Control method and control device of agricultural machine

Abstract

The invention provides an agricultural machine control method and device, and relates to the field of agriculture. Under the condition that an agricultural machine is connected with a first remote controller, the first remote controller controls the agricultural machine to work; under the condition that the first distance between the agricultural machine and the first remote controller is larger than the first preset distance, the agricultural machine is disconnected from the first remote controller, the first remote controller or the agricultural machine is connected with a second remote controller, so that a state signal is sent to the second remote controller, and the state signal comprises finished field proportion information of the agricultural machine and position information of the agricultural machine; the second remote controller controls the agricultural machine to work according to the state signal. Under the condition that a first remote controller is disconnected from an agricultural machine, the first remote controller or the agricultural machine is connected with a second remote controller to send a state signal to the second remote controller, so that it is guaranteed that the agricultural machine works continuously, and meanwhile the working efficiency of the agricultural machine is improved.

Description

Technical Field

[0001] The present application relates to the field of agriculture, and more specifically, to a control method and a control device for agricultural machinery. Background Art

[0002] In large-scale agricultural scenarios, agricultural machinery is controlled by remote controls so that it can perform unmanned operations. In more remote scenarios, agricultural machinery is usually unable to connect to the remote control through a wide area network (for example, 4G) and can only be connected through a shorter distance communication method. When the distance is far, the remote control will be disconnected from the agricultural machinery under this communication connection method, resulting in the remote control being unable to control the agricultural machinery to work.

[0003] In view of this, how to provide a remote controller that can continuously control the operation of agricultural machinery in remote scenarios while improving the overall operating efficiency of agricultural machinery is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a control method and a control device for agricultural machinery. When a first remote control is far away from the agricultural machinery and is disconnected, a connection is established between the first remote control or the agricultural machinery and a second remote control, so that the agricultural machinery can immediately establish a connection with the second remote control and then control the agricultural machinery to operate, thereby ensuring that the agricultural machinery is in continuous operation while improving the operating efficiency of the agricultural machinery.

[0005] In a first aspect, a control method for agricultural machinery is provided, the control method comprising: when the agricultural machinery is connected to a first remote controller, the first remote controller controls the operation of the agricultural machinery; when a first distance between the agricultural machinery and the first remote controller is greater than a first preset distance, the agricultural machinery is disconnected from the first remote controller, and the first remote controller or the agricultural machinery is connected to a second remote controller to send a status signal to the second remote controller, the status signal comprising information on the percentage of field completed by the agricultural machinery and the location information of the agricultural machinery; the second remote controller controls the operation of the agricultural machinery according to the status signal.

[0006] Based on the above scheme, when the first remote control is far away from the agricultural machinery and is disconnected, a connection is established between the first remote control or the agricultural machinery and the second remote control, so that the agricultural machinery can immediately establish a connection with the second remote control, thereby sending a status signal to the second remote control through the first remote control; or sending a status signal to the second remote control through the agricultural machinery. It should be understood that the status signal of the above-mentioned first remote control is sent by the agricultural machinery. After receiving the status signal, the second remote control knows that the first remote control is disconnected from the agricultural machinery, and the second remote control starts to control the agricultural machinery to operate, thereby ensuring that the agricultural machinery is in continuous operation while improving the operating efficiency of the agricultural machinery.

[0007] In combination with the first aspect, in certain implementations of the first aspect, when the first distance between the agricultural machinery and the first remote control is greater than the first preset distance, the agricultural machinery is disconnected from the first remote control, and the first remote control or the agricultural machinery is connected to the second remote control to send a status signal to the second remote control, including: when the first distance between the agricultural machinery and the first remote control is greater than the first preset distance, the agricultural machinery sends a disconnect line signal to the first remote control; according to the disconnect signal, the first remote control disconnects from the agricultural machinery and forwards the disconnect signal to the second remote control; the second remote control establishes a connection with the first remote control according to the disconnect signal; when the first remote control is connected to the second remote control, the first remote control sends a status signal to the second remote control.

