A method for silage harvesting

Abstract

The present invention discloses a silage harvesting method, which relates to the field of silage. The method includes: constructing an intelligent harvesting model, the intelligent harvesting model is connected to the intelligent harvesting system for data, and configuring the intelligent harvesting system based on the silage harvester; obtaining regional data of the target area, transmitting 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; obtaining crop data and environmental data of the target area, 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 silage harvester harvests the target area, which can solve the problems of low operation effect, low feed quality and damage to the silage harvester caused by improper operation of manual operation of the silage harvester, and the problem that a large amount of manpower will be consumed by the safe method of manual monitoring during the harvesting of large-area silage fields.

Description

Technical Field

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

[0002] Currently, mechanical harvesting is generally adopted in silage fields. Among them, the silage baling and wrapping integrated machine generally consists of a harvesting table part, a chopping part, a silo part, a baling part, a wrapping part, and a cab control part. During harvesting, the harvesting table part first cuts the silage and conveys it to the chopping part, and then the chopping part chops the obtained silage and conveys it to the silo part. The silo part is used to store the chopped silage and convey it to the baling part for baling. The baled silage is conveyed to the wrapping part for wrapping treatment and discharged to the silage field. This is the harvesting process of the silage baling and wrapping integrated machine.

[0003] The entire harvesting process is that the driver operates the silage machine for harvesting operations relying on driving and harvesting experience, which has certain requirements for the driver's operation skills and requires a certain learning and adaptation process. If the operation is improper, it may affect the operation effect and feed quality. For example, inappropriate cutting length will affect the texture and nutritional value of the feed, and incorrect operation may also cause damage to the silage machine itself, such as wear of cutting parts and failure of compaction parts. This will not only increase the maintenance cost but also may affect the service life of the machine.

[0004] Moreover, due to the long body of the silage baling and wrapping integrated machine, the driver is prone to have a visual blind area in situations such as turning. Generally, several safety personnel are configured. The safety personnel and the driver need to observe the surrounding environment at any time to prevent the machine from causing harm to people, thus leading to the occurrence of safety incidents. When harvesting large - area silage fields, multiple silage machines are used for simultaneous harvesting, and this safety method will consume a large amount of manpower. Summary of the Invention

[0005] In order to solve the problems that manual operation of the silage machine for harvesting may lead to low operation effect, low feed quality, and damage to the silage machine due to improper operation, and that the safety method of manual monitoring will consume a large amount of manpower during large - area silage field harvesting, the present invention provides a silage harvesting method, which includes: constructing an intelligent harvesting model, the intelligent harvesting model is data - connected to an intelligent harvesting system, and configuring the intelligent harvesting system 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 obtains a target route based on the regional data, and transmits the target route to the intelligent harvesting model; obtaining crop data and environmental data of the target area, the intelligent harvesting model analyzes the crop data and the environmental data based on the target route to obtain an analysis result; and based on the analysis result, the silage machine harvests the target area.

[0006] Principle of the present invention: An intelligent harvesting system is installed on a silage harvester to obtain regional data of a target area. The intelligent harvesting system obtains a target route through it, acquires crop data and environmental data of the target area, and based on the target route, an intelligent harvesting model analyzes them to obtain an analysis result, and controls the silage harvester to perform harvesting according to the analysis result and the target route. By using artificial intelligence technology to automatically drive the silage harvester for harvesting, accurate harvesting can be carried out without manual operation, reducing incorrect operations caused by manual operation, reducing damage to the silage harvester, and reducing waste of human resources; analyzing the surrounding environment according to the environmental data, without additional manual monitoring, reducing waste of human resources, with a wider monitoring range and faster response speed, reducing the harm of the machine to people, thereby reducing the occurrence of safety incidents.

