Agricultural machine, control method and device thereof and medium

Abstract

The invention discloses an agricultural machine, a control method and device thereof and a medium, and relates to the technical field of agricultural machines. The method comprises the following steps: for a turning path in a pre-planned automatic driving path of the agricultural machine, executing the following turning control strategies: acquiring a first tangent inclination angle of the turning path at a current position of the agricultural machine and a second tangent inclination angle of the turning path at a preview point position corresponding to the current position of the agricultural machine in real time; and based on an angle difference value between the first tangent inclination angle and the second tangent inclination angle, adjusting the steering of the agricultural machine, so that the agricultural machine runs according to the turning path. According to the method, the agricultural machine is assisted in turning by using the tangent inclination angle of the turning path at the preview point position, so that the agricultural machine can turn or turn around in various scenes according to the planned turning path, and the method can be further adapted to more types of field scenes.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to an agricultural machinery and a control method, device and medium thereof. Background Art

[0002] At present, the application of autonomous driving technology in the field of agricultural machinery is becoming more and more widespread. It can perform efficient autonomous operations according to preset paths, improving work efficiency. However, unlike conventional cars, which usually drive straight and make single turns on long roads, the fields used by agricultural machinery are irregular, small in area, with many U-turns and complex paths. For example, large arc turns are often required at the head of the field.

[0003] In this way, when the autonomous driving agricultural machinery uses the existing autonomous driving technology for path tracking, it can still maintain correct driving along the planned route when driving in a straight line, but during turning, the complexity of the field scene often causes the agricultural machinery to deviate from the planned route, thereby reducing operating efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an agricultural machine and a control method, device and medium thereof, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above-mentioned objectives, the first aspect of the present application provides an agricultural machinery control method, including executing the following turning control strategy for a turning path in a pre-planned automatic driving path of the agricultural machinery: acquiring in real time a first tangent inclination angle of the turning path at the current position of the agricultural machinery and a second tangent inclination angle at a preview point position corresponding to the current position of the agricultural machinery; based on the angle difference between the first tangent inclination angle and the second tangent inclination angle, adjusting the steering of the agricultural machinery so that the agricultural machinery travels along the turning path.

[0006] In an embodiment of the present application, adjusting the steering of the agricultural machinery includes: determining a first angle based on the angle difference, the first angle being the angle through which the vehicle body of the agricultural machinery needs to turn when the agricultural machinery moves from the current position of the agricultural machinery to the target position; determining a second angle based on the current speed of the agricultural machinery and the first angle, the second angle being the angle through which the agricultural machinery needs to turn per unit time; and controlling the agricultural machinery to turn at the second angle.

[0007] In an embodiment of the present application, the agricultural machinery control method also includes executing the following straight-line control strategy for the straight-line path in the automatic driving path of the agricultural machinery: determining the driving direction and turning angle of the agricultural machinery based on the line connecting the agricultural machinery itself and the corresponding preview point.

[0008] In the embodiment of the present application, the agricultural machinery control method further includes the following S1-S2:

[0009] S1, parse the automatic driving path into the following five path sections connected in sequence: a starting section, a straight line path from the starting point of the current operation to the first turning point; a first U-turn section, a circular turning path from the first turning point to the second turning point; a reversing section, a straight line path from the second turning point to the third turning point; a second U-turn section, a circular turning path from the third turning point to the fourth turning point; and an ending section, a straight line path from the fourth turning point; wherein each turning point refers to the intersection of the corresponding connected straight line path and the circular turning path, wherein the first U-turn section, the reversing section and the second U-turn section form a fishtail path.

[0010] S2, when the agricultural machinery is traveling on the above-mentioned five paths, the agricultural machinery is controlled to stop when reaching the corresponding turning point to prepare to start the next section, and the straight-ahead control strategy is adopted to control the agricultural machinery to pass through the starting section, and the turning control strategy is adopted to control the agricultural machinery to pass through the first U-turn section and the second U-turn section.

[0011] In an embodiment of the present application, for the reversing section, the position of the third turning point is determined based on the reversing distance, and the reversing distance is configured as 2R-P, where R is the turning radius of the agricultural machinery and P is the working width.

