A forward deviation correction control method for ridge and furrow operation of a vegetable transplanter

Abstract

The present invention discloses a forward deviation correction control method for ridge and ditch operation of a vegetable transplanter, which relates to the technical field of deviation correction evaluation, and comprises the following steps: using a GPS system, a visual sensor and a laser radar to obtain transplanter status information and operating environment information, wherein the transplanter status information includes the current position, speed and steering angle of the transplanter, and the environmental information includes the surrounding soil conditions and ridge and ditch shapes. The present invention identifies the potential impact of different soil conditions and ridge and ditch shapes on the operation of the transplanter through a comprehensive analysis of soil moisture, color, roughness, and the depth, width and shape of the ridge and ditch, and dynamically adjusts the deviation correction strategy, so that the transplanter can operate stably in different farmland environments, whether in flat cultivated land or in undulating hilly areas, it can maintain efficient operating performance and reduce operation interruptions and crop losses caused by terrain changes.

Description

Technical Field

[0001] The invention relates to the technical field of deviation correction evaluation, and in particular to a forward deviation correction control method for ridge and ditch operations of a vegetable transplanter. Background Art

[0002] With the continuous development of network technology and intelligent technology, modern agriculture is moving towards mechanization and intelligence. As an important part of agricultural mechanization, the performance improvement and function improvement of vegetable transplanters are the inevitable trend of modern agricultural development. Traditional vegetable transplanting operations are mostly manual, with high labor intensity and low efficiency. The application of vegetable transplanters can significantly improve transplanting efficiency, reduce labor costs, and meet the needs of modern agriculture for efficient production. The precise operation of vegetable transplanters can ensure that parameters such as transplanting depth, plant spacing, row spacing, etc. meet agronomic requirements, thereby improving the survival rate of transplanting and the yield and quality of vegetables.

[0003] In the prior art, when a vegetable transplanter performs transplanting operations in complex and changeable terrain, it is easily affected by changes in soil conditions and ridge and furrow shapes, which greatly affects the transplanter's travel stability and the accuracy of correction control. Therefore, how to evaluate the degree of deviation of the ridge and furrow operation and then perform correction control on the travel state of the transplanting operation is a problem we need to solve. To this end, a forward correction control method for the ridge and furrow operation of a vegetable transplanter is proposed. Summary of the invention

[0004] The object of the present invention is to provide a forward deviation correction control method for ridge and ditch operations of a vegetable transplanter to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A forward deviation correction control method for ridge and ditch operation of a vegetable transplanter comprises the following steps:

[0007] Step 1: Use GPS system, visual sensor and laser radar to obtain transplanter status information and working environment information, where the transplanter status information includes the current position, speed and steering angle of the transplanter, and the environmental information includes the surrounding soil conditions and ridge shape, so as to provide accurate data basis for subsequent deviation assessment and correction control;

[0008] Step 2: Based on the acquired working environment information, the surrounding soil conditions and ridge shapes are identified, the soil conditions and ridge changes are analyzed, the correlation features of the soil conditions and ridge changes are extracted, and the interference degree of the soil conditions and ridge changes on the transplanter is clarified;

[0009] Step 3, based on the transplanter state information, a comparative analysis is performed with a reference trajectory dynamically generated according to the ridge shape to obtain a deviation correction evaluation coefficient and analyze the degree of deviation during the transplanter ridge operation process;

[0010] Step 4, formulate a specific correction strategy according to the deviation degree of the transplanter's ridge and furrow operation and the current state of the transplanter, and convert the formulated correction strategy into control instructions, automatically adjust the travel parameters through the transplanter's control system, and realize real-time correction of the travel state.