[0007] Further, 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 silage harvester, and the collector is arranged on the shell of the silage harvester. The collector is used to obtain the crop data and the environmental data, the locator is used to obtain the motion data of the silage harvester, the controller is used to control the silage harvester to harvest crops, and the display is used to display the crop data, the environmental data, the motion data, and the target route.

[0008] Further, the specific steps for constructing the intelligent harvesting model include:

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

[0010] Further, the specific steps for obtaining the target route include:

[0011] Obtain a first length and a first width of the target area based on the regional data, and obtain a second width of the harvesting device of the silage harvester; obtain a 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 operations of turning and reversing the silage harvester, reduce the occurrence of blind spots and other situations, thereby reducing the occurrence of safety incidents.

[0012] Further, 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; acquiring the motion data of the silage harvester, and based on the motion data, determining whether the silage harvester is within the edge area. If not, based on the motion data and the crop width, first motion data to be obtained, obtaining a first target route to be based on the first motion data to be, and updating the target route to the first target route to be; if so, obtaining second motion data to be based on the edge area, obtaining a second target route to be based on the second motion data to be, and updating the target route to the second target route to be; the intelligent harvesting model processes the environmental data to obtain an environmental image, identifies the environmental image, and obtains a warning analysis result; based on the warning analysis result and the target route, the analysis result is obtained.

[0013] According to the crop width of the current target area and the position of the current silage harvester, judge the position of the next movement. First, judge whether the silage harvester is in the edge area. If not, the crop width is greater than the width of the harvesting device of the silage harvester, and the next trip is driven normally. If it is in the edge area, the crop width is less than the width of the harvesting device of the silage harvester, and the silage harvester needs to drive along the edge line, update its target route, and update the driving route in real time to perform harvesting more accurately.

[0014] Considering that the silage harvester harvests while spraying the chopped silage into the silo by the spraying cylinder, the driver needs to control and adjust the direction of the spraying cylinder at any time to accurately spray the silage into the silo. The driver not only needs to operate the silage harvester, but also needs to observe the surrounding environment and control and adjust the spraying cylinder, which increases the driver's work. At the same time, if the adjustment is not timely, it is easy to cause the silage to be sprayed out of the silo, resulting in waste of silage. To solve this problem, this method also automatically controls and adjusts the position, direction, spraying force, etc. of the spraying cylinder according to the height of the silage in the silo and the height of the silo not covered by the silage by using artificial intelligence technology, without manual operation, and accurately sprays the silage 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] Further, the method further includes: obtaining a second movement speed of the silage harvester based on the movement data, and acquiring the wrapping efficiency of the wrapping device of the silage harvester; 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, and updating the movement data to the second movement data, and the silage harvester performs harvesting 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 a preset distance, the minimum silo height is less than a 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 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, 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] Further, 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 wrapping efficiency is obtained based on the first movement speed, the first wrapping efficiency is obtained based on the second 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, it is determined whether the fifth movement speed is greater than the first movement speed. If so, a 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. By using artificial intelligence technology to automatically drive the forage harvester for harvesting, accurate harvesting can be carried out without manual operation, reducing incorrect operations caused by manual operation, reducing damage to the forage harvester, and reducing waste of human resources.

[0024] 2. Analyze the surrounding environment according to environmental data, without additional manual monitoring, reducing waste of human resources, with a wider monitoring range and faster response speed, reducing the harm of the machine to people, and thus 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 forage harvester, reduce the occurrence of blind spots and other situations, and thus reduce the occurrence of safety incidents.

[0026] 4. Based on the motion data, determine whether the forage harvester is within the edge area. If not, based on the motion data and the crop width, obtain the first motion data to be processed. Based on the first motion data to be processed, obtain the first target route to be processed, and update the target route to the first target route to be processed. If so, based on the edge area, obtain the second motion data to be processed. Based on the second motion data to be processed, obtain the second target route to be processed, and update the target route to the second target route to be processed. Update the driving route in real time to perform harvesting more accurately.

