Silage harvesting method

Abstract

The invention discloses a silage harvesting method, and relates to the field of silage, the method comprises the following steps: constructing an intelligent harvesting model, the intelligent harvesting model is in data connection with an intelligent harvesting system, and the intelligent harvesting system is configured based on a silage harvester; area data of a target area is obtained, the area data is transmitted to the intelligent harvesting system, and the intelligent harvesting system obtains a target route based on the area data and transmits the target route to the intelligent harvesting model; crop data and environment data of the target area are obtained, the intelligent harvesting model analyzes the crop data and the environment data based on the target route, and an analysis result is obtained; based on the analysis result, the silage maize harvester harvests the target area, and the problems that the operation effect is low, the feed quality is low and the silage maize harvester is damaged due to improper operation when the silage maize harvester is manually operated to harvest, and a large amount of manpower is consumed in a safe mode of manual monitoring when the silage maize harvester is harvested in a large-area silage field can be solved.

Description

Technical Field

[0001] The present invention relates to the field of silage, and in particular to a silage harvesting method. Background Art

[0002] At present, mechanical harvesting is widely used in silage fields. Among them, the silage baling and wrapping machine is generally composed of a harvesting platform, a shredding part, a silo part, a baling part, a wrapping part and a cab control part. During harvesting, the harvesting platform first cuts the silage and transports it to the shredding part, and then the silage is chopped by the shredding part and transported to the silo part. The silo part is used to store the shredded silage and transport it to the baling part for baling. The baled silage is transported to the wrapping part for wrapping and discharged to the silage field. This is the harvesting process of the silage baling and wrapping machine.

[0003] The entire harvesting process is performed by the driver who relies on his driving and harvesting experience to operate the silage machine for harvesting operations. This requires certain operating skills from the driver and a certain learning and adaptation process. Improper operation may affect the operation results and feed quality. For example, inappropriate cutting length will affect the texture and nutritional value of the feed. Incorrect operation may also cause damage to the silage machine itself, such as wear of cutting parts and failure of compacting parts. This will not only increase maintenance costs, but may also affect the service life of the machine.

[0004] And because the body of the silage baling and wrapping machine is relatively long, the driver is prone to blind spots when turning, etc., so several safety personnel are generally deployed. The safety personnel and the driver need to observe the surrounding environment at all times to prevent the machine from causing harm to people, thereby causing safety incidents. When harvesting large areas of silage, multiple silage machines will be used to harvest at the same time, and this safety method will consume a lot of manpower. Summary of the invention

[0005] In order to solve the problems of low working effect, low feed quality and damage to the silage machine due to improper operation of manual silage harvesting, and the manual monitoring safety method consuming a lot of manpower when harvesting large areas of silage, the present invention provides a silage harvesting method, the method comprising: constructing an intelligent harvesting model, the intelligent harvesting model is connected to the data of an intelligent harvesting system, and the intelligent harvesting system is configured based on the silage machine; obtaining regional data of a target area, transmitting the regional data to the intelligent harvesting system, the intelligent harvesting system obtaining a target route based on the regional data, and transmitting the target route to the intelligent harvesting model; obtaining crop data and environmental data of the target area, the intelligent harvesting model analyzing the crop data and the environmental data based on the target route to obtain an analysis result; based on the analysis result, the silage machine harvests the target area.

[0006] The principle of the present invention is as follows: an intelligent harvesting system is installed on the silage machine to obtain regional data of the target area. The intelligent harvesting system obtains the target route through it, obtains the crop data and environmental data of the target area, and analyzes the target route based on the intelligent harvesting model to obtain the analysis results. The silage machine is controlled to harvest according to the analysis results and the target route. The silage machine is automatically driven by artificial intelligence technology to harvest accurately without manual operation, thus reducing erroneous operations caused by manual operation, reducing damage to the silage machine, and reducing waste of human resources; the surrounding environment is analyzed according to environmental data, and no additional manual monitoring is required, thus reducing waste of human resources. The monitoring range is wider and the response speed is faster, which reduces the harm of machines to people, thereby reducing the occurrence of safety incidents.