[0011] A further improvement of the technical solution of the present invention is that in step 1, the process of obtaining the transplanter status information and the operating environment information is as follows:

[0012] Step 101, start the GPS system, visual sensor and laser radar, and calibrate them to obtain transplanter status information and working environment information;

[0013] Step 102, for the transplanter status information, the receiver of the GPS system receives the satellite signal, calculates the distance difference and time difference between the satellite signal and the receiver, obtains the current longitude and latitude coordinates of the transplanter, thereby determining its precise position in the field, and extracts the speed and steering angle information of the transplanter;

[0014] Step 103, for the working environment information, the image around the transplanter is captured by a visual sensor, the moisture, color, and roughness of the soil are analyzed by image recognition technology, and the surrounding environment is scanned by a laser radar to generate a three-dimensional map of the surrounding environment, including the depth, width, and shape of the furrow;

[0015] Step 104 , combining the location information provided by the GPS system with the environmental information from the visual sensor and the lidar to form a comprehensive data set.

[0016] A further improvement of the technical solution of the present invention is that in step 2, the process of extracting the associated features of soil conditions and ridge and furrow changes is as follows:

[0017] Step 201, preprocessing the acquired transplanter working environment information, performing image recognition analysis on the images captured by the visual sensor, extracting soil condition features, which are soil moisture, color and roughness, estimating moisture through color analysis, evaluating soil roughness and color features through texture analysis, analyzing the three-dimensional map generated by the laser radar, extracting ridge change features, which are depth, width and shape, identifying the ridge area through point cloud segmentation and clustering algorithms, calculating its depth and width, and summarizing the shape features of the ridge using shape descriptors;

[0018] Step 202, comprehensively analyzing the characteristic data of soil conditions and ridge and ditch shapes to identify the correlation between the soil and the ridge and ditch;

[0019] Step 203, according to the characteristics of soil moisture, color and roughness, combined with the speed and steering angle information of the transplanter, the soil condition interference index is obtained, and the influence of the soil condition on the travel stability, traction and soil compaction of the transplanter is analyzed. The soil moisture and roughness will directly affect the friction between the wheels of the transplanter and the ground, thereby affecting its travel stability. Too high or too low humidity and too much roughness may cause the wheels to slip or sink into the soil. The soil moisture and color indirectly reflect the soil type, which will affect the bearing capacity and shear strength of the soil, thereby affecting the traction of the transplanter. The weight and travel mode of the transplanter will cause soil compaction, and the soil moisture and roughness will affect the compaction degree.

[0020] Step 204, according to the depth, width and shape characteristics of the ditch, combined with the speed and steering angle information of the transplanter, the ditch shape interference index is obtained, and the influence of the ditch change on the path planning, steering accuracy and operation efficiency of the transplanter is analyzed. The depth, width and shape of the ditch will affect the path planning of the transplanter, and it is necessary to avoid collision with the ditch or getting stuck in it;

[0021] Step 205, comprehensively analyze the influence of soil conditions and ridge and ditch changes on the transplanter, combine the soil condition interference index and the ridge and ditch shape interference index, obtain a comprehensive interference evaluation index, and set an interference evaluation threshold to clarify the interference degree of soil conditions and ridge and ditch changes on the transplanter.

[0022] A further improvement of the technical solution of the present invention is that the calculation formula of the soil condition interference index is:

[0023] ;

[0024] ;

[0025] in, is the soil condition disturbance index, is the weight of the soil condition feature, n is the total number of soil condition features, is the measured value of soil condition characteristics, is the standard value of soil condition characteristics, is the maximum standard value of soil condition characteristics, is the minimum standard value of soil condition characteristics, is the transplanter speed interference index, V is the real-time speed of the transplanter, It is the optimal speed for the transplanter. is the sensitivity coefficient of speed effect;

[0026] The calculation formula of the ridge shape interference index is:

[0027] ;

[0028] ;

[0029] in, is the ridge shape interference index, is the weight of the ridge change feature, m is the total number of ridge shape features, is the measured value of the ridge shape characteristic, is the standard value of the ridge shape characteristic, is the standard threshold of the ridge shape feature, is the transplanter steering angle interference indicator, is the steering angle, is the maximum ideal value of the steering angle, is the minimum ideal value of the steering angle.

[0030] A further improvement of the technical solution of the present invention is that the calculation formula of the comprehensive interference assessment index is:

[0031] ;

[0032] in, is the comprehensive disturbance assessment index, w is the weight of soil condition relative to ridge shape in the assessment, and , is the soil condition disturbance index, is the ridge shape interference index. It should be noted that The value of is between 0 and 1, where 0 means no interference and 1 means maximum interference.