[0008] In combination with the first aspect, in certain implementations of the first aspect, when the first distance between the agricultural machinery and the first remote control is greater than the first preset distance, the agricultural machinery is disconnected from the first remote control, and the first remote control or the agricultural machinery is connected to the second remote control to send a status signal to the second remote control, including: when the first distance between the agricultural machinery and the first remote control is greater than the first preset distance, the agricultural machinery sends a disconnect line signal to the first remote control and the second remote control; according to the disconnection signal, the first remote control disconnects from the agricultural machinery, and the second remote control establishes a connection with the agricultural machinery according to the disconnection signal; when the agricultural machinery is connected to the second remote control, the agricultural machinery sends a status signal to the second remote control.

[0009] In combination with the first aspect, in certain implementations of the first aspect, a first remote control or agricultural machinery establishes a connection with a second remote control, including: when a second distance between the first remote control and the second remote control is less than a third distance between the agricultural machinery and the second remote control, the first remote control establishes a connection with the second remote control; when the second distance between the first remote control and the second remote control is greater than the third distance between the agricultural machinery and the second remote control, the agricultural machinery establishes a connection with the second remote control.

[0010] Based on the above scheme, after the first remote control is disconnected from the agricultural machinery, whether the first remote control is connected to the second remote control or to the agricultural machinery is determined by the distance between the first remote control or the agricultural machinery and the second remote control, that is, the one closer to the second remote control is selected to establish a connection with the agricultural machinery, thereby achieving a faster connection between the agricultural machinery and other nearby remote controls after the agricultural machinery is disconnected from the first remote control, thereby achieving continuous operation.

[0011] In combination with the first aspect, in certain implementations of the first aspect, before the agricultural machinery establishes a connection with the first remote control, the method also includes: the agricultural machinery obtains a first distance based on a detection signal sent by the first remote control, wherein the detection signal includes identification information of the first remote control; and determines whether a connection is established between the agricultural machinery and the first remote control based on the first distance.

[0012] In combination with the first aspect, in certain implementations of the first aspect, determining whether the agricultural machinery is connected to the first remote controller is based on the first distance, including: when the first distance is less than or equal to the first preset distance, the agricultural machinery is connected to the first remote controller.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the agricultural machinery establishes a connection with the first remote control, including: the agricultural machinery sends a connection request signal to the first remote control; based on the connection request signal, the agricultural machinery receives a connection confirmation signal sent by the first remote control to establish a connection.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the agricultural machinery is connected to the first remote controller or the second remote controller via point-to-point communication or multi-hop communication.

[0015] It should be understood that in large-scale agricultural scenarios, agricultural machinery and remote controls, and remote controls and remote controls cannot be connected and communicated through a wide area network (such as a 4G network), so short-distance communication transmission methods such as point-to-point communication or multi-hop communication are used for connection.

[0016] In combination with the first aspect, in some implementations of the first aspect, the first remote controller communicates with the second remote controller through point-to-point communication or multi-hop communication.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the second remote controller controls the operation of the agricultural machinery according to the status signal, including: the second remote controller sends a control signal to the agricultural machinery according to the status signal to control the operation of the agricultural machinery, the control signal includes path planning information of the agricultural machinery, wherein the path planning information includes the longitude and latitude of the plot, the operation path of the agricultural machinery, position parameters corresponding to the path, obstacle location, the turning method of the agricultural machinery, and the driving speed of the agricultural machinery.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the first distance between the agricultural machinery and the first remote control is less than or equal to the first preset distance and the first remote control does not control the operation of the agricultural machinery, the agricultural machinery re-establishes a connection with the first remote control so that the first remote control controls the operation of the agricultural machinery again.

