Remote control method and system for automatic lotus root digging equipment

Abstract

The invention discloses a remote control method and system for automatic lotus root digging equipment, and the method comprises the steps: obtaining the distance from the tail end of a digging arm to the bottom of a lotus root field and the real-time image information of the lotus root field, carrying out the preprocessing, analyzing the processed image information, and obtaining the position of a to-be-dug lotus root and the maximum radius of the to-be-dug lotus root; the extension length and the extension direction of the excavating arm are calculated; according to the real-time position information, calculating to obtain the direction variation before and after the wheels move, and judging to obtain the advancing direction of the movable chassis; analyzing and calculating according to the extension length of the digging arm, the extension direction of the digging arm and the advancing direction to obtain the digging range of the digging arm, and when the digging range intersects with the position of the lotus roots to be dug, controlling the movable chassis to stop moving and controlling the digging arm to grab the lotus roots; after the lotus roots are fully grabbed, the movable chassis is controlled to move to a target position for unloading, and the lotus root digging operation is repeated until all the lotus roots are completely dug. According to the method, lotus root digging automation can be achieved, the labor intensity is reduced, and the digging automation degree and efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic lotus root digging equipment control, and in particular relates to a remote control method and system for automatic lotus root digging equipment. Background Art

[0002] Lotus root is one of the important crops in my country. However, with the improvement of people's living standards, people's consumption of lotus root has also increased, which has led to an increasing amount of lotus root excavation. The way of lotus root excavation is mainly concentrated on manual operation, which has problems such as high labor intensity of manual operation, low degree of excavation automation, and low excavation efficiency.

[0003] In a prior art, a device of an automatic lotus root digging machine is disclosed. The automatic lotus root digging machine includes a power source, a gearbox, a crawler walking mechanism, a steering mechanism, an excavation device one and an excavation device two, and the excavation device includes an excavation frame, an adjustment device, an excavation arm, a motor and a bucket. However, an excavator with this structure needs to control the steering and movement of the power source in real time. When the control is wrong, the excavator is likely to damage the lotus root. For example, when the excavator needs to dig out the lotus root, but the excavation arm of the excavator digs to a position and area where there is no lotus root, the excavation arm will still dig mud, etc. When there is no lotus root in the water, the excavation arm cannot make adjustments. In addition, when the excavator is digging, the motor and the bucket are both in direct working mode. During the operation of the excavator, the motor consumes too much energy, and when the bucket is rotating, the bucket needs to constantly contact the lotus root. If the excavator works for a long time, the bucket is easy to wear, and the excavation arm is also in an abnormal state, which affects the efficiency of digging lotus roots.

[0004] However, the existing mining technology has a low degree of automation and still requires manual real-time control. When working for a long time, there are problems such as high labor intensity of manual operation, reduced operation accuracy, and reduced efficiency of digging lotus roots. Summary of the invention

[0005] The invention provides a remote control method for automatic lotus root digging equipment to solve the problems of high labor intensity, low digging automation and low lotus root digging efficiency in manual lotus root digging.

[0006] In the first aspect, in order to solve the above technical problems, the present invention provides a remote control method for an automatic lotus root digging device, comprising: Obtain real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and the real-time position information of the mobile chassis of the lotus digging equipment; Performing a preprocessing operation on the real-time image information to obtain processed image information; Performing analysis operations according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; Calculate the extension length and extension direction of the digging arm according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug; The direction change of the wheel before and after the movement is calculated according to the real-time position information, and the moving direction of the mobile chassis is determined according to the direction change; Analyze and calculate according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state; When it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root; When the digging arm is full of lotus roots, the mobile chassis is controlled to move to the target position to unload the lotus roots, completing one lotus root digging operation, and the lotus root digging operation is repeated until all the lotus roots are dug.

[0007] In an optional implementation, the preprocessing operation on the real-time image information to obtain processed image information includes: Performing denoising processing on the real-time image information by using a median filtering algorithm to obtain a denoised image; Filtering the denoised image using a Gaussian blur algorithm to obtain a filtered image; The grayscale values ​​of all pixels in the filtered image that are lower than a set grayscale threshold are changed to zero by a threshold segmentation algorithm to obtain processed image information.

[0008] In an optional implementation, the analyzing operation is performed according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug, including: Performing analysis operations according to the processed image information to obtain the location of the target area; According to the location of the lotus root in the target area, coordinate extraction is performed to obtain the coordinate value of the target area, and the location of the lotus root to be dug and the maximum radius of the lotus root to be dug are calculated.