[0033] A further improvement of the technical solution of the present invention is that in step 3, the process of obtaining the correction evaluation coefficient is:

[0034] Step 301, extracting the collected transplanter status information and working environment information data, performing filtering and denoising processing, and performing time synchronization between the transplanter status information and the ridge shape data to ensure that the two are compared within the same time frame;

[0035] Step 302, based on the collected ridge shape data, a smooth ridge contour line is generated using the least square method, and based on the ridge contour line, combined with the operating width and speed of the transplanter, a reference trajectory of the transplanter is dynamically generated;

[0036] Step 303, comparing the real-time position information of the transplanter with the dynamically generated reference trajectory in real time, and calculating the deviation distance and direction between the current position of the transplanter and the corresponding point on the reference trajectory;

[0037] Step 304, calculating the deviation correction evaluation coefficient according to the deviation distance and direction, combined with the comprehensive interference evaluation index, analyzing the degree of deviation of the transplanter during the furrow operation, and determining the severity of the deviation;

[0038] Step 305, divide the correction evaluation coefficient into correction levels, namely, level one, level two and level three. The degree of deviation increases from level one to level three, and set corresponding correction thresholds for the correction levels to determine whether the transplanter deviates from the reference trajectory and the degree of deviation.

[0039] A further improvement of the technical solution of the present invention is that the calculation formula of the correction evaluation coefficient is:

[0040] ;

[0041] Among them, K is the correction evaluation coefficient, is the comprehensive interference assessment index, d is the deviation distance between the current position of the transplanter and the corresponding point on the reference trajectory, is the maximum tolerance value of the preset deviation distance, is the current steering angle of the transplanter, is the expected steering angle of the corresponding point on the reference trajectory, is the maximum tolerable value of the steering angle.

[0042] A further improvement of the technical solution of the present invention is that: the multiple correction levels correspond to multiple correction thresholds, wherein the correction thresholds include an upper threshold and a lower threshold;

[0043] The multiple correction levels and the multiple correction thresholds satisfy the following relationship:

[0044] First level correction ; No immediate correction is required, continuous monitoring is required, but the monitoring frequency needs to be adjusted;

[0045] Second level of correction ; It is necessary to plan the correction operation and prepare for the correction operation;

[0046] Three levels of correction Urgent correction is required to avoid potential operation failure;

[0047] Among them, K is the correction evaluation coefficient, is the lower threshold corresponding to the second level of correction and the upper threshold corresponding to the first level of correction. It is the lower threshold corresponding to the third-level correction level and the upper threshold corresponding to the second-level correction level.

[0048] A further improvement of the technical solution of the present invention is that in step 4, the process of achieving real-time deviation correction of the traveling state is:

[0049] Step 401, collecting the current state information of the transplanter, comparing the calculated deviation correction evaluation coefficient with the set deviation correction threshold, evaluating the deviation correction level of the transplanter, and clarifying the degree of deviation of the transplanter from the reference trajectory, and analyzing the direction and distance of the deviation;

[0050] Step 402, formulate a corresponding correction strategy according to the degree of deviation and the correction level, determine the direction of travel to be adjusted according to the deviation direction, and in case of slight deviation, adjust the steering wheel angle or the output of the steering motor to achieve slight steering correction. In case of large deviation, speed adjustment is required, such as decelerating to reduce the deviation trend, or accelerating and combining direction adjustment to quickly return to the reference trajectory. According to the degree of deviation and the current state, set specific correction parameters, such as steering wheel angle, steering motor output, and speed adjustment amount;

[0051] Step 403, converting the formulated deviation correction strategy into a specific control instruction, and sending the control instruction through the control system of the transplanter, automatically adjusting the travel parameters of the transplanter, and monitoring the response of the transplanter in real time to ensure that the deviation correction action is carried out as expected;

[0052] Step 404, during the deviation correction process, the position, speed, and posture status information of the transplanter are continuously monitored, and compared with the reference trajectory in real time to evaluate the deviation correction effect, and the moving status and environmental changes of the transplanter are continuously monitored, and the deviation correction strategy is dynamically adjusted according to the feedback results.