[0007] Furthermore, the intelligent harvesting system includes a display, a controller, a locator and a collector, the collector and the locator are both data-connected to the controller, the display is data-connected to the controller, the locator and the collector, the display, the locator and the controller are all arranged in the cab of the silo, the collector is arranged on the outer shell of the silo, the collector is used to obtain the crop data and the environmental data, the locator is used to obtain the motion data of the silo, the controller is used to control the silo to harvest crops, and the display is used to display the crop data, the environmental data, the motion data and the target route.

[0008] Furthermore, the specific steps of constructing the intelligent harvesting model include:

[0009] Acquire historical crop images, annotate the historical crop images, and obtain a first training set; acquire historical environment images, annotate the historical environment images, and obtain a second training set; train a model based on the first training set and the second training set to obtain the intelligent harvesting model.

[0010] Furthermore, the specific steps of obtaining the target route include:

[0011] Based on the area data, a first length and a first width of the target area are obtained, and a second width of the harvesting device of the silage machine is obtained; a harvesting direction is obtained based on the first length and the first width, and the target route is obtained based on the harvesting direction and the second width. Harvesting in the direction of the longest side of the target area can reduce the turning and U-turn operations of the silage machine, reduce the occurrence of blind spots, etc., and thus reduce the occurrence of safety incidents.

[0012] Furthermore, the specific steps for obtaining the analysis result include: obtaining an edge area based on the target route; the intelligent harvesting model processes the crop data to obtain a crop image, identifies the crop image to obtain a crop identification result, and obtains a crop width based on the crop identification result; obtains the motion data of the silage machine, and determines whether the silage machine is located in the edge area based on the motion data, if not, obtains first data to be moved based on the motion data and the crop width, obtains a first target route to be moved based on the first data to be moved, and updates the target route to the first target route; if yes, obtains second data to be moved based on the edge area, obtains a second target route to be moved based on the second data to be moved, and updates the target route to the second target route; the intelligent harvesting model processes the environmental data to obtain an environmental image, identifies the environmental image, and obtains an early warning analysis result; obtains the analysis result based on the early warning analysis result and the target route.

[0013] According to the crop width of the current target area and the current position of the silage machine, the position of the next movement is determined. First, whether the silage machine is located in the edge area. If not, the crop width is greater than the width of the silage machine harvesting device, and the next journey is normal. If it is located in the edge area, the crop width is less than the width of the silage machine harvesting device, and the silage machine needs to travel along the edge line and update its target route. The driving route is updated in real time to harvest more accurately.

[0014] Considering that the silage machine is harvesting while spraying the harvested and chopped silage into the silo through the spray barrel, the driver needs to control and adjust the direction of the spray barrel at any time to accurately spray the silage into the silo. The driver not only needs to operate the silage machine, but also needs to observe the surrounding environment and control and adjust the spray barrel, which increases the driver's workload. At the same time, if the adjustment is not timely, it is easy to cause the silage to be sprayed out of the silo, thereby resulting in a waste of silage. To solve this problem, the method also uses artificial intelligence technology to automatically control and adjust the position, direction and spraying force of the spray barrel according to the height of the silage in the silo and the height of the silo not covered by the silage. No manual operation is required, and the silage can be accurately sprayed into the silo to reduce the loss of silage.

[0015] Furthermore, the method also includes: obtaining silo data, obtaining a silo image based on the silo data, dividing the silo image to obtain a number of sub-areas, obtaining a pixel value of each of the sub-areas, and obtaining a number of crop areas and a number of silo areas based on the pixel values; obtaining a number of crop heights based on all the crop areas, and obtaining a number of silo heights based on all the silo areas; obtaining a maximum crop height based on all the crop heights, and obtaining a maximum silo height and a minimum silo height based on all the silo heights; determining whether the maximum crop height is greater than a first preset height, and if so, obtaining a first position based on the maximum silo height, obtaining a nozzle angle based on the first position, and obtaining a nozzle speed based on the nozzle angle and the maximum silo height; obtaining nozzle data based on the first position, the nozzle angle, and the nozzle speed; and the silo transports the chopped crops to the silo based on the nozzle data.

