characteristics, the weeds and branches move from the large end to the small end of the anti-entanglement roller. The weeds and branches entangled on the anti-entanglement roller are cut off when passing through the anti-entanglement blade 210, and can be separated from the anti-entanglement roller 205 under the rotation of the anti-entanglement roller 205.

[0045] The mechanical crop row detection device 4 needs to be installed at the front end of the harvester implement divider when in use. A steering angle sensor 8 is installed on the steering column of the implement steering wheel to detect the steering angle of the steering wheel. The steering of the work implement is controlled by the steering cylinder 7 of the implement. The travel direction controller 5 of the implement sends instructions to control the proportional solenoid valve 6 to control the extension and retraction of the steering cylinder 7, thereby realizing the control of the steering of the implement. The specific working process of the mechanical crop row detection device of the present invention is as follows:

[0046] The tension of the tension spring 309 keeps the entire mechanism in a balanced state, and at this time, the angle sensor 305 is at the zero position. During normal operation, the anti-entanglement roller 205 of the mechanical crop row detection device is elastically connected to the plants on both sides of the crop divider under the action of the spring plate 201. When the plant queue does not deviate significantly, the first pin 208 slides freely in the first slide groove 301-2 of the deflection arm and does not push the deflection arm 301 to rotate. When the plant queue deviates significantly, the anti-entanglement roller 205 moves under the pressure of the plant queue, with the pressure on one side being larger and the pressure on the other side being smaller. Under the action of the larger pressure, the anti-entanglement roller 205 drives the first pin shaft 208 to move inward, and the first pin shaft 208 squeezes the deflection arm 301 to deflect. When the deflection arm 301 deflects, it drives the swing arm 303 to rotate, and at the same time drives the swing rod 307 to move, and drives the swing arm 306 to rotate through the swing pin 308, thereby driving the rotating shaft of the angle sensor 305 to rotate, and detecting the deflection angle of the crop row.

[0047] This embodiment also provides a multi-source sensor fusion navigation method, which improves the accuracy of high-speed navigation by sensing through a mechanical crop row detection device and cooperating with a machine vision fusion navigation method. This implementation case is mainly used for automatic navigation driving operations of equipment such as harvesting or plant protection. It mainly includes a visual track acquisition system and the mechanical crop row detection device described in the present invention. The mechanical crop row detection device is installed in the front position of the harvester divider. The visual track acquisition system includes a camera 9 and an image processor. The camera 9 is installed in the upper front part of the harvester's tool cab. The visual track acquisition system acquires images of the crop rows, and extracts the navigation baseline of the crop rows through automatic threshold segmentation, median filtering denoising and other methods to provide a tracking path for tool navigation. The visual track acquisition system belongs to conventional technical means and is not described in detail here.

[0048] The multi-source sensing fusion navigation method comprises the following steps:

[0049] S01, the visual track acquisition system extracts the navigation baseline of the crop row by collecting images of the crop row, and provides a tracking path for the navigation of the machine;

[0050] Set the angle threshold allowed by the angle sensor of the mechanical crop row detection device to ;

[0051] S02, when the driving position of the implement is in the middle of the crop row, the crop plants do not touch the mechanical crop row detection device or touch the mechanical crop row detection device but the deflection arms do not deflect, at this time, the angle sensor in the mechanical crop row detection device senses an angle of 0°, and the implement maintains the same direction;

[0052] When the driving position of the implement deviates from the center of the crop row, the crop plants touch the mechanical crop row detection device. At this time, the detection value of the angle sensor is ; When the angle sensor detects the angle value in real time > When the machine moves in the direction of travel, the machine direction controller controls the steering cylinder action with a higher frequency and a smaller adjustment amount, and adjusts the machine angle to control the machine to move to the middle of the crop row until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine keeps the direction unchanged;

[0053] S03, set the angle between the current heading angle of the machine and the navigation reference line to , the allowed heading angle of the implement is ,when > , the machine's travel direction controller controls the steering cylinder action with a lower frequency and a larger adjustment amount. Adjust the machine's steering angle to control the machine's deflection toward the navigation reference line. Reach the set After that, stop adjusting; when ≤ The machine keeps the direction unchanged;

[0054] S04, when > , and > When the direction controller takes the navigation reference line collected by the visual track collection system as the adjustment target of the machine heading, the direction controller of the machine adjusts the machine turning angle to control the machine to deflect toward the navigation reference line. Reach the set Then stop adjusting;

[0055] judge relationship, when > When the machine travel direction controller adjusts the machine angle to control the machine to move to the middle of the crop row, until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine maintains the same direction.

[0056] The present invention improves the navigation accuracy of high-speed operations in complex farmland environments, solves the problems of low operating speed and seedling damage caused by a single auxiliary navigation method, and realizes short-range micro-motion regulation of the navigation direction and long-range track control under high-speed operations.