[0009] In an optional implementation, the coordinate extraction is performed according to the location of the lotus root in the target area to obtain the coordinate value of the target area, and the position of the lotus root to be dug and the maximum radius of the lotus root to be dug are calculated, including: Construct the ground coordinate system with due north as the X-axis; Extracting the boundary coordinates of the target area, and calculating the center coordinates of the target area according to the boundary coordinates; Calculate the maximum length of the target area in the vertical direction and the maximum width in the horizontal direction according to the boundary coordinates; Calculate the maximum radius of the lotus root to be dug according to the maximum width; Calculate the target area according to the maximum length and the maximum width, and determine the position of the lotus root to be dug according to the target area and the center coordinates; The center coordinates of the target area are calculated using the following formula: ; ; The maximum radius of the lotus root to be dug and the area of ​​the target area are calculated by the following formula: ; ; ; ; in, , Represent the horizontal and vertical coordinates of the center coordinates, respectively. is the maximum value of the boundary horizontal coordinate, is the minimum value of the boundary horizontal coordinate, is the maximum value of the boundary ordinate, is the minimum value of the boundary ordinate; Indicates the maximum length of the target area in the vertical direction. Indicates the maximum width in the horizontal direction. Indicates the maximum radius of the lotus root to be dug. Indicates the area of ​​the target region.

[0010] In an optional embodiment, the determining according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug to obtain the extension length and extension direction of the digging arm includes: The average distance from the end of the digging arm to the bottom of the lotus field at the current position is calculated using the following formula: ; in, is the average distance from the end of the digging arm to the bottom of the lotus field at the current position, is the distance from the end of the digging arm to the bottom of the lotus field at the initial position, is the distance from the end of the digging arm to the bottom of the lotus field at the target position, is the number of times the digging arm is pressed down, The digging arm is pressed down The distance from the end of the digging arm to the bottom of the lotus field was measured after the last time. is the total number of pitches the digging arm moves downward; When the maximum radius of the lotus root to be dug ≤ When , the extension length and extension direction of the digging arm are obtained by analyzing and calculating the center plane of the digging arm and the chassis. The distance moved by the front end of the digging arm along the X-axis direction is , the distance moved in the Y-axis direction is , vector synthesis , , obtaining the extending direction of the digging arm and the extending length of the digging arm along the extending direction of the digging arm; When the maximum radius of the lotus root to be dug > When the digging arm is extended forward, ≤ , record the distance that the front end of the digging arm moves along the X-axis direction of the center plane of the chassis as , the distance moved in the Y-axis direction is , stop stretching forward and perform vector synthesis , , obtaining the extending direction of the digging arm and the extending length of the digging arm along the extending direction of the digging arm; The extended length of the digging arm is calculated by the following formula and digging arm extension direction : ; ; in, is the distance the front end of the digging arm moves along the X-axis direction, is the distance moved in the Y-axis direction, It is the angle between the center line of the excavator arm and chassis and the positive direction of the target X-axis.

[0011] In an optional implementation, the calculating the direction change amount before and after the wheel moves according to the real-time position information, and determining the moving direction of the mobile chassis according to the direction change amount, includes: Constructing chassis coordinates and wheel coordinates according to the real-time position information; Calculating according to the chassis coordinates and the wheel coordinates to obtain the direction changes in different directions before and after the wheel moves; When the direction change > When , the moving direction of the mobile chassis is determined to be the positive direction of the X axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the X axis; When the direction change > When the moving direction of the mobile chassis is determined to be the positive direction of the Y axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the Y axis; Set the coordinates of the chassis center point to , the coordinates of the four wheel centers at the front, rear, left and right are set to , , , The origins of the coordinate systems of the center points of the four wheels are set to Construct a chassis movement model and calculate the direction change using the following formula: ; in, is the change in the X-axis direction after the wheel moves, It is the change in the Y-axis direction after the wheel moves. When the movement stops, the coordinates of the four wheels will be used as the updated coordinate origin of the center point coordinate system.