[0027] 5. Obtain the nozzle data based on the first position, nozzle angle, and nozzle speed. The forage harvester conveys the chopped crops to the silo based on the nozzle data. Use artificial intelligence technology to automatically control and adjust the position, direction, spraying force, etc. of the spraying cylinder, without manual operation, and accurately spray the silage into the silo to reduce the loss of silage.

[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, then obtain the first motion speed of the forage harvester based on the compaction efficiency and chopping efficiency. Obtain the first motion data based on the first motion speed, and update the motion data to the first motion data. The forage harvester performs harvesting based on the motion data. Real-time update the driving speed of the forage harvester through the compaction efficiency and chopping efficiency to reduce the amount of chopped silage after the silo is full, thereby reducing the waste of silage.

[0029] 7. Obtain the third motion speed and the first wrapping efficiency based on the motion distance. Obtain the second motion data based on the third motion speed and the first wrapping efficiency, and update the motion data to the second motion data. The forage harvester performs harvesting based on the motion data. Adjust the wrapping speed and driving speed in real time to make the wrapped silage distributed centrally, facilitating the loading by the subsequent loading vehicle, which is convenient and fast. Description of the Drawings

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

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

[0032] Figure 2 It is a flowchart of the forage harvester conveying the chopped crops to the silo based on the nozzle data and performing harvesting based on the motion data in the present invention;

[0033] Figure 3 It is a specific flowchart of obtaining the third motion speed and the first wrapping efficiency in the present invention. Detailed Embodiments

[0034] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0035] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0036] Embodiment 1

[0037] Reference Figure 1 , this embodiment provides a silage harvesting method, and the method includes:

[0038] Construct an intelligent harvesting model, which is data-connected to an intelligent harvesting system, and configure the intelligent harvesting system based on a silage harvester;

[0039] Wherein, 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 silage harvester. The collector is arranged on the outer shell of the silage harvester. The collector is used to obtain the crop data and the environmental data. The locator is used to obtain the motion data of the silage harvester. The controller is used to control the silage harvester 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 harvester can be composed of a silage harvester and a silage feed baling integrated mechanism. For example, the CLAAS JAGUAR830 silage harvester is equipped with the 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 the motion trajectory and the motion mileage. The crop data can include the crop images in front of and on the side of the silage harvester, etc. The environmental data can include the environmental images around the silage harvester, etc.

[0040] Among them, the specific steps for constructing the intelligent harvesting model include: obtaining historical crop images, annotating the historical crop images to obtain a first training set; obtaining historical environment images, annotating the historical environment images to obtain a second training set; based on the first training set and the second training set, training the model using image recognition technology and face recognition technology to obtain the intelligent harvesting model, and the intelligent harvesting model can identify crop categories, crop colors, animals, humans, etc. In this embodiment, the model can be a deep learning model, a neural network, or other models.

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

[0042] Among them, the specific steps for obtaining the target route include: obtaining the first length and the first width of the target area based on the regional data, and obtaining the second width of the harvesting device of the silage harvester; 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. For example, if the length and width of the target area are 100 and 60 respectively, the silage harvester harvests along the length direction, the second width of the harvesting device of the silage harvester is 5, then 60 / 5 = 12, so the silage harvester needs to harvest back and forth 12 times at a harvesting distance of 5 meters each time to obtain the target route.