Claims

1. A mechanical crop row detection device, characterized in that: It includes a support, a crop row contact mechanism and a crop row sensing mechanism; The crop row contact structure comprises two sets and is symmetrically arranged on the left and right sides of the bracket, and each set of the crop row contact structure comprises an elastic plate and a contact frame, and the contact frame is connected to the rear end of the bracket through the elastic plate; The crop row sensing mechanism includes an angle sensor trigger mechanism and two deflection arms, wherein the angle sensor trigger mechanism is arranged at the front end of the bracket, and the angle sensor trigger mechanism is used to trigger the angle sensor to operate, and the two deflection arms are symmetrically arranged on the left and right sides of the bracket, and the rear end of each deflection arm is rotatably connected to the bracket, and the front end is connected to the angle sensor trigger mechanism; A first slide groove is provided at the front end of the deflection arm, and a first pin shaft capable of slidingly connecting with the first slide groove is provided on the inner side of the touch frame; A sensor bracket is provided at the front end of the bracket, and the front ends of the deflection arms are connected to the sensor bracket through tension springs, and an angle sensor is provided on the sensor bracket; The angle sensor trigger mechanism includes a swing arm, a swing rod and a rocker arm. The number of the swing arms is two and they are symmetrically arranged on the left and right sides of the bracket. The tail end of the swing arm is hinged to the front end of the deflection arm, the middle part of the swing arm is hinged to the sensor bracket, the two ends of the swing rod are respectively hinged to the front ends of the two swing arms, a swing pin is provided in the middle position of the swing rod, one end of the rocker arm is connected to the rotating shaft of the angle sensor, and the other end is provided with a rocker arm long groove, and the rocker arm long groove is slidably connected to the swing pin.

2. The mechanical crop row detection device according to claim 1, characterized in that: A second slide groove is arranged at the rear end of each deflection arm, and a fixing column is symmetrically arranged at the rear end position of the bracket, and the fixing column is slidably connected to the second slide groove.

3. The mechanical crop row detection device according to claim 1, characterized in that: An anti-entanglement roller is rotatably mounted on the outer side of the touch frame, a motor bracket is mounted on the touch frame, a driving motor is mounted on the motor bracket, and an output shaft of the driving motor is connected to one end of the anti-entanglement roller.

4. The mechanical crop row detection device according to claim 3, characterized in that: The anti-entanglement roller is a conical roller; It also includes an anti-entanglement blade, the tail end of which is hinged on the touch frame, one side of the anti-entanglement blade is connected to a spring sheet, the other end of the spring sheet is connected to the touch frame, and the anti-entanglement blade contacts the anti-entanglement roller under the elastic force of the spring sheet.

5. The mechanical crop row detection device according to any one of claims 1 to 4, characterized in that: The elastic plate is a spring steel plate.

6. A multi-source sensor fusion navigation method, characterized in that: The invention comprises a visual track acquisition system and the mechanical crop row detection device according to claim 1, wherein the mechanical crop row detection device is installed in front of a harvester divider, and the visual track acquisition system comprises a camera and an image processor, wherein the camera is installed in the upper front part of a cab of the harvester; It includes the following steps: S01, the visual track acquisition system extracts the navigation baseline of the crop row by collecting images of the crop row, and provides a tracking path for the navigation of the machine; Set the angle threshold allowed by the angle sensor of the mechanical crop row detection device to ; S02, when the driving position of the implement is in the middle of the crop row, the crop plants do not touch the mechanical crop row detection device or touch the mechanical crop row detection device but the deflection arms do not deflect, at this time, the angle sensor in the mechanical crop row detection device senses an angle of 0°, and the implement maintains the same direction; When the driving position of the implement deviates from the center of the crop row, the crop plants touch the mechanical crop row detection device. At this time, the detection value of the angle sensor is ; When the angle sensor detects the angle value in real time > When the machine travel direction controller adjusts the machine angle to control the machine to move to the middle of the crop row, until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine keeps the direction unchanged; S03, set the angle between the current heading angle of the machine and the navigation reference line to , the allowed heading angle of the implement is ,when > , the machine's travel direction controller adjusts the machine's turning angle to control the machine's deflection toward the navigation reference line. Reach the set After that, stop adjusting; when ≤ When the machine keeps the direction unchanged; S04, when > , and > When the direction controller takes the navigation reference line collected by the visual track collection system as the adjustment target of the machine heading, the direction controller of the machine adjusts the machine turning angle to control the machine to deflect toward the navigation reference line. Reach the set Then stop adjusting; judge relationship, when > When the machine travel direction controller adjusts the machine angle to control the machine to move to the middle of the crop row, until the angle value detected by the angle sensor of the mechanical crop row detection device reaches When the angle reaches the set angle threshold range, the adjustment stops; when the angle value detected by the angle sensor in real time ≤ The machine maintains the same direction.

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