[0019] In a second aspect, a control device for agricultural machinery is provided, which includes a first remote controller, a second remote controller and an agricultural machinery. When the agricultural machinery is connected to the first remote controller, the first remote controller controls the operation of the agricultural machinery. When a first distance between the agricultural machinery and the first remote controller is greater than a first preset distance, the agricultural machinery is disconnected from the first remote controller, and the first remote controller or the agricultural machinery is connected to the second remote controller to send a status signal to the second remote controller, wherein the status signal includes information on the percentage of field completed by the agricultural machinery and the location information of the agricultural machinery. The second remote controller controls the operation of the agricultural machinery according to the status signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic architecture diagram of an agricultural machinery operation system applicable to an embodiment of the present application is shown.

[0021] Figure 2 A schematic flowchart of a method for controlling an agricultural machine provided in an embodiment of the present application is shown.

[0022] Figure 3 A schematic flowchart of another agricultural machinery control method provided in an embodiment of the present application is shown.

[0023] Figure 4 A schematic flowchart of another agricultural machinery control method provided in an embodiment of the present application is shown.

[0024] Figure 5 A schematic flowchart of a control device for an agricultural machine provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0026] The present application relates to the control of agricultural machinery by multiple remote controllers during agricultural machinery operation, that is, through the connection and communication between multiple remote controllers and between the remote controllers and the agricultural machinery, the remote controllers continuously control the agricultural machinery to make the agricultural machinery work.

[0027] Figure 1 A schematic architecture diagram of an agricultural machinery operation system 100 applicable to an embodiment of the present application is shown.

[0028] like Figure 1 As shown, the agricultural machine operation system 100 includes an agricultural machine 110 , a remote controller 120 , and an operator 130 .

[0029] The remote controller 120 is equipped with one or more buttons. When the operator 130 presses these buttons, the remote controller 120 transmits a radio signal to the agricultural machine 110 , wherein the radio signal generally includes the ID of the remote controller 120 , the button ID, and a control instruction.

[0030] A receiver is installed on the agricultural machine 110 for receiving the radio signal transmitted by the remote controller 120, wherein the receiver is usually located at a position where the agricultural machine 110 can easily receive the radio signal, such as the front end or side of the agricultural machine 110. After receiving the radio signal, the receiver decodes it to extract the ID, button ID and control instruction of the remote controller 120. The decoded information is sent to the microcontroller (such as a microcontroller unit (MCU)) inside the agricultural machine 110. The microcontroller performs corresponding actions according to the received control instruction. For example, if the control instruction is "forward", the microcontroller will send a signal to the motor driver of the agricultural machine 110 to make the agricultural machine 110 start to move forward. After the agricultural machine 110 executes the control instruction, it may send a feedback signal to the remote controller 120 to inform the user of the current status or position of the agricultural machine 110.

[0031] For example, if the agricultural machine 110 is moving forward, the feedback signal may inform the remote controller 120 that the agricultural machine is moving forward. The operator 130 adjusts the control instructions of the remote controller 120 according to the feedback information to achieve more precise operation.

[0032] For another example, if the agricultural machine 110 is moving too fast, the operator 130 can adjust the control command to slow down or stop the agricultural machine 110. The entire control process is a cyclic process, the remote controller 120 continuously transmits signals, and the agricultural machine 110 continuously receives, processes, executes and feeds back signals. The operator 130 adjusts the control command based on the feedback information to achieve more precise operation. This control process and information transmission process is intended to enable the operator 130 to remotely control the agricultural machine 110 through the remote controller 120 to achieve more precise and efficient agricultural production.

[0033] In a large agricultural scenario, when a remote controller 120 is used to control an agricultural machine 110 to perform an operation, if the distance between the remote controller 120 and the agricultural machine 110 is far, there will be a disconnection problem; in addition, if the remote controller 120 needs to maintain a connection and communication with the agricultural machine 110 all the time, the operator 130 needs to hold the remote controller 120 and maintain a certain distance from the agricultural machine 110, which wastes manpower.

[0034] In some solutions, when using multiple remote controllers 120 to control agricultural machinery 110, multiple remote controllers 120 are distributed in various locations of a large agricultural scene, waiting for connection with the agricultural machinery 110. During this process, multiple remote controllers 120 are always in an on state, which will cause excessive power consumption of the entire agricultural machinery 110 operating system and waste resources.