[0016] Considering that after the silo is full, continuing to spray silage into the silo will cause silage waste, the method reduces the travel speed of the silage machine through the compaction efficiency and the shredding efficiency, reduces the amount of silage after shredding, and thus reduces the waste of silage.

[0017] Furthermore, the method also includes: obtaining the compaction efficiency of the compaction equipment and the shredding efficiency of the silo's shredder; if the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, obtaining a first movement speed of the silo based on the compaction efficiency and the shredding efficiency; obtaining first movement data based on the first movement speed, and updating the movement data to the first movement data; the silo harvests based on the movement data.

[0018] Considering that the silage machine transports the wrapped silage to the silage field, the subsequent loading truck needs to transport the wrapped silage to the material transport truck. However, since the wrapped silage is distributed in various places in the silage field, the loading truck needs to travel to various places for loading, which is time-consuming and labor-intensive. This method records the coordinates of the wrapped silage and predicts the coordinates of the unwrapped silage through its coordinates, and adjusts the wrapping speed and driving speed in real time to make them distributed in a concentrated manner, which is convenient and quick for the subsequent loading trucks to load.

[0019] Furthermore, the method also includes: obtaining a second movement speed of the silage machine based on the motion data, and obtaining the wrapping efficiency of the wrapping equipment of the silage machine; obtaining a first coordinate of the wrapped silage based on the second movement speed and the wrapping efficiency; predicting a second coordinate of the unwrapped silage based on the first coordinate, and obtaining a movement distance based on the first coordinate and the second coordinate; obtaining a third movement speed and a first wrapping efficiency based on the movement distance; obtaining second movement data based on the third movement speed and the first wrapping efficiency, updating the movement data to the second movement data, and the silage machine harvests based on the movement data.

[0020] Further, the specific steps of obtaining the third movement speed and the first wrapping efficiency include: obtaining the maximum wrapping efficiency and the minimum wrapping efficiency of the baling device; obtaining a fourth movement speed based on the maximum wrapping efficiency and the movement distance, and obtaining a fifth movement speed based on the minimum wrapping efficiency and the movement distance; if the movement distance is less than the preset distance, the minimum bin height is less than the second preset height, and the maximum crop height is greater than the third preset height, then determining whether the fourth movement speed is greater than the first movement speed, and if so, obtaining a first stop time based on the first movement speed and the maximum wrapping efficiency, obtaining the first wrapping efficiency based on the maximum wrapping efficiency and the first stop time, and obtaining the third movement speed based on the first movement speed; if the fourth movement speed is less than or equal to the first movement speed, then obtaining the first wrapping efficiency based on the maximum wrapping efficiency, and obtaining the third movement speed based on the fourth movement speed; if the movement distance is less than the preset distance, the minimum bin height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, then obtaining the first wrapping efficiency based on the maximum wrapping efficiency, and obtaining the third movement speed based on the fourth movement speed.

[0021] Furthermore, if the movement distance is greater than or equal to the preset distance, the method further includes: if the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, then obtaining a speed range based on the fourth movement speed and the fifth movement speed, and judging whether the first movement speed is within the speed range; if so, obtaining a second film wrapping efficiency based on the first movement speed, obtaining the first film wrapping efficiency based on the second film wrapping efficiency, and obtaining the third movement speed based on the first movement speed; if the first movement speed is not within the speed range, then judging whether the fifth movement speed is greater than the first movement speed, and if so, then judging whether the fifth movement speed is greater than the first movement speed based on the fourth movement speed and the fifth movement speed. The second stop time is obtained based on the fifth movement speed and the minimum wrapping efficiency, the first wrapping efficiency is obtained based on the minimum wrapping efficiency and the second stop time, and the third movement speed is obtained based on the fifth movement speed; if the fifth movement speed is less than or equal to the first movement speed, the first wrapping efficiency is obtained based on the minimum wrapping efficiency, and the third movement speed is obtained based on the fifth movement speed; if the minimum silo height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed.