[0012] In an embodiment of the present application, the agricultural machinery control method also includes: judging whether a corresponding turning point is about to be reached based on the tangent inclination angle of the corresponding path of each road section at the preview point position, so as to prepare for driving; and judging whether the corresponding turning point has been reached based on the tangent inclination angle of the corresponding path of each road section at the agricultural machinery position.

[0013] A second aspect of the present application provides an agricultural machinery control device, comprising: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement any of the above-mentioned agricultural machinery control methods when executing the instructions.

[0014] A third aspect of the present application provides an agricultural machine, comprising any of the above-mentioned agricultural machine control devices.

[0015] In an embodiment of the present application, the agricultural machinery is a harvester, and the agricultural machinery control device is further configured to: control the harvester's header to rise to adapt to a turning path, and to descend to adapt to a straight path; and / or control the harvester's safety boundary distance to be greater than the harvester body length.

[0016] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute any of the above-mentioned agricultural machinery control methods.

[0017] Through the above technical solution, the embodiment of the present application utilizes the tangent inclination angle of the turning path at the preview point to assist the agricultural machinery in turning, so that the agricultural machinery can complete steering or U-turns in various scenarios according to the planned turning path, and thus can adapt to more field scenes.

[0018] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0020] Figure 1 A schematic diagram of a flow chart of an agricultural machinery control method according to an embodiment of the present application is schematically shown;

[0021] Figure 2 A schematic diagram schematically shows the tangent inclination angle associated with the current position of the agricultural machine and the position of the preview point;

[0022] Figure 3 The principle diagram for calculating the tangent tilt angle is schematically shown;

[0023] Figure 4 A schematic diagram of an existing U-turn is schematically shown;

[0024] Figure 5 A schematic diagram of an existing pear-shaped U-turn method is schematically shown;

[0025] Figure 6 The following is a schematic diagram showing a process flow of a path resolution solution according to an embodiment of the present application;

[0026] FIG. 7( a ) and FIG. 7( b ) schematically show a schematic diagram of a circuit diagram corresponding to an embodiment of the present application. Figure 6 Schematic diagram of the fish-tail U-turn of the path resolution scheme;

[0027] Figure 8 is a schematic diagram of a ferrule-shaped operation method applicable to the U-shaped U-turn or pear-shaped U-turn method in the comparative embodiment of the present application; and

[0028] Fig. 9 The structural block diagram of an agricultural machinery control device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0032] Figure 1 The flowchart of a method for controlling agricultural machinery according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides an agricultural machinery control method, which executes a turning control strategy including the following steps S100 and S200 for a turning path in a pre-planned automatic driving path of the agricultural machinery.

[0033] Step S100, obtaining in real time a first tangent inclination angle of the turning path at the current position of the agricultural machine and a second tangent inclination angle at a preview point position corresponding to the current position of the agricultural machine.

[0034] Among them, the path formed by the automatic driving path planning is saved in the form of points, and the path points tracked by the agricultural machinery during driving are the preview points.

[0035] Step S200: adjusting the steering of the agricultural machine based on the angle difference between the first tangent inclination angle and the second tangent inclination angle so that the agricultural machine travels along the turning path.

[0036] For step S100, for example, Figure 2 The tangent inclination angle associated with the current position of the agricultural machinery and the preview point position is given, wherein A represents the current position of the agricultural machinery, Q represents the preview point position, θ2 is the second tangent inclination angle of the turning path at the preview point position Q, and θ1 is the first tangent inclination angle of the turning path at the current position A of the agricultural machinery, so (θ1-θ2) is the required angle difference. Among them, the coordinates of the current position A of the agricultural machinery are given in real time based on the vehicle coordinate system, and the relevant coordinate points on the turning path are also easy to determine, so that the tangent slope of the turning path at point A can be calculated, and the tangent inclination angle can be calculated using trigonometric functions based on the known tangent slope. This calculation process will also be combined with the following. Figure 3 To describe, no further elaboration is given here.

[0037] For step S200, it may specifically include: determining a first angle based on the angle difference, the first angle being the angle through which the body of the agricultural machine needs to turn when the agricultural machine moves from the current position of the agricultural machine to the target position; determining a second angle based on the current speed of the agricultural machine and the first angle, the second angle being the angle through which the agricultural machine needs to turn per unit time; and controlling the agricultural machine to turn at the second angle.