[0053] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0054] The present invention provides a forward deviation correction control method for ridge and ditch operation of a vegetable transplanter. Through comprehensive analysis of soil moisture, color, roughness, and ridge and ditch depth, width and shape, the potential influence of different soil conditions and ridge and ditch shapes on the operation of the transplanter is identified, and the deviation correction strategy is dynamically adjusted, so that the transplanter can operate stably in different farmland environments, and can maintain efficient operating performance regardless of whether it is in flat cultivated land or in undulating hilly areas, thereby reducing operation interruptions and crop losses caused by terrain changes.

[0055] The present invention provides a forward deviation correction control method for ridge and ditch operation of a vegetable transplanter. The method significantly improves the accuracy and uniformity of the operation by real-time monitoring and adjusting the traveling state of the transplanter. The method utilizes GPS positioning, visual sensors and laser radar technology to obtain the position, speed and steering angle information of the transplanter, as well as the soil conditions and ridge and ditch shapes of the working environment in real time. By comparing and analyzing with dynamically generated reference trajectories, the system can timely identify and correct the degree of deviation of the transplanter, ensure the smoothness of the transplanting process, reduce repeated operations and ineffective labor caused by deviation from the trajectory, improve the accuracy and consistency of transplanting, and thus improve the overall operation efficiency.

[0056] The present invention provides a forward deviation correction control method for ridge and ditch operations of a vegetable transplanter. By sensing environmental changes and dynamically adjusting the deviation correction strategy according to the environmental changes, it is ensured that the transplanter can operate stably and accurately under various environmental conditions. This not only improves the operating reliability of the transplanter, but also reduces the operation interruption and failure rate caused by environmental factors, thereby ensuring the continuity and efficiency of the transplanting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0058] Figure 1 is a flow chart of the method of the present invention;

[0059] Figure 2 The flowchart of extracting the correlation characteristics between soil conditions and ridge and furrow changes of the present invention;

[0060] Figure 3 The figure is a flow chart for obtaining the deviation correction evaluation coefficient of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Embodiment 1, as Figure 1 , Figure 2 As shown, the present invention provides a forward deviation correction control method for ridge and ditch operation of a vegetable transplanter, comprising the following steps:

[0063] Step 1: Use GPS system, visual sensor and laser radar to obtain transplanter status information and working environment information, wherein the transplanter status information includes the current position, speed and steering angle of the transplanter, and the environmental information includes the surrounding soil conditions and ridge shape, so as to provide an accurate data basis for subsequent deviation evaluation and correction control. Start the GPS system, visual sensor and laser radar, and calibrate them to obtain the transplanter status information and working environment information. For the transplanter status information, use the receiver of the GPS system to receive satellite signals, calculate the distance difference and time difference between the satellite signal and the receiver, obtain the current longitude and latitude coordinates of the transplanter, so as to determine its precise position in the field, and extract the speed and steering angle information of the transplanter. For the working environment information, use the visual sensor to capture the image around the transplanter, use the image recognition technology to analyze the moisture, color and roughness of the soil, use the laser radar to scan the surrounding environment, generate a three-dimensional map of the surrounding environment, including the depth, width and shape of the ridge, and combine the position information provided by the GPS system with the environmental information of the visual sensor and the laser radar to form a comprehensive data set.