[0012] In an optional embodiment, the analyzing and calculating based on the extension length of the digging arm, the extension direction of the digging arm and the traveling direction to obtain the digging range of the digging arm in the current traveling state includes: When the digging arm is extended in the direction When , the chassis moves along the positive direction of the X axis; When the digging arm is extended in the direction When , the chassis moves along the positive direction of the Y axis; When the digging arm is extended in the direction When , the chassis stops moving; The digging length of the digging arm is obtained by summing the extension length of the digging arm and the distance from the end of the digging arm to the center of the chassis; Use the attitude sensor to obtain the angle between the rotation axis and the center plane of the chassis ; According to the angle between the rotation axis and the center plane of the chassis Calculate the actual effective digging length of the digging arm in the center plane of the chassis; Construct the coordinate system of the digging arm and obtain the digging range formula of the digging arm; The digging length of the digging arm is calculated by the following formula : ; in, is the distance from the end of the digging arm to the center of the chassis, is the extended length of the digging arm; The actual effective digging length of the digging arm at the center plane of the chassis is calculated by the following formula : ; in, is the digging length of the digging arm, is the angle between the rotation axis and the center plane of the chassis; Construct the coordinate system of the digging arm and calculate the digging range of the digging arm as follows: ; ; ; in, is the actual digging width range of the digging arm, is the actual digging length range of the digging arm, It is the distance between the center point of chassis and the rotation axis of digging arm. is the direction in which the digging arm extends, is the digging area of ​​the digging arm in the current traveling state, is the ratio of pi.

[0013] In an optional embodiment, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root, including: Real-time monitoring is performed according to the real-time position information, the position of the lotus root to be dug, the maximum radius of the lotus root to be dug and the digging range of the digging arm, and when it is determined that the digging range and the position of the lotus root to be dug have an intersection, the mobile chassis is controlled to stop moving, and the digging arm is controlled to grab the lotus root; When it is determined that the excavation range has no intersection with the position of the lotus root to be excavated, controlling the mobile chassis to continue moving; According to the chassis movement model, the forward distance of the chassis in the current state is calculated; Determine whether the forward distance is greater than the actual excavation length range If the chassis advances farther than the actual digging length, , then you need to determine the chassis angle to adjust the position; When the chassis angle is greater than 90°, the chassis is controlled to stop moving forward and rotate 180°, and the length of travel in this direction , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; When the chassis angle is less than 90°, the chassis is controlled to turn left by 90°+ , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; If the excavation range exceeds the boundary, determine whether the chassis angle is greater than 90°. If the chassis angle is greater than 90°, control the chassis to move forward. , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and excavation begins; if the chassis angle is less than 90°, control the chassis to move forward , then turn left 90°+ , so that the excavation range intersects with the location of the lotus root to be excavated, and then start excavation.

[0014] In a second aspect, the present invention provides a remote control system for an automatic lotus root digging device, comprising: An information acquisition module is used to acquire real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and the real-time position information of the mobile chassis of the lotus digging equipment; An information processing module performs a preprocessing operation according to the real-time image information to obtain processed image information, and performs an analysis operation according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; The digging arm control module calculates the extension length and extension direction of the digging arm according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug; A mobile chassis control module calculates the direction change of the wheel before and after movement according to the real-time position information, and determines the moving direction of the mobile chassis according to the direction change; A digging range calculation module is used to analyze and calculate according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state; A grabbing module, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, controls the mobile chassis to stop moving, and controls the excavating arm to grab the lotus root; The unloading module controls the mobile chassis to move to the target position to unload the lotus roots when the digging arm is full of lotus roots, thus completing a lotus root digging operation. The lotus root digging operation is repeated until all the lotus roots are dug.

[0015] In a third aspect, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the remote control methods for the automatic lotus root digging equipment described above.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a remote control method for automatic lotus root digging equipment, comprising: obtaining the distance from the end of a digging arm to the bottom of a lotus root field and real-time image information of the lotus root field and performing preprocessing, analyzing and processing the image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; calculating the extension length and extension direction of the digging arm; calculating the directional change amount before and after the wheel moves according to the real-time position information, and judging the travel direction of the mobile chassis; analyzing and calculating according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction, obtaining the digging range of the digging arm, when the digging range intersects with the position of the lotus root to be dug, controlling the mobile chassis to stop moving and controlling the digging arm to grab the lotus root; after grabbing it, controlling the mobile chassis to unload at the target position, and repeating the lotus root digging operation until all the lotus roots are dug.

[0017] The method combines image acquisition technology, GPS precise positioning technology and control technology in the existing technology to achieve remote control of automatic lotus root digging equipment, thereby realizing the automation of lotus root digging, reducing manual labor intensity, improving the automation level and efficiency of lotus root digging, and ensuring the accuracy of lotus root digging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic flow chart of a remote control method for an automatic lotus root digging device provided by a first embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of a remote control system of an automatic lotus root digging device provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Reference Figure 1 The first embodiment of the present invention provides a remote control method for an automatic lotus root digging device, comprising the following steps: S11, obtaining real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and real-time position information of the mobile chassis of the lotus digging equipment; S12, performing a preprocessing operation on the real-time image information to obtain processed image information; S13, performing an