[0038] It should be noted that when planning the automatic driving path, the path is saved using the preview point method, so that the agricultural machinery can better adjust the body position when tracking the path. In the embodiment of the present application, the tangent inclination angle of the turning path at the preview point position is used to assist the agricultural machinery in turning, so that the agricultural machinery can complete the turn according to the planned turning path, and thus can adapt to more field scenes.

[0039] In a preferred embodiment, the agricultural machinery control method further includes: executing a straight-line control strategy for a straight-line path in the automatic driving path of the agricultural machinery. The straight-line control strategy includes: determining the driving direction and turning angle of the agricultural machinery based on a line connecting the agricultural machinery itself and a corresponding preview point. Specifically, the driving direction of the agricultural machinery is determined based on the direction of the line, and the turning angle of the agricultural machinery is determined based on the inclination angle of the line.

[0040] It can be seen that, unlike the use of preview points in a straight-line driving mode, in the embodiment of the present application, for a turning path, the driving direction and turning angle of the agricultural machinery are no longer determined based on the inclination angle of the line between the agricultural machinery and the preview point. Instead, the tangent inclination angle of the turning path at the position of the agricultural machinery and the tangent inclination angle at the preview point are calculated separately. The angle difference between the two is the angle that the agricultural machinery should turn during this period of time. The angle that the agricultural machinery turns per unit time is calculated based on the speed of the agricultural machinery during the turn, and this is used as a basis for controlling the agricultural machinery to turn.

[0041] The calculation of the inclination angle of the turning path at the preview point position Q can be done for Figure 3In which point A represents the position of the agricultural machinery, denoted as A(x1,y1), the center of the turning path is denoted as C(x0,y0), and the turning radius is denoted as r, where the coordinates of point A, point C and the turning radius r are all known.

[0042] First, we need to make a conditional judgment to see whether the radius r>0 is true, and whether the distance AC from point A to the center C is greater than r. If true, let AQ 2 =AC 2 -r 2 , A.C. 2 =(x0-x1) 2 +(y0-y1) 2 .

[0043] Furthermore, the equation of the circle with center A and radius AQ is: (x-x1) 2 +(y-y1) 2 =AQ 2 .

[0044] And, the equation of circle C is: (x-x0) 2 +(y-y0) 2 =r 2 .

[0045] Solving them jointly, we can obtain the following two sets of solutions for Q(x,y).

[0046] The first set of solutions: y=k1*x+b1

[0047] The second set of solutions: y=k1*x+b1

[0048] in:

[0049] a=1+k1 2

[0050] b=(2*q*k1-2*x0)

[0051] c=x0 2 +q 2 -r 2

[0052] q=b1-y0

[0053] k1=(2*x1-2*x0) / (2*y0-2*y1)

[0054] b1=(x0 2 -x1 2 +y0 2 -y1 2 +r 2 -r AQ 2) / (2*y0+2*y1)

[0055] And tanθ2=k1, based on which the tangent inclination angle of the turning path at the preview point Q can be calculated.

[0056] Thus, in the embodiment of the present application, the agricultural machinery not only forms an automatic driving path by using the preview point, but also uses the tangent inclination angle of the turning path relative to the position of the agricultural machinery or the preview point position to continuously correct its own driving direction to conform to the planned turning path, thereby ensuring accurate turning and also increasing the anti-interference ability of the system during the automatic driving operation. In addition, the use of the preview point in the embodiment of the present application not only further reduces the straight line deviation during straight driving, but also reserves time for the system response during the turning process, making the entire turning process smoother and more precise.

[0057] Furthermore, the path analysis for agricultural machinery automatic driving is diverse. Considering the limitations of current technology in driving on turning paths, the current main method is Figure 4 The U-shaped (or bow-shaped) U-turn method and Figure 5 The pear-shaped U-turn.

[0058] Figure 4 The U-shaped turning path does not need to stop during the turning process, so the distance between the two straight paths before and after the turn is required to be d>2R, where R is the turning radius of the agricultural machinery. In addition, when the U-shape is adopted, the agricultural machinery turns from the end of a straight path to another straight line that is parallel to it and aligned with the end. The turning radius R is the same when leaving the current straight line and entering the target straight line, and the turning angle is 90°, where l represents the length of the straight path. In this way, it can be seen that the U-shaped turning path is limited by the minimum turning radius of the agricultural machinery (when the guide wheel of the agricultural machinery is at the maximum angle, the radius of the circular path formed by turning 360° is the minimum turning radius of the agricultural machinery) and the cutting width, and is not suitable for all operating conditions.