[0064] Step 2: Based on the acquired working environment information, the surrounding soil conditions and ridge shapes are identified, the soil conditions and ridge changes are analyzed, the correlation features of soil conditions and ridge changes are extracted, the interference degree of soil conditions and ridge changes on the transplanter is clarified, the acquired working environment information of the transplanter is preprocessed, and the images captured by the visual sensor are subjected to image recognition analysis to extract soil condition features, which are soil moisture, color and roughness, estimate moisture through color analysis, and evaluate soil roughness and color features using texture analysis. The three-dimensional map generated by the lidar is analyzed to extract ridge change features, which are depth, width and shape, identify the ridge area through point cloud segmentation and clustering algorithms, calculate its depth and width, summarize the shape features of the ridge using shape descriptors, comprehensively analyze the feature data of soil conditions and ridge shapes, identify the correlation between soil and ridges, obtain the soil condition interference index based on soil moisture, color and roughness features, combined with the speed and steering angle information of the transplanter, and analyze the impact of soil conditions on the travel stability, The influence of traction and soil compaction. Soil moisture and roughness will directly affect the friction between the transplanter wheels and the ground, and thus affect its travel stability. Too high or too low humidity and too much roughness may cause the wheels to slip or sink into the soil. Soil moisture and color indirectly reflect the soil type, which will affect the soil's bearing capacity and shear strength, thereby affecting the traction of the transplanter. The weight and travel mode of the transplanter will cause soil compaction. Soil moisture and roughness will affect the degree of compaction. According to the depth, width and shape characteristics of the ridge, combined with the speed and steering angle information of the transplanter, the ridge shape interference index is obtained, and the influence of ridge changes on the transplanter's path planning, steering accuracy and operating efficiency is analyzed. The depth, width and shape of the ridge will affect the transplanter's travel path planning, and it is necessary to avoid collision with the ridge or sinking into it. The influence of soil conditions and ridge changes on the transplanter is comprehensively analyzed. Combined with the soil condition interference index and the ridge shape interference index, the comprehensive interference evaluation index is obtained, and the interference evaluation threshold is set to clarify the interference degree of soil conditions and ridge changes on the transplanter;

[0065] Furthermore, the calculation formula of soil condition interference index is:

[0066] ;

[0067] ;

[0068] in, is the soil condition disturbance index, is the weight of the soil condition feature, n is the total number of soil condition features, is the measured value of soil condition characteristics, is the standard value of soil condition characteristics, is the maximum standard value of soil condition characteristics, is the minimum standard value of soil condition characteristics, is the transplanter speed interference index, V is the real-time speed of the transplanter, It is the optimal speed for the transplanter. is the sensitivity coefficient of speed influence. It should be noted that As the deviation of soil conditions increases, As the speed V deviates from the optimal speed and reduce;

[0069] The calculation formula of ridge shape interference index is:

[0070] ;

[0071] ;

[0072] in, is the ridge shape interference index, is the weight of the ridge change feature, m is the total number of ridge shape features, is the measured value of the ridge shape characteristic, is the standard value of the ridge shape characteristic, is the standard threshold of the ridge shape feature, is the transplanter steering angle interference indicator, is the steering angle, is the maximum ideal value of the steering angle, is the minimum ideal value of the steering angle. It should be noted that As the deviation of soil conditions increases, With the steering angle Deviation from the ideal range and reduce;

[0073] Furthermore, the calculation formula of the comprehensive interference assessment index is:

[0074] ;

[0075] in, is the comprehensive disturbance assessment index, w is the weight of soil condition relative to ridge shape in the assessment, and , is the soil condition disturbance index, is the ridge shape interference index. It should be noted that The value of is between 0 and 1, where 0 indicates no interference and 1 indicates maximum interference;

[0076] Step 3, based on the transplanter state information, a comparative analysis is performed with a reference trajectory dynamically generated according to the ridge shape to obtain a deviation correction evaluation coefficient and analyze the degree of deviation during the transplanter ridge operation process;

[0077] Step 4, formulate a specific correction strategy according to the deviation degree of the transplanter's ridge and furrow operation and the current state of the transplanter, and convert the formulated correction strategy into control instructions, automatically adjust the travel parameters through the transplanter's control system, and realize real-time correction of the travel state.