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

[0044] Among them, the specific steps for 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 recognition result, and obtains a crop width based on the crop recognition result; obtaining the motion data of the silage harvester, and based on the motion data, determining whether the silage harvester is within the edge area. If not, based on the motion data and the crop width, obtaining first to-be-motion data, obtaining a first to-be-target route based on the first to-be-motion data, and updating the target route to the first to-be-target route. For example, if it is determined according to the motion data that the current silage harvester is not within the edge area and the crop width is greater than or equal to twice the second width, the harvesting device of the silage harvester can completely harvest next time; if so, obtaining second to-be-motion data based on the edge area, obtaining a second to-be-target route based on the second to-be-motion data, and updating the target route to the second to-be-target route. For example, if the current silage harvester is within the edge area and the crop width is less than twice the second width, the harvesting device may not be able to completely harvest next time, and the silage harvester needs to harvest along the edge next time; the intelligent harvesting model processes the environmental data to obtain an environmental image, identifies the environmental image, and obtains a warning analysis result; obtaining the analysis result based on the warning analysis result and the target route. Based on the analysis result, the silage harvester harvests the target area. In this embodiment, the edge area refers to: an area extending 2 times the second width inward along the side line of the target area.

[0045] Embodiment 2

[0046] Reference Figure 2 , on the basis of Embodiment 1, in this embodiment, since the silage in the spraying cylinder is continuously sprayed out from one outlet, it will gradually accumulate at the bottom of the silo with this outlet as the vertex. During the flow of the silage in the silo, it will keep the contact area with the bottom of the silo as large as possible to maintain stability. Therefore, the accumulated shape will be a cone with a circular bottom, such as a cone. In this embodiment, a number of acquisition devices are installed at the top of the side of the silo.

[0047] The method further includes: obtaining silo data, obtaining a silo image based on the silo data, dividing the silo image to obtain a number of sub-regions, obtaining the pixel values of each sub-region, and obtaining a number of crop regions and a number of silo regions based on the pixel values; obtaining a number of crop heights based on all the crop regions, and obtaining a number of silo heights based on all the silo regions; distinguishing the silage and the inner wall of the silo through the pixel values, so as to calculate their respective heights; the crop height refers to the accumulated height of the silage, and the silo height refers to the height of the inner wall not covered by the silage;

[0048] Obtain the maximum crop height based on all the crop heights, and obtain the maximum silo height and the minimum silo height based on all the silo heights;

[0049] Determine whether the maximum crop height is greater than a first preset height. 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] Obtain nozzle data based on the first position, the nozzle angle, and the nozzle speed; the forage harvester conveys the chopped crops to the silo based on the nozzle data.

[0051] Embodiment III

[0052] Reference Figure 2 , on the basis of the above embodiments, in this embodiment, the method further includes: obtaining the compaction efficiency of the compaction device of the forage harvester and the chopping efficiency of the chopping device; if the minimum silo height is less than a second preset height, and the maximum crop height is greater than a third preset height, indicating that the silo is full, then obtain a first movement speed of the forage harvester based on the compaction efficiency and the chopping efficiency; obtain first movement data based on the first movement speed, and update the movement data to the first movement data; the forage harvester performs harvesting based on the movement data. For example, if the silo is already filled with 4m 2 of silage, the current chopping efficiency is 0.2m 2 / s, and the compaction efficiency is 0.1m 2 / s, then the movement speed can be reduced, and the chopping efficiency can be reduced to <0.1m 2 / s, so as to consume the silage in the silo.

[0053] Embodiment IV

[0054] Reference Figure 3 , on the basis of the above embodiments, in this embodiment, the method further includes:

[0055] Obtain a second movement speed of the forage harvester based on the movement data, and obtain the wrapping efficiency of the wrapping device of the forage harvester; obtain a first coordinate of the wrapped silage based on the second movement speed and the wrapping efficiency; predict a second coordinate of the unwrapped silage based on the first coordinate, and obtain a movement distance based on the first coordinate and the second coordinate; obtain a third movement speed and a first wrapping efficiency based on the movement distance; obtain second movement data based on the third movement speed and the first wrapping efficiency, and update the movement data to the second movement data, and the forage harvester performs harvesting based on the movement data.