[0059] Figure 5 The pear-shaped U-turn method involves a pear-shaped turning path of three arcs, which are smoothly connected by three arcs. The radius of the three arcs is the same as the center of the circle. The parameter meaning is the same as Figure 4 The same. When turning along the three-segment circular path, the agricultural machinery does not need to stop during the turning process, and the driving direction angle of the agricultural machinery can transition smoothly. However, the three-segment circular pear-shaped turning path is limited by the safety boundary, and the crops in the pear-shaped turning area are not fully harvested, which affects the efficiency of agricultural machinery harvesting and the calculation of intelligent data.

[0060] Therefore, the existing agricultural machinery automatic driving path parsing methods are mostly applicable to small agricultural machinery or special models such as tractors and rice seedling throwers, but not to medium and large harvesters. Based on the above agricultural machinery control method, the embodiment of the present application further proposes a path parsing solution applicable to more types of agricultural machinery.

[0061] Specifically, Figure 6 : is a schematic diagram of the process of the path resolution solution of the embodiment of the present application, which includes the following steps S601 and S602:

[0062] Step S601, parsing the automatic driving path into the following five path segments connected in sequence: 1) the starting section, a straight line path from the starting point of the current operation to the first turning point; 2) the first U-turn section, a circular turning path from the first turning point to the second turning point; 3) the reversing section, a straight line path from the second turning point to the third turning point; 4) the second U-turn section, a circular turning path from the third turning point to the fourth turning point; and 5) the ending section, a straight line path from the fourth turning point.

[0063] Each turning point refers to the intersection of a correspondingly connected straight line path and an arc-shaped turning path. In addition, the first U-turn section, the reverse section and the second U-turn section form a fishtail path.

[0064] Step S602, when the agricultural machinery is traveling on the above-mentioned five paths, the agricultural machinery is controlled to stop when it reaches the corresponding turning point to prepare to start the next section, and the straight-ahead control strategy is adopted to control the agricultural machinery to pass through the starting section, and the turning control strategy is adopted to control the agricultural machinery to pass through the first U-turn section and the second U-turn section.

[0065] Figure 7(a) and Figure 7(b) correspond to Figure 6 Schematic diagram of the fishtail U-turn of the path parsing solution, where the arrow shows the vehicle's driving direction, and Figure 7(a) corresponds to the scenario where the working path is on the left side of the turning path, and Figure 7(b) corresponds to the scenario where the working path is on the right side of the turning path.

[0066] Taking FIG. 7( a ) as an example, in the example of the embodiment of the present application, the process of fish-turn path parsing is divided into three parts:

[0067] 1. Linear tracking preparation stage, i.e. the above-mentioned starting section, corresponds to the A->o' section shown in FIG7(a).

[0068] In this example, the straight line is tracked by scanning the preview points generated by the autonomous driving path planning, and the fishtail U-turn stage is entered when the turning starting point (i.e., the first turning point o') is found. Specifically, after the straight line starting point and the turning starting point are determined, the preview points are generated on the straight line according to the preview distance set in the configuration file. By continuously scanning the preview points, it is determined whether the turning starting point is reached. If not, the straight line is tracked continuously. If reached, the car slows down and prepares for the turn.

[0069] Referring to FIG. 7( a ), it is easy to see that the first turning point o' is located on the straight path and the turning path, and the tangent inclination angle of the turning path at this point is 90°. Therefore, it can be determined whether the first turning point o' has been reached by determining whether the tangent inclination angle of the turning path at the position of the agricultural machine is 90°.

[0070] In addition, during this preparation stage, when the agricultural machine is a harvester, the header of the harvester can be controlled to rise to prepare for the operation.

[0071] 2. The fish-turn stage, i.e. the first U-turn section, the reversing section and the second U-turn section mentioned above, correspond to the o'->B section, B->C section and C->D section shown in FIG. 7( a), and are respectively referred to as the first fish-turn stage, the second fish-turn stage and the third fish-turn stage in the example.