[0035] In view of this, an embodiment of the present application provides a control method for agricultural machinery, which aims to establish a connection through a first remote control or the agricultural machinery and a second remote control, so that the agricultural machinery can immediately establish a connection with the second remote control and then control the agricultural machinery to operate, thereby ensuring that the agricultural machinery is in continuous operation while improving the operating efficiency of the agricultural machinery.

[0036] Figure 2 A schematic flowchart of a control method 200 for an agricultural machine provided in an embodiment of the present application is shown.

[0037] like Figure 2 As shown, the control method 200 of the agricultural machinery specifically includes the following steps.

[0038] S210: When the agricultural machine is connected to the first remote controller, the first remote controller controls the operation of the agricultural machine.

[0039] S220: When the first distance between the agricultural machinery and the first remote control is greater than the first preset distance, the agricultural machinery is disconnected from the first remote control, and the first remote control or the agricultural machinery is connected to the second remote control to send a status signal to the second remote control. The status signal includes information on the percentage of fields completed by the agricultural machinery and the location information of the agricultural machinery.

[0040] S230: The second remote controller controls the operation of the agricultural machinery according to the status signal.

[0041] Among them, the agricultural machinery in this application can be the above Figure 1 The agricultural machine 110, the first remote controller and the second remote controller may be the above Figure 1 Any one of the remote controllers 120, this application does not make any limitation on this.

[0042] In the above step S210, when the agricultural machine is connected to the first remote controller, the first remote controller controls the agricultural machine to perform operations. It should be understood that in this application, two remote controllers are used as an example for explanation. In actual large-scale agricultural scenarios, more than two remote controllers can be used to control the agricultural machine, and this application does not impose any limitation on the number of remote controllers.

[0043] Optionally, before the agricultural machine establishes a connection with the first remote controller, the agricultural machine obtains a first distance between the agricultural machine and the remote controller based on a detection signal sent by the first remote controller, and determines whether a connection is established between the agricultural machine and the first remote controller based on the first distance.

[0044] Among them, the first distance between the agricultural machine and the remote control is obtained according to the time and sound speed of the detection signal transmitted between the agricultural machine and the first remote control.

[0045] Specifically, when the first distance is less than or equal to the first preset distance, the agricultural machine is connected to the first remote controller. When the first distance is greater than the first preset distance, the agricultural machine is not connected to the first remote controller.

[0046] The detection signal includes identification information of the first remote controller, and on the agricultural machinery side, the type of the remote controller can be identified based on the identification information.

[0047] Optionally, the process of establishing a connection between the agricultural machine and the first remote control is that the agricultural machine sends a connection request signal to the first remote control, and based on the connection request signal, the agricultural machine receives a connection confirmation signal sent by the first remote control, and a connection is established between the two.

[0048] Optionally, the agricultural machinery communicates with the first remote controller or the second remote controller through point-to-point communication or multi-hop communication.

[0049] Specifically, taking the agricultural machinery and the first remote controller as an example, point-to-point communication refers to direct communication between the agricultural machinery and the first remote controller, without other devices or network infrastructure as intermediaries, and without passing through other nodes. Multi-hop communication refers to the transmission of data through multiple nodes in the network until it reaches the destination. Each hop refers to the process of data being transmitted from one node to another. Compared with point-to-point communication, the transmission distance is longer.

[0050] It should be understood that the communication module for point-to-point communication or multi-hop communication in the present application is installed at any part of the agricultural machine, the first remote controller and the second remote controller for establishing a connection. The communication module may be a Bluetooth device or a WIFI device, etc., and the present application does not make any limitation on this.

[0051] It should be understood that in large-scale agricultural scenarios, since the farmlands are relatively remote, agricultural machinery and remote controls, and remote controls and remote controls cannot be connected and communicated through a wide area network (such as a 4G network). Therefore, short-distance communication transmission methods such as point-to-point communication or multi-hop communication are used for connection.