[0022] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0023] 1. Use artificial intelligence technology to automatically drive the silage machine for harvesting, harvest accurately without manual operation, reduce errors caused by manual operation, reduce damage to the silage machine, and reduce waste of human resources.

[0024] 2. Analyze the surrounding environment based on environmental data, without the need for additional manual monitoring, reducing the waste of human resources, and the monitoring range is wider, the response speed is faster, and the harm of machines to people is reduced, thereby reducing the occurrence of safety incidents.

[0025] 3. Obtain the harvesting direction based on the first length and the first width, and obtain the target route based on the harvesting direction and the second width. Harvesting in the direction of the longest side of the target area can reduce the turning and U-turn operations of the silage machine, reduce the occurrence of blind spots, etc., and thus reduce the occurrence of safety incidents.

[0026] 4. Based on the motion data, determine whether the silage machine is located in the edge area. If not, based on the motion data and crop width, obtain the first data to be moved, obtain the first target route based on the first data to be moved, and update the target route to the first target route. If yes, obtain the second data to be moved based on the edge area, obtain the second target route based on the second data to be moved, and update the target route to the second target route. Update the driving route in real time to harvest more accurately.

[0027] 5. The nozzle data is obtained based on the first position, nozzle angle and nozzle speed. The silage machine transports the chopped crops to the silo based on the nozzle data; artificial intelligence technology is used to automatically control and adjust the position, direction and spraying force of the spray barrel, etc., without manual operation, and the silage is accurately sprayed into the silo to reduce silage losses.

[0028] 6. If the minimum silo height is less than the second preset height and the maximum crop height is greater than the third preset height, the first movement speed of the silo is obtained based on the compaction efficiency and the shredding efficiency; the first movement data is obtained based on the first movement speed, the movement data is updated to the first movement data, and the silo harvests based on the movement data; the travel speed of the silo is updated in real time through the compaction efficiency and the shredding efficiency, so as to reduce the amount of silage after shredding after the silo is full, thereby reducing the waste of silage.

[0029] 7. Obtain the third movement speed and the first wrapping efficiency based on the movement distance; obtain the second movement data based on the third movement speed and the first wrapping efficiency, update the movement data to the second movement data, and the silage machine harvests based on the movement data; adjust the wrapping speed and driving speed in real time to make the wrapped silage distributed in a concentrated manner, which is convenient and quick for subsequent loading by loading vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation on the embodiments of the present invention;

[0031] Figure 1 It is a schematic diagram of a process of a silage harvesting method in the present invention;

[0032] Figure 2 It is a schematic diagram of a process in which the silo conveys the chopped crops to the silo based on the nozzle data and harvests the crops based on the motion data in the present invention;

[0033] Figure 3 It is a specific schematic diagram of the process for obtaining the third movement speed and the first coating efficiency in the present invention. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those within the scope of this description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0036] Embodiment 1

[0037] refer to Figure 1 , this embodiment provides a silage harvesting method, the method comprising:

[0038] Constructing an intelligent harvesting model, wherein the intelligent harvesting model is connected with the data of the intelligent harvesting system, and the intelligent harvesting system is configured based on the silage machine;

[0039] Among them, the intelligent harvesting system includes a display, a controller, a locator and a collector. The collector and the locator are both data-connected to the controller. The display is data-connected to the controller, the locator and the collector. The display, the locator and the controller are all arranged in the cab of the silo. The collector is arranged on the outer shell of the silo. The collector is used to obtain the crop data and the environmental data. The locator is used to obtain the motion data of the silo. The controller is used to control the silo to harvest crops. The display is used to display the crop data, the environmental data, the motion data and the target route. In this embodiment, the silage machine can be composed of a silage harvester and a silage baling machine, such as a CLAAS JAGUAR830 silage harvester equipped with an AGRONIC MultiBaler 1220 silage baling and wrapping machine. The system can also include a voice system for human-computer interaction and a warning system for issuing warnings, etc. The motion data can include motion trajectory and motion mileage, the crop data can include crop images in front of and on the sides of the silage machine, etc., and the environmental data can include environmental images around the silage machine, etc.