[0072] Combined with the straight line tracking in the above preparation stage, the preview point generation rules in this example are divided into straight lines and curves. When driving in a straight line, the farm machine will continuously search for the preview point coordinates, and determine the vehicle's driving direction and turning angle based on the line connecting itself and the preview point. In the turning stage, after dividing the preview points according to the preview distance, this example will calculate the tangent inclination angle of the turning path arc at the location of the farm machine and the location of the next preview point, thereby deriving the angle that the vehicle body needs to turn from the current position to the target position, and calculating the angle of rotation per unit time in this stage in combination with its own vehicle speed to achieve turning control.

[0073] Specifically, after reaching the turning starting point, the agricultural machine slows down and starts turning, entering the three fishtail turn stages of this example:

[0074] 1) The first stage of the fishtail turn is o'->B.

[0075] This stage is the initial stage of the fishtail U-turn. In this stage, the agricultural machine turns 90 degrees. The turning process is divided into multiple times. Each time, the agricultural machine moves along the tangent of the circle where the turning arc is located. As the turning continues, the tangent inclination angle of the turning path at the position of the agricultural machine continues to decrease. When the corresponding tangent inclination angle is zero, it indicates that the second turning point B has been reached. At this time, it is necessary to stop and prepare for the forward and reverse gear switching in the next stage.

[0076] That is, when the forward direction of the agricultural machinery is at an angle of 90° to the direction when the agricultural machinery initially turns, the agricultural machinery stops and prepares to enter the second stage of the fishtail turn; or, when the tangent inclination angle of the turning path at the position of the agricultural machinery is 0°, it is determined that the agricultural machinery has reached the second turning point B and is ready for the second stage of the fishtail turn.

[0077] 2) The second stage of the fishtail turn is B->C.

[0078] This stage is the middle stage of the fishtail U-turn. At this stage, the agricultural machinery needs to switch the forward gear to the reverse gear to perform the reverse operation until it can turn through the second stage of the fishtail U-turn to connect to the next working path, that is, the third turning point C. The position of the third turning point C is determined based on the reversing distance, and the reversing distance is preferably (2R-P), where R is the turning radius of the agricultural machinery and P is the working width. It should be noted that by setting the reversing distance, this example can realize the U-turn of the agricultural machinery in the scenario where 2R>P.

[0079] 3) The third stage of the fishtail turn is C->D.

[0080] This stage is the final stage of the fishtail turn. In this stage, the agricultural machinery first switches from reverse gear to forward gear, and then turns. The way of tracking the turning path through the preview point is the same as the first stage of the fishtail turn. The forward direction is the tangent direction of the circle where the turning arc is located, and the turning angle is 90°. In this stage, the tangent inclination angle of the vehicle's turning path at the fourth turning point is 0°, so that when the tangent inclination angle of the turning path at the position of the agricultural machinery is 90°, the third stage ends and prepares to enter the next round of straight driving stage. At this time, the vehicle speed will be increased to the upper limit speed. At the same time, for the harvester, the harvester's header will be controlled to descend, ready to continue the harvesting operation.

[0081] 3. The next round of straight line tracking preparation section, that is, the ending section D->E.

[0082] After the turn, the machine will continue to track the next straight line for harvesting. At the same time, the machine will continuously adjust the turning angle through the control algorithm during the operation process, so that the forward direction of the machine is consistent with the operation direction, and enter the straight line tracking operation mode after stabilization.

[0083] It should be noted that when reaching each turning point, the vehicle needs to be stopped in a very short time to prevent the agricultural machinery from sliding out of the safety boundary.

[0084] Furthermore, for the fishtail U-turns of Figures 7(a) and 7(b), the following Tables 1 and 2 give the coordinates of the key points involved and the analytical expressions of each path, among which the working process of Figure 7(b) refers to the above description of Figure 7(a), which will not be repeated here.