[0078] Embodiment 2, as Figure 3 As shown, based on Example 1, the present invention provides a technical solution: Preferably, in step 3, the process of obtaining the correction evaluation coefficient is:

[0079] Extract the collected transplanter status information and working environment information data, perform filtering and denoising processing, and synchronize the transplanter status information with the ridge shape data to ensure that the two are compared within the same time frame. Generate a smooth ridge contour line using the least squares method based on the collected ridge shape data, and dynamically generate a reference trajectory of the transplanter based on the ridge contour line combined with the working width and speed of the transplanter. Compare the real-time position information of the transplanter with the dynamically generated reference trajectory in real time, calculate the deviation distance and direction between the current position of the transplanter and the corresponding point on the reference trajectory, calculate the correction evaluation coefficient based on the deviation distance and direction, combine the comprehensive interference evaluation index, analyze the degree of deviation of the transplanter during the ridge operation process, determine the severity of the deviation, and divide the correction evaluation coefficient into a first-level correction level, a second-level correction level, and a third-level correction level. The degree of deviation increases from the first level to the third level, and set a corresponding correction threshold for the correction level to determine whether the transplanter deviates from the reference trajectory and the degree of deviation.

[0080] Furthermore, the calculation formula of the correction evaluation coefficient is:

[0081] ;

[0082] Among them, K is the correction evaluation coefficient, is the comprehensive interference assessment index, d is the deviation distance between the current position of the transplanter and the corresponding point on the reference trajectory, is the maximum tolerance value of the preset deviation distance, is the current steering angle of the transplanter, is the expected steering angle of the corresponding point on the reference trajectory, It is the maximum tolerable value of the steering angle. It should be noted that the numerator of K represents the product of the comprehensive interference assessment index and the square of the deviation distance, reflecting the severity of the deviation. The denominator represents the adjustment factor of the steering angle deviation. When the actual steering angle differs from the expected steering angle, the denominator increases, thereby reducing the K value, indicating that the urgency of deviation correction is reduced. When the K value is small, it means that deviation correction is not urgent or does not need to be performed; when the K value is large, it means that deviation correction needs to be performed immediately. When the value is large, that is, the interference is large, and the d value is large, that is, the deviation distance is large, the K value will increase, indicating that the urgency of correction increases; when near When , the denominator is smaller and the K value is larger, indicating that the urgency of correction increases; on the contrary, when Deviation When it is larger, the denominator increases and the K value decreases, indicating that the urgency of correction is reduced;

[0083] Furthermore, the plurality of correction levels correspond to a plurality of correction thresholds, wherein the correction threshold comprises an upper threshold and a lower threshold;

[0084] Multiple correction levels and multiple correction thresholds satisfy the following relationship:

[0085] First level correction ; No immediate correction is required, continuous monitoring is required, but the monitoring frequency needs to be adjusted;

[0086] Second level of correction ; It is necessary to plan the correction operation and prepare for the correction operation;

[0087] Three levels of correction Urgent correction is required to avoid potential operation failure;

[0088] Among them, K is the correction evaluation coefficient, is the lower threshold corresponding to the second level of correction and the upper threshold corresponding to the first level of correction. The lower threshold corresponding to the third-level deviation correction level and the upper threshold corresponding to the second-level deviation correction level;

[0089] In step 4, the process of achieving real-time deviation correction of the traveling state is as follows:

[0090] Collect the current status information of the transplanter, compare the calculated correction evaluation coefficient with the set correction threshold, evaluate the correction level of the transplanter, and clarify the degree of deviation of the transplanter from the reference trajectory, analyze the direction and distance of deviation, formulate corresponding correction strategies according to the degree of deviation and correction level, and determine the direction of travel to be adjusted according to the deviation direction. In case of slight deviation, slight steering correction can be achieved by adjusting the steering wheel angle or the output of the steering motor. In case of large deviation, speed adjustment is required, such as slowing down to reduce the deviation trend, or accelerating and combining direction adjustment to quickly return to the reference trajectory. The deviation degree and current state are determined, and specific correction parameters are set, such as steering wheel angle, steering motor output, and speed adjustment amount. The formulated correction strategy is converted into specific control instructions, and control instructions are sent through the transplanter's control system to automatically adjust the transplanter's travel parameters. The transplanter's response is monitored in real time to ensure that the correction action is carried out as expected. During the correction process, the transplanter's position, speed, and posture status information are continuously monitored and compared with the reference trajectory in real time to evaluate the correction effect. The transplanter's travel status and environmental changes are continuously monitored, and the correction strategy is dynamically adjusted according to the feedback results.