[0040] The specific steps of constructing the intelligent harvesting model include: obtaining historical crop images, annotating the historical crop images, and obtaining a first training set; obtaining historical environment images, annotating the historical environment images, and obtaining a second training set; based on the first training set and the second training set, using image recognition technology and face recognition technology to train the model to obtain the intelligent harvesting model, which can identify crop categories, crop colors, animals, and human bodies, etc. In this embodiment, the model can be a deep learning model, a neural network model, and the like.

[0041] Acquire regional data of a target area, transmit the regional data to the intelligent harvesting system, the intelligent harvesting system obtains a target route based on the regional data, and transmits the target route to the intelligent harvesting model;

[0042] The specific steps of obtaining the target route include: obtaining the first length and the first width of the target area based on the area data, obtaining the second width of the harvesting device of the silage machine; obtaining the harvesting direction based on the first length and the first width, and obtaining the target route based on the harvesting direction and the second width. If the length and width of the target area are 100 and 60 respectively, the silage machine harvests along the length direction, and the second width of the harvesting device of the silage machine is 5, then 60 / 5=12, and the silage machine harvests 12 times with a harvesting distance of 5 meters each time, thereby obtaining the target route.

[0043] Acquiring crop data and environmental data of the target area, wherein the intelligent harvesting model analyzes the crop data and the environmental data based on the target route to obtain an analysis result;

[0044] The specific steps of obtaining the analysis result include: obtaining an edge area based on the target route; the intelligent harvesting model performs image processing on the crop data to obtain a crop image, identifies the crop image to obtain a crop identification result, and obtains a crop width based on the crop identification result; obtains motion data of the silage machine, and determines whether the silage machine is located in the edge area based on the motion data, if not, obtains first data to be moved based on the motion data and the crop width, obtains a first target route to be moved based on the first data to be moved, and updates the target route to the first target route. If it is determined according to the motion data that the current silage machine is not located in the edge area, If the crop width is greater than or equal to 2 times the second width, the next time the silage machine's harvesting equipment can completely harvest the crop; if so, based on the edge area, the second data to be moved is obtained, based on the second data to be moved, the second target route to be moved is obtained, and the target route is updated to the second target route to be moved. If the current silage machine is located in the edge area, the crop width is less than 2 times the second width, and the crop may not be completely harvested next time, so the next time the silage machine needs to harvest along the edge; the intelligent harvesting model processes the environmental data to obtain an environmental image, identifies the environmental image, and obtains an early warning analysis result; based on the early warning analysis result and the target route, the analysis result is obtained. Based on the analysis result, the silage machine harvests the target area. In this embodiment, the edge area refers to: an area extending inward along the edge of the target area by 2 times the second width.

[0045] Embodiment 2

[0046] refer to Figure 2 On the basis of the first embodiment, in this embodiment, since the silage in the spray barrel is continuously sprayed from one outlet, it will gradually accumulate at the bottom of the silo with the outlet as the vertex, and the silage will keep the contact area with the bottom of the silo as large as possible during the flow in the silo to maintain stability, so the shape of the accumulation will be a cone with a circular bottom, such as a cone. In this embodiment, a number of collection devices are installed on the top of the side of the silo.

[0047] The method further includes: acquiring silo data, acquiring a silo image based on the silo data, dividing the silo image into a plurality of sub-areas, acquiring a pixel value of each of the sub-areas, and acquiring a plurality of crop areas and a plurality of silo areas based on the pixel values; acquiring a plurality of crop heights based on all the crop areas, and acquiring a plurality of silo heights based on all the silo areas; distinguishing silage and the inner wall of the silo by pixel values, thereby calculating the respective heights; the crop height refers to the stacking height of the silage, and the silo height refers to the height of the inner wall not covered by the silage;

[0048] Obtaining a maximum crop height based on all of the crop heights, and obtaining a maximum silo height and a minimum silo height based on all of the silo heights;

[0049] Determine whether the maximum crop height is greater than a first preset height, and if so, obtain a first position based on the maximum silo height, obtain a nozzle angle based on the first position, and obtain a nozzle speed based on the nozzle angle and the maximum silo height;

[0050] The nozzle data is obtained based on the first position, the nozzle angle and the nozzle speed; and the silo conveys the chopped crops to the silo based on the nozzle data.