[0085] Table 1: Coordinates of key points for fishtail turning

[0086] Coordinates (x',y') Next job is on the left Next job is on the right o’ (0,0) (0,0) A (0,e) (0,e) B (-R,R+e) (R,R+e) C (RP,R+e) (PR,R+e) D (-P,e) (P,e) E (-P,-e) (P,-e) <![CDATA[O′ 1 ]]> (-R,e) (R,e) <![CDATA[O′ 2 ]]> (RP,e) (PR,e)

[0087] Table 2: Analytical formula for critical path of fishtail turn

[0088]

[0089]

[0090] In the table, e refers to the distance between point A and point o', that is, when the turning point is found, the distance between the agricultural machine and the turning starting point (i.e., the first turning point); P refers to the distance between the two straight lines formed by the path planning, that is, the working width; θ refers to the tangent inclination angle of the turning path at the preview point, which can be referred to Figure 2 To understand.

[0091] Therefore, through this example, it can be seen that the fishtail U-turn method of the embodiment of the present application is divided into three sections, and therefore the inflection point determination between the turning path and the straight path is added, namely: judging whether the corresponding inflection point is about to be reached according to the tangent inclination angle of the corresponding path of each section at the preview point position, so as to prepare for driving, such as deceleration and control of lifting and lowering of the implement; and judging whether the corresponding inflection point has been reached according to the tangent inclination angle of the corresponding path of each section at the agricultural machinery position, so as to start turning by parking, for example. This determination method combines the tangent inclination angle of the arc path at the agricultural machinery position or the preview point position, and improves the accuracy of the inflection point position.

[0092] In addition, in terms of automatic driving turning path analysis, compared with the existing solutions, this example supplements the path analysis method for turning when 2R>P, providing a new solution for medium and large harvesters to analyze turning paths during automatic driving, and also avoiding the problem of crops being unable to be harvested in the turning area when using methods such as pear-shaped U-turns. Figure 4 , Figure 5 Compared with the conventional U-turn method shown in the figure, the U-turn method of this example is more widely applicable, requires less U-turn area, and is relatively farther away from the safety boundary, which is safer. The specific details can be seen in the following about Figure 8 For understanding, see the comparative examples.

[0093] Figure 8 It is a schematic diagram of the ring-shaped operation mode applicable to the U-shaped U-turn or pear-shaped U-turn in the comparative embodiment of the present application. In this comparative embodiment, the operation mode adopted by the harvester is an S-shaped operation mode of one row after another, so the U-turn area is limited to the operation interval of two adjacent rows, while the ring-shaped operation mode is a cross-row operation. In this operation mode, there is a larger U-turn space, so the U-shaped U-turn or pear-shaped U-turn mode can be applied to this operation mode.

[0094] For example, in path planning, there are four existing paths that need to be harvested, numbered 1, 2, 3, and 4. The initial route is the route numbered 1. When using a loop-shaped operation method, the operation route is 1->3->2->4. There are more U-turn areas, and the operation width is also larger due to cross-row operations, so traditional U-shaped U-turns or pear-shaped U-turns can be used. However, it is easy to know that the biggest restriction is that the generated autonomous driving path must be greater than or equal to 4 and must be an even number to achieve full coverage of the operating area, otherwise there will be omissions. Therefore, relative to the turning path parsing method proposed in the embodiment of the present application, Figure 8 This operation method is not suitable for small field operations, nor is it suitable for regional operations with odd operation paths. It is relatively more restrictive and less applicable.

[0095] Fig. 9 The structure block diagram of an agricultural machinery control device according to an embodiment of the present application is schematically shown. Fig. 9 As shown, an embodiment of the present application provides an agricultural machinery control device, which may include: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement the agricultural machinery control method described in the above embodiment when executing the instructions.

[0096] Specifically, the agricultural machinery control device may be the agricultural machinery's own vehicle controller or automatic driving system, or may be a separately configured controller.

[0097] An embodiment of the present application also provides an agricultural machinery, which may include the above-mentioned agricultural machinery control device.

[0098] Furthermore, the agricultural machine may be a tractor or a harvester, and when the agricultural machine is a harvester, the agricultural machine control device is further configured to control the harvester's cutting table to rise to adapt to a turning path, and to lower to adapt to a straight path.

[0099] Thus, when the embodiments of the present application are directed to harvesters, especially reapers, it is suitable for the harvesting process by controlling the header during the turning path analysis process. When a tractor applies the solution of the embodiments of the present application, it is more suitable for the finishing stage after harvesting, such as baling, transporting grain, etc.