[0052] Optionally, the first remote controller and the second remote controller are also connected via point-to-point communication or multi-hop communication.

[0053] In the above step S220, when the first remote controller is disconnected from the agricultural machine, there are the following two ways to send a status signal to the second remote controller.

[0054] One possible way is Figure 3A schematic flow chart of another control method 300 of an agricultural machine is shown. When a first distance between the agricultural machine and a first remote controller is greater than a first preset distance, the agricultural machine sends a disconnection line signal to the first remote controller; according to the disconnection signal, the first remote controller disconnects from the agricultural machine and forwards the disconnection signal to the second remote controller; the second remote controller establishes a connection with the first remote controller according to the disconnection signal. When the first remote controller establishes a connection with the second remote controller, the first remote controller sends a status signal to the second remote controller, and the second remote controller sends a control signal to the agricultural machine according to the status signal to control the agricultural machine to perform operations.

[0055] Another possible way is Figure 4 A schematic flow chart of another control method 400 of agricultural machinery is shown. When the first distance between the agricultural machinery and the first remote controller is greater than the first preset distance, the agricultural machinery sends a disconnection line signal to the first remote controller and the second remote controller. According to the disconnection signal, the first remote controller disconnects from the agricultural machinery, and the second remote controller establishes a connection with the agricultural machinery according to the disconnection signal. When the agricultural machinery is connected with the second remote controller, the agricultural machinery sends a status signal to the second remote controller, and the second remote controller sends a control signal to the agricultural machinery according to the status signal to control the agricultural machinery to operate. In this manner, the status signal is sent to the second remote controller by the first remote controller to inform the second remote controller that the agricultural machinery should be controlled to operate. That is, after the first remote controller is disconnected from the agricultural machinery, whether the first remote controller is connected to the second remote controller or the agricultural machinery is connected is determined by the distance between the first remote controller or the agricultural machinery and the second remote controller, that is, the one closer to the second remote controller is selected to establish a connection with the agricultural machinery, so as to achieve a faster connection with the other closer remote controller after the agricultural machinery is disconnected from the first remote controller, and achieve continuous operation.

[0056] Among them, the status signal can be information about the percentage of fields completed by the agricultural machinery, the location information of the agricultural machinery, the real-time working status of the agricultural machinery, such as speed, fuel consumption / power of the agricultural machinery, remaining fuel consumption / power, connection status between the agricultural machinery and the agricultural implements, control status, operation status of the agricultural implements themselves, signal status of the connection between the agricultural machinery and the remote controller, and possible unmarked obstacles in the process of planning plots, real-time path status information, obstacle avoidance strategy and execution information, etc. For example, the percentage of fields completed by the agricultural machinery is 20%.

[0057] Optionally, the second remote controller chooses to establish a connection with the first remote controller or the agricultural machine, which is determined by the distance between the second remote controller and the first remote controller and the agricultural machine.

[0058] Specifically, when the second distance between the first remote controller and the second remote controller is less than the third distance between the agricultural machine and the second remote controller, the first remote controller establishes a connection with the second remote controller. When the second distance between the first remote controller and the second remote controller is greater than the third distance between the agricultural machine and the second remote controller, the agricultural machine establishes a connection with the second remote controller. That is, the agricultural machine that is closer to the second remote controller is selected to establish a connection with the agricultural machine, so that after the agricultural machine is disconnected from the first remote controller, it can more quickly establish a connection with other closer remote controllers to achieve continuous operation.

[0059] In the above step S230, the second remote controller controls the operation of the agricultural machinery according to the status signal, which specifically includes the second remote controller sending a control signal to the agricultural machinery according to the status signal to control the operation of the agricultural machinery.

[0060] Among them, the control signal includes the path planning information of the agricultural machinery, and the path planning information includes the longitude and latitude of the plot, the agricultural machinery operation path, the position parameters corresponding to the path, the obstacle location, the agricultural machinery turning method and the agricultural machinery driving speed, etc.