[0051] Embodiment 3

[0052] refer to Figure 2 On the basis of the above embodiment, in this embodiment, the method further includes: obtaining the compaction efficiency of the compaction equipment and the shredding efficiency of the silo; if the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, indicating that the silo is full, then obtaining the first movement speed of the silo based on the compaction efficiency and the shredding efficiency; obtaining the first movement data based on the first movement speed, and updating the movement data to the first movement data; the silo harvests based on the movement data. If the silo is full for 4m 2 of silage, the current chopping efficiency is 0.2m 2 / s, compaction efficiency is 0.1m 2 / s, the shredding efficiency can be reduced by reducing the movement speed <0.1m 2 / s, thereby consuming the silage in the silo.

[0053] Embodiment 4

[0054] refer to Figure 3 Based on the above embodiment, in this embodiment, the method further includes:

[0055] Based on the motion data, a second motion speed of the silage machine is obtained, and the wrapping efficiency of the wrapping equipment of the silage machine is acquired; based on the second motion speed and the wrapping efficiency, a first coordinate of the wrapped silage is obtained; based on the first coordinate, a second coordinate of the unwrapped silage is predicted, and a motion distance is obtained based on the first coordinate and the second coordinate; based on the motion distance, a third motion speed and a first wrapping efficiency are obtained; based on the third motion speed and the first wrapping efficiency, second motion data is obtained, the motion data is updated to the second motion data, and the silage machine harvests based on the motion data.

[0056] The specific steps of obtaining the third movement speed and the first encapsulation efficiency include:

[0057] The maximum wrapping efficiency and the minimum wrapping efficiency of the baling device are obtained; a fourth movement speed is obtained based on the maximum wrapping efficiency and the movement distance, and a fifth movement speed is obtained based on the minimum wrapping efficiency and the movement distance; if the maximum wrapping efficiency and the minimum wrapping efficiency are 30 seconds and 60 seconds respectively, and the movement distance is 120m<preset distance 150m, then the fourth movement speed = 120 / 30 = 4m / s, and the fifth movement speed = 120 / 60 = 2m / s;

[0058] If the movement distance is less than the preset distance, the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, it means that the movement distance is short and the silo is full, and the movement speed needs to be reduced and the wrapping efficiency needs to be improved. Then, it is determined whether the fourth movement speed is greater than the first movement speed. If so, the first stop time is obtained based on the first movement speed and the maximum wrapping efficiency, the first wrapping efficiency is obtained based on the maximum wrapping efficiency and the first stop time, and the third movement speed is obtained based on the first movement speed, indicating that part of the time needs to be stopped to complete a wrapping within the movement distance. For example, if the first movement speed = 3m / s, 4m / s>3m / s, 120 / 3 = 40s, 40s-30s = 10s, it means that the silo needs to stop wrapping for 10s; if the fourth movement speed is less than or equal to the first movement speed, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed, indicating that the silo will not overflow when moving at the fourth movement speed.

[0059] If the moving distance is less than the preset distance, the minimum silo height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed. This indicates that the silo is not full, and the silo can wrap at the fourth movement speed and the maximum wrapping speed.