[0091] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A forward deviation correction control method for ridge and ditch operation of a vegetable transplanter, characterized in that: The following steps are involved: Step 1: Use GPS system, visual sensor and laser radar to obtain transplanter status information and working environment information, wherein the transplanter status information includes the current position, speed and steering angle of the transplanter, and the environmental information includes the surrounding soil conditions and ridge shape. In step 1, the process of obtaining the transplanter status information and working environment information is as follows: Step 101, start the GPS system, visual sensor and laser radar, and calibrate them to obtain transplanter status information and working environment information; Step 102, for the transplanter status information, using the receiver of the GPS system to receive satellite signals, calculating the distance difference and time difference between the satellite signal and the receiver, obtaining the current longitude and latitude coordinates of the transplanter, and extracting the speed and steering angle information of the transplanter; Step 103, for the working environment information, the image around the transplanter is captured by a visual sensor, the moisture, color, and roughness of the soil are analyzed by image recognition technology, and the surrounding environment is scanned by a laser radar to generate a three-dimensional map of the surrounding environment, including the depth, width, and shape of the furrow; Step 104, combining the location information provided by the GPS system with the environmental information from the visual sensor and the lidar to form a comprehensive data set; Step 2: Based on the acquired working environment information, the surrounding soil conditions and ridge shapes are identified, the soil conditions and ridge changes are analyzed, the associated features of the soil conditions and ridge changes are extracted, and the interference degree of the soil conditions and ridge changes on the transplanter is clarified. In step 2, the process of extracting the associated features of the soil conditions and ridge changes is as follows: Step 201, preprocessing the acquired transplanter working environment information, performing image recognition analysis on the image captured by the visual sensor, extracting soil condition features, namely soil moisture, color and roughness, analyzing the three-dimensional map generated by the laser radar, extracting ridge and furrow change features, namely depth, width and shape; Step 202, comprehensively analyzing the characteristic data of soil conditions and ridge shapes to identify the correlation between the soil and the ridges; Step 203, based on the soil moisture, color and roughness characteristics, combined with the speed and steering angle information of the transplanter, a soil condition interference index is obtained to analyze the influence of the soil condition on the traveling stability, traction and soil compaction of the transplanter; Step 204, according to the depth, width and shape characteristics of the ditch, combined with the speed and steering angle information of the transplanter, the ditch shape interference index is obtained, and the influence of the ditch change on the path planning, steering accuracy and operation efficiency of the transplanter is analyzed; Step 205, comprehensively analyze the influence of soil conditions and ridge and ditch changes on the transplanter, combine the soil condition interference index and the ridge and ditch shape interference index, obtain a comprehensive interference evaluation index, set an interference evaluation threshold, and clarify the interference degree of soil conditions and ridge and ditch changes on the transplanter. The calculation formula of the soil condition interference index is: Among them, CI s is the soil condition disturbance index, w i is the weight of the soil condition feature, n is the total number of soil condition features, S i is the measured value of soil condition characteristics, S std，i is the standard value of soil condition characteristics, S max，i is the maximum standard value of soil condition characteristics, S min，i is the minimum standard value of soil condition characteristics, CI sp (V) is the transplanter speed interference index, V is the real-time speed of the transplanter, and V opt is the optimal speed of the transplanter, k V is the sensitivity coefficient of speed effect; The calculation formula of the ridge shape interference index is: Among them, CI f is the ridge shape interference index, is the weight of the ridge change feature, m is the total number of ridge shape features, D j is the measured value of the ridge shape characteristic, D std，j is the standard value of the ridge shape characteristic, D l，j is the standard threshold of the ridge shape feature, CI ag (θ) is the transplanter steering angle disturbance index, θ is the steering angle, θ max is the maximum ideal value of the steering angle, θ min is the minimum ideal value of the steering angle, and the calculation formula of the comprehensive interference assessment index is: CI Z =in×CI s +(1-in)×CI f ; Among them, CI Z is the comprehensive disturbance assessment index, w is the weight of soil condition relative to ridge shape in the assessment, and 0≤w≤1, CI s is the soil condition disturbance index, CI f is the ridge shape interference index. It should be noted that CI Z The value of is between 0 and 1, where 0 indicates no interference and 1 indicates maximum interference; Step 3: Based on the transplanter status information, a comparison analysis is performed with a reference trajectory dynamically generated according to the ridge shape to obtain a deviation correction evaluation coefficient, and the degree of deviation during the transplanter ridge operation is analyzed. In step 3, the process of obtaining the deviation correction evaluation coefficient is as follows: Step 301, extracting the collected transplanter status information and working environment information data, performing filtering and denoising processing, and performing time synchronization between the transplanter status information and the ridge ditch shape data; Step 302, based on the collected ridge shape data, a smooth ridge contour line is generated using the least square method, and based on the ridge contour line, combined with the operating width and speed of the transplanter, a reference trajectory of the transplanter is dynamically generated; Step 303, comparing the real-time position information of the transplanter with the dynamically generated reference trajectory in real time, and calculating the deviation distance and direction between the current position of the transplanter and the corresponding point on the reference trajectory; Step 304, calculating the deviation correction evaluation coefficient according to the deviation distance and direction, combined with the comprehensive interference evaluation index, analyzing the degree of deviation of the transplanter during the furrow operation, and determining the severity of the deviation; Step 305, the correction level of the correction evaluation coefficient is divided into a first-level correction level, a second-level correction level and a third-level correction level. The correction level increases in degree of deviation from the first level to the third level, and a corresponding correction threshold is set for the correction level to determine whether the transplanter deviates from the reference trajectory and the degree of deviation. The calculation formula of the correction evaluation coefficient is: Among them, K is the correction evaluation coefficient, CI Z is the comprehensive interference assessment index, d is the deviation distance between the current position of the transplanter and the corresponding point on the reference trajectory, and d max is the maximum tolerance value of the preset deviation distance, θ is the current steering angle of the transplanter, and θ ref is the expected steering angle of the corresponding point on the reference trajectory, θ max is the maximum tolerable value of the steering angle; Step 4, formulate a specific correction strategy according to the deviation degree of the transplanter's ridge and furrow operation and the current state of the transplanter, and convert the formulated correction strategy into control instructions, automatically adjust the travel parameters through the transplanter's control system, and realize real-time correction of the travel state.