[0100] More preferably, for a harvester, the agricultural machinery control device is further configured to: control the safety boundary distance of the harvester to be greater than the length of the harvester body, wherein the safety boundary distance is the distance from the receiver of the harvester to the corresponding body boundary.

[0101] For example, tractors are controlled by front wheels, while combine harvesters are controlled by rear wheels. Therefore, the control point of a tractor is at the exact center of the rear wheels, while the control point of a combine harvester is at the exact center of the front wheels. This means that when judging the distance between the vehicle and the safety boundary during a U-turn, the tractor only needs to calculate the distance between the receiver and the boundary to be greater than 0, while the distance between the receiver and the boundary calculated by the combine harvester must be greater than the length of the vehicle. This requires that when using a fishtail turn, the combine harvester needs to reserve a wider safety boundary distance.

[0102] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned agricultural machinery control method.

[0103] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0104] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0109] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0111] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling agricultural machinery, characterized in that: Including executing the following turning control strategy for the turning path in the pre-planned automatic driving path of the agricultural machine: Acquire in real time a first tangent inclination angle of the turning path at the current position of the agricultural machine and a second tangent inclination angle at a preview point position corresponding to the current position of the agricultural machine; Based on the angle difference between the first tangent inclination angle and the second tangent inclination angle, the steering of the agricultural machine is adjusted so that the agricultural machine travels along the turning path.

2. The agricultural machinery control method according to claim 1, characterized in that: The adjusting the steering of the agricultural machine comprises: Determine a first angle according to the angle difference, where the first angle is the angle that the body of the agricultural machine needs to rotate when the agricultural machine moves from the current position of the agricultural machine to the target position; Determine a second angle based on the current speed of the agricultural machine and the first angle, where the second angle is the angle that the agricultural machine needs to turn per unit time; and The agricultural machine is controlled to turn at the second angle.

3. The agricultural machinery control method according to claim 1, characterized in that: The agricultural machine control method further includes executing the following straight-line control strategy for a straight-line path in the automatic driving path of the agricultural machine: The driving direction and turning angle of the agricultural machinery are determined according to the connection line between the agricultural machinery itself and the corresponding preview point.

4. The agricultural machinery control method according to claim 3, characterized in that: The agricultural machinery control method further comprises: The autonomous driving path is parsed into the following five paths connected in sequence: The starting section is a straight line path from the starting point of the current operation to the first turning point; A first U-turn section, a circular arc turning path from the first turning point to the second turning point; A reverse section, a straight line path from the second turning point to the third turning point; A second U-turn section, a circular arc turning path from the third turning point to the fourth turning point; and The end section is a straight line path from the fourth turning point; Each turning point refers to an intersection of a correspondingly connected straight line path and an arc-shaped turning path, wherein the first U-turn section, the reverse section and the second U-turn section form a fishtail path; and When the agricultural machinery is traveling on the above-mentioned five paths, the agricultural machinery is controlled to stop when reaching the corresponding turning point to prepare to start the next section, and the straight-ahead control strategy is adopted to control the agricultural machinery to pass through the starting section, and the turning control strategy is adopted to control the agricultural machinery to pass through the first U-turn section and the second U-turn section.

5. The agricultural machinery control method according to claim 4, characterized in that: For the reversing section, the position of the third turning point is determined based on the reversing distance, and the reversing distance is configured as 2R-P, where R is the turning radius of the agricultural machinery and P is the working width.

6. The agricultural machinery control method according to claim 4, characterized in that: The agricultural machinery control method further comprises: Determine whether a corresponding turning point is about to be reached according to the tangent inclination angle of the corresponding path of each road section at the preview point position, so as to prepare for driving; and The corresponding turning point is determined based on the tangent inclination angle of the corresponding path of each road section at the position of the agricultural machinery.

7. An agricultural machinery control device, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the agricultural machinery control method according to any one of claims 1 to 6 when executing the instructions.

8. An agricultural machine, characterized in that: Comprising the agricultural machinery control device according to claim 7.

9. The agricultural machine according to claim 8, characterized in that: The agricultural machine is a harvester, and the agricultural machine control device is further configured to: Controlling the header of the harvester to rise for a turning path and to lower for a straight path; and / or The safety boundary distance of the harvester is controlled to be greater than the length of the harvester body.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling the machine to execute the agricultural machinery control method according to any one of claims 1 to 6.

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