[0060] If the movement distance is greater than or equal to the preset distance, the method further includes:

[0061] If the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, a speed range is obtained based on the fourth movement speed and the fifth movement speed, and it is determined whether the first movement speed is within the speed range. If so, the second film coating efficiency is obtained based on the first movement speed, the first film coating efficiency is obtained based on the second film coating efficiency, and the third movement speed is obtained based on the first movement speed. If the movement distance is 180m and the silo is full, the fourth movement speed is 180 / 30=6m / s, the fifth movement speed is 180 / 60=3m / s, and the speed range is 3m / s-6m / s. Assuming that the first movement speed is 5m / s, within this range, the second film coating efficiency can be obtained as 180 / 5=36s.

[0062] If the first movement speed is not within the speed range, it is determined whether the fifth movement speed is greater than the first movement speed. If so, the second stop time is obtained based on the fifth movement speed and the minimum wrapping efficiency, the first wrapping efficiency is obtained based on the minimum wrapping efficiency and the second stop time, and the third movement speed is obtained based on the fifth movement speed. If the first movement speed = 2m / s < the fifth movement speed, 180 / 2 = 90s, 90-60 = 30s, it means that the silage machine needs to stop wrapping for 30s;

[0063] If the fifth movement speed is less than or equal to the first movement speed, the first coating efficiency is obtained based on the minimum coating efficiency, and the third movement speed is obtained based on the fifth movement speed; it means that the silo is full and the silo will not overflow when moving at the fifth movement speed.

[0064] If the minimum silo height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0066] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for harvesting silage, characterized in that: The method comprises: Constructing an intelligent harvesting model, wherein the intelligent harvesting model is connected with the data of the intelligent harvesting system, and the intelligent harvesting system is configured based on the silage machine; Acquire regional data of a target area, transmit the regional data to the intelligent harvesting system, the intelligent harvesting system obtains a target route based on the regional data, and transmits the target route to the intelligent harvesting model; Acquiring crop data and environmental data of the target area, wherein the intelligent harvesting model analyzes the crop data and the environmental data based on the target route to obtain an analysis result; Based on the analysis result, the forage machine harvests the target area.

2. A silage harvesting method according to claim 1, characterized in that: The intelligent harvesting system includes a display, a controller, a locator and a collector. The collector and the locator are both data-connected to the controller. The display is data-connected to the controller, the locator and the collector. The display, the locator and the controller are all arranged in the cab of the silo. The collector is arranged on the outer shell of the silo. The collector is used to obtain the crop data and the environmental data. The locator is used to obtain the motion data of the silo. The controller is used to control the silo to harvest crops. The display is used to display the crop data, the environmental data, the motion data and the target route.

3. A silage harvesting method according to claim 1, characterized in that: The specific steps of constructing the intelligent harvesting model include: Acquire historical crop images, annotate the historical crop images, and obtain a first training set; acquire historical environment images, annotate the historical environment images, and obtain a second training set; train a model based on the first training set and the second training set to obtain the intelligent harvesting model.

4. A silage harvesting method according to claim 1, characterized in that: The specific steps of obtaining the target route include: A first length and a first width of the target area are obtained based on the area data, and a second width of a harvesting device of the silage machine is acquired; a harvesting direction is obtained based on the first length and the first width, and the target route is obtained based on the harvesting direction and the second width.

5. A silage harvesting method according to claim 2, characterized in that: The specific steps of obtaining the analysis results include: Obtaining an edge region based on the target route; The intelligent harvesting model processes the crop data to obtain a crop image, recognizes the crop image to obtain a crop recognition result, and obtains the crop width based on the crop recognition result; Acquire the motion data of the silage machine, determine whether the silage machine is located in the edge area based on the motion data, if not, obtain first data to be moved based on the motion data and the crop width, obtain a first target route to be moved based on the first data to be moved, and update the target route to the first target route to be moved; if yes, obtain second data to be moved based on the edge area, obtain a second target route to be moved based on the second data to be moved, and update the target route to the second target route to be moved; The intelligent harvesting model processes the environmental data to obtain an environmental image, identifies the environmental image, and obtains an early warning analysis result; and obtains the analysis result based on the early warning analysis result and the target route.