2. The forward deviation correction control method for ridge and ditch operation of a vegetable transplanter according to claim 1 is characterized by: The plurality of correction levels correspond to the plurality of correction thresholds, wherein the correction thresholds include an upper threshold and a lower threshold; The multiple correction levels and the multiple correction thresholds satisfy the following relationship: Level 1 correction level 0 <K≤K ej ; Secondary correction level K ej <K≤K sj ; Level 3 correction level K>K sj ; Among them, K is the correction evaluation coefficient, K ej K is the lower threshold corresponding to the second level of correction and the upper threshold corresponding to the first level of correction. sj It is the lower threshold corresponding to the third-level correction level and the upper threshold corresponding to the second-level correction level.

3. The forward deviation correction control method for ridge and ditch operation of a vegetable transplanter according to claim 2 is characterized by: In step 4, the process of achieving real-time deviation correction of the traveling state is as follows: Step 401, collecting the current state information of the transplanter, comparing the calculated deviation correction evaluation coefficient with the set deviation correction threshold, evaluating the deviation correction level of the transplanter, and clarifying the degree of deviation of the transplanter from the reference trajectory, and analyzing the direction and distance of the deviation; Step 402, formulate a corresponding correction strategy according to the deviation degree and the correction level, determine the direction of travel to be adjusted according to the deviation direction, and set specific correction parameters according to the deviation degree and the current state; Step 403, converting the formulated deviation correction strategy into a specific control instruction, and sending the control instruction through the control system of the transplanter, automatically adjusting the travel parameters of the transplanter, and monitoring the response of the transplanter in real time; Step 404, during the deviation correction process, the position, speed, and posture status information of the transplanter are continuously monitored, and compared with the reference trajectory in real time to evaluate the deviation correction effect, and the moving status and environmental changes of the transplanter are continuously monitored, and the deviation correction strategy is dynamically adjusted according to the feedback results.

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