[0061] In addition, when the first distance between the agricultural machinery and the first remote control is less than or equal to the first preset distance and the first remote control does not control the operation of the agricultural machinery, there may be a communication failure between the agricultural machinery or the first remote control. The agricultural machinery can establish a connection with the first remote control again so that the first remote control controls the operation of the agricultural machinery again.

[0062] Through the technical solution of the embodiment of the present application, when the first remote control and the agricultural machinery are disconnected due to a long distance, a connection is established between the first remote control or the agricultural machinery and the second remote control, so that the agricultural machinery can immediately establish a connection with the second remote control, thereby sending a status signal to the second remote control through the first remote control; or sending a status signal to the second remote control through the agricultural machinery. It should be understood that the status signal of the above-mentioned first remote control is sent by the agricultural machinery. After receiving the status signal, the second remote control knows that the first remote control is disconnected from the agricultural machinery, and the second remote control starts to control the agricultural machinery to operate, thereby ensuring that the agricultural machinery is in continuous operation while improving the operating efficiency of the agricultural machinery.

[0063] Combination of the above Figures 1 to 4 , describes the method embodiment of the present application in detail, and the following is combined with Figure 5 , describing the device embodiments of the present application, the device embodiments correspond to the method embodiments, so the parts that are not described in detail can refer to the method embodiments in the previous parts.

[0064] Figure 5 This is a schematic structural block diagram of a control device 500 for an agricultural machine provided in an embodiment of the present application. The control device 500 may include a first remote controller 510, a second remote controller 520 and an agricultural machine 530.

[0065] When the agricultural machine 530 is connected to the first remote controller 510, the first remote controller 510 controls the operation of the agricultural machine 530. When the first distance between the agricultural machine 530 and the first remote controller 510 is greater than the first preset distance, the agricultural machine 530 is disconnected from the first remote controller 510, and the first remote controller 510 or the agricultural machine 530 is connected to the second remote controller 520 to send a status signal to the second remote controller 520, the status signal including the percentage of the field completed by the agricultural machine 530 and the location information of the agricultural machine 530. The second remote controller 520 controls the operation of the agricultural machine 530 according to the status signal.

[0066] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0067] Optionally, the computer-readable storage medium can be applied to the control method of agricultural machinery in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes in each method in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0068] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0069] Optionally, the computer program product can be applied to the control method of agricultural machinery in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes in each method of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0070] The embodiment of the present application also provides a computer program.

[0071] Optionally, the computer program can be applied to the control method of agricultural machinery in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0072] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0073] It should be understood that the specific examples in this article are only intended to help those skilled in the art better understand the embodiments of the present application, rather than to limit the scope of the embodiments of the present application.

[0074] It should also be understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments of the present application are not limited to this.

[0075] Unless otherwise stated, all technical and scientific terms used in the embodiments of the present application are the same as the meanings generally understood by those skilled in the art of the technical field of the application. The terms used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the scope of the present application. The singular forms "a kind of", "above" and "the" used in the embodiments of the present application and the appended claims are also intended to include majority forms, unless the context clearly indicates other meanings. In addition, the terms "first", "second" etc. are only used for description purposes, and cannot be interpreted as indicating or suggesting relative importance.

[0076] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0077] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0079] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0080] 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 method for controlling an agricultural machine, characterized in that: include: When the agricultural machine is connected to the first remote controller, the first remote controller controls the operation of the agricultural machine; When the first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine is disconnected from the first remote controller, and the first remote controller or the agricultural machine is connected to the second remote controller to send a status signal to the second remote controller, wherein the status signal includes information on the percentage of fields completed by the agricultural machine and location information of the agricultural machine; The second remote controller controls the operation of the agricultural machinery according to the status signal.