[0056] Among them, the specific steps of obtaining the third movement speed and the first wrapping efficiency include:

[0057] Obtain the maximum film wrapping efficiency and the minimum film wrapping efficiency of the baling device; obtain a fourth moving speed based on the maximum film wrapping efficiency and the moving distance, and obtain a fifth moving speed based on the minimum film wrapping efficiency and the moving distance; if the maximum film wrapping efficiency and the minimum film wrapping efficiency are respectively one in 30 s and one in 60 s, and the moving distance is 120 m < preset distance 150 m, then the fourth moving speed = 120 / 30 = 4 m / s, and the fifth moving speed = 120 / 60 = 2 m / s;

[0058] If the moving 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, indicating that the moving distance is short, the silo is full, and the moving speed needs to be reduced and the film wrapping efficiency needs to be increased, then determine whether the fourth moving speed is greater than the first moving speed. If so, obtain a first stop time based on the first moving speed and the maximum film wrapping efficiency, obtain the first film wrapping efficiency based on the maximum film wrapping efficiency and the first stop time, and obtain the third moving speed based on the first moving speed, indicating that the film wrapping needs to be stopped for a certain time to complete one film wrapping within the moving distance. For example, if the first moving speed = 3 m / s, 4 m / s > 3 m / s, 120 / 3 = 40 s, 40 s - 30 s = 10 s, it means that the forage harvester needs to stop film wrapping for 10 s; if the fourth moving speed is less than or equal to the first moving speed, obtain the first film wrapping efficiency based on the maximum film wrapping efficiency and obtain the third moving speed based on the fourth moving speed, indicating that moving at the fourth moving speed, the silo will not overflow.

[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, then obtain the first film wrapping efficiency based on the maximum film wrapping efficiency and obtain the third moving speed based on the fourth moving speed. It means that the silo is not full, and the forage harvester can move at the fourth moving speed and the maximum film wrapping speed for film wrapping.

[0060] If the moving 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, a second wrapping efficiency is obtained based on the first movement speed, the first wrapping efficiency is obtained based on the second wrapping efficiency, and the third movement speed is obtained based on the first movement speed. At this time, if the movement distance = 180 m, the silo is full, the fourth movement speed = 180 / 30 = 6 m / s, the fifth movement speed = 180 / 60 = 3 m / s, and the speed range is 3 m / s - 6 m / s. Assuming the first movement speed is 5 m / s and it is within this range, the second wrapping efficiency = 180 / 5 = 36 s can be obtained.

[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, a 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. For example, assuming the first movement speed = 2 m / s < the fifth movement speed, 180 / 2 = 90 s, 90 - 60 = 30 s, which means the forage harvester needs to stop wrapping for 30 s.

[0063] 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. This means that when the silo is full, moving the silo at the fifth movement speed will not cause overflow.

[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 can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling 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 equivalent technologies, the present invention is also intended to include these changes and modifications.

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; Acquire crop data and environmental data of the target area, and the intelligent harvesting model analyzes the crop data and the environmental data based on the target route to obtain analysis results; the crop data includes crop images in front of and to the sides of the silage machine; the environmental data includes environmental images around the silage machine; Based on the analysis result, the silage machine harvests the target area; 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, the controller, the locator and the collector are all data-connected. The display, the locator and the controller are all arranged in the cab of the silage machine. The collector is arranged on the shell of the silage machine. The collector is used to obtain the crop data and the environmental data. The locator is used to obtain the motion data of the silage machine. The controller is used to control the silage machine to harvest crops. The display is used to display the crop data, the environmental data, the motion data and the target route. 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, identifies the crop image to obtain a crop identification result, and obtains the crop width based on the crop identification result; Acquiring movement data of the silage machine, wherein the movement data includes a movement trajectory and movement mileage; Based on the motion data, determine whether the silage machine is located in the edge area; 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.

2. 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.

3. 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.

4. A silage harvesting method according to claim 1, 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.

5. A method for harvesting silage according to claim 4, 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.

6. A method for harvesting silage according to claim 5, 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.

7. A method for harvesting silage according to claim 6, 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.

8. A method for harvesting silage according to claim 7, 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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