6. A method for harvesting silage according to claim 5, characterized in that: The method further comprises: Acquire silo data, obtain a silo image based on the silo data, divide the silo image into a plurality of sub-areas, obtain a pixel value of each of the sub-areas, and obtain a plurality of crop areas and a plurality of silo areas based on the pixel values; obtain a plurality of crop heights based on all the crop areas, and obtain a plurality of silo heights based on all the silo areas; obtain a maximum crop height based on all the crop heights, and obtain a maximum silo height and a minimum silo height based on all the silo heights; Determine whether the maximum crop height is greater than a first preset height, and if so, obtain a first position based on the maximum silo height, obtain a nozzle angle based on the first position, and obtain a nozzle speed based on the nozzle angle and the maximum silo height; The nozzle data is obtained based on the first position, the nozzle angle and the nozzle speed; and the silo conveys the chopped crops to the silo based on the nozzle data.

7. A method for harvesting silage according to claim 6, characterized in that: The method further comprises: Obtaining the compaction efficiency of the compaction equipment and the shredding efficiency of the shredding equipment of the silage machine; If the minimum silo height is less than the second preset height and the maximum crop height is greater than the third preset height, the first movement speed of the silo is obtained based on the compaction efficiency and the shredding efficiency; first movement data is obtained based on the first movement speed, and the movement data is updated to the first movement data; the silo harvests based on the movement data.

8. A method for harvesting silage according to claim 7, characterized in that: The method further comprises: Based on the motion data, a second motion speed of the silage machine is obtained, and a film coating efficiency of a film coating device of the silage machine is obtained; based on the second motion speed and the film coating efficiency, a first coordinate of the wrapped silage is obtained; based on the first coordinate, a second coordinate of the unwrapped silage is predicted, and a motion distance is obtained based on the first coordinate and the second coordinate; A third movement speed and a first film wrapping efficiency are obtained based on the movement distance; second movement data are obtained based on the third movement speed and the first film wrapping efficiency, the movement data is updated to the second movement data, and the silage machine harvests based on the movement data.

9. A method for harvesting silage according to claim 8, characterized in that: The specific steps of obtaining the third movement speed and the first encapsulation efficiency include: Acquire a maximum wrapping efficiency and a minimum wrapping efficiency of the baling device; acquire a fourth movement speed based on the maximum wrapping efficiency and the movement distance, and acquire a fifth movement speed based on the minimum wrapping efficiency and the movement distance; If the movement distance is less than the preset distance, the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, it is determined whether the fourth movement speed is greater than the first movement speed, and if so, a first stop time is obtained based on the first movement speed and the maximum wrapping efficiency, the first wrapping efficiency is obtained based on the maximum wrapping efficiency and the first stop time, and the third movement speed is obtained based on the first movement speed; if the fourth movement speed is less than or equal to the first movement speed, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed; If the movement distance is less than the preset distance, the minimum silo height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed.

10. A method for harvesting silage according to claim 9, characterized in that: If the movement distance is greater than or equal to the preset distance, the method further includes: If the minimum silo height is less than the second preset height, and the maximum crop height is greater than the third preset height, a speed range is obtained based on the fourth movement speed and the fifth movement speed, and it is determined whether the first movement speed is within the speed range. If so, a second film wrapping efficiency is obtained based on the first movement speed, the first film wrapping efficiency is obtained based on the second film wrapping efficiency, and the third movement speed is obtained based on the first movement speed; If the first movement speed is not within the speed range, determining whether the fifth movement speed is greater than the first movement speed, and if so, obtaining a second stop time based on the fifth movement speed and the minimum envelope efficiency, obtaining the first envelope efficiency based on the minimum envelope efficiency and the second stop time, and obtaining the third movement speed based on the fifth movement speed; If the fifth movement speed is less than or equal to the first movement speed, the first envelope efficiency is obtained based on the minimum envelope efficiency, and the third movement speed is obtained based on the fifth movement speed; If the minimum silo height is greater than or equal to the second preset height, or the maximum crop height is less than or equal to the third preset height, the first wrapping efficiency is obtained based on the maximum wrapping efficiency, and the third movement speed is obtained based on the fourth movement speed.

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