2. The control method according to claim 1, characterized in that: When the first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine is disconnected from the first remote controller, and the first remote controller or the agricultural machine is connected to the second remote controller to send a status signal to the second remote controller, including: When a first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine sends a disconnection line signal to the first remote controller; According to the disconnection signal, the first remote controller disconnects from the agricultural machine and forwards the disconnection signal to the second remote controller; The second remote controller establishes a connection with the first remote controller according to the disconnection signal; When the first remote controller establishes a connection with the second remote controller, the first remote controller sends a status signal to the second remote controller.

3. The control method according to claim 1, characterized in that: When the first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine is disconnected from the first remote controller, and the first remote controller or the agricultural machine is connected to the second remote controller to send a status signal to the second remote controller, including: When a first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine sends a disconnection line signal to the first remote controller and the second remote controller; According to the disconnection signal, the first remote controller disconnects from the agricultural machine, and the second remote controller establishes a connection with the agricultural machine according to the disconnection signal; When the agricultural machine establishes a connection with the second remote controller, the agricultural machine sends a status signal to the second remote controller.

4. The control method according to claim 1, characterized in that: The first remote controller or the agricultural machine establishes a connection with the second remote controller, including: When a second distance between the first remote controller and the second remote controller is less than a third distance between the agricultural machine and the second remote controller, the first remote controller establishes a connection with the second remote controller; When the second distance between the first remote controller and the second remote controller is greater than the third distance between the agricultural machine and the second remote controller, the agricultural machine establishes a connection with the second remote controller.

5. The control method according to claim 1, characterized in that: Before the agricultural machine establishes a connection with the first remote controller, the method further includes: The agricultural machine obtains the first distance according to the detection signal sent by the first remote controller, wherein the detection signal includes identification information of the first remote controller; It is determined whether a connection is established between the agricultural machine and the first remote controller according to the first distance.

6. The control method according to claim 5, characterized in that: The determining, according to the first distance, whether a connection is established between the agricultural machine and the first remote controller includes: When the first distance is less than or equal to the first preset distance, the agricultural machine establishes a connection with the first remote controller.

7. The control method according to any one of claims 1 to 6, characterized in that: The agricultural machine establishes a connection with the first remote controller, comprising: The agricultural machine sends a connection request signal to the first remote controller; According to the connection request signal, the agricultural machine receives a connection confirmation signal sent by the first remote controller to establish a connection.

8. The control method according to any one of claims 1 to 6, characterized in that: The agricultural machine communicates with the first remote controller or the second remote controller through point-to-point communication or multi-hop communication.

9. The control method according to any one of claims 1 to 6, characterized in that: The first remote controller communicates with the second remote controller through point-to-point communication or multi-hop communication.

10. The control method according to any one of claims 1 to 6, characterized in that: The second remote controller controls the operation of the agricultural machine according to the status signal, including: The second remote controller sends a control signal to the agricultural machinery based on the status signal to control the operation of the agricultural machinery, wherein the control signal includes path planning information of the agricultural machinery, wherein the path planning information includes the longitude and latitude of the plot, the operation path of the agricultural machinery, position parameters corresponding to the path, obstacle location, turning method of the agricultural machinery and driving speed of the agricultural machinery.

11. The control method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the first distance between the agricultural machinery and the first remote controller is less than or equal to a first preset distance and the first remote controller does not control the operation of the agricultural machinery, the agricultural machinery reconnects with the first remote controller so that the first remote controller controls the operation of the agricultural machinery again.

12. A control device for agricultural machinery, characterized in that: The control device comprises a first remote controller, a second remote controller and the agricultural machine, When the agricultural machine is connected to the first remote controller, the first remote controller controls the operation of the agricultural machine; When the first distance between the agricultural machine and the first remote controller is greater than a first preset distance, the agricultural machine is disconnected from the first remote controller, and the first remote controller or the agricultural machine is connected to the second remote controller to send a status signal to the second remote controller, wherein the status signal includes information on the percentage of fields completed by the agricultural machine and location information of the agricultural machine; The second remote controller controls the operation of the agricultural machinery according to the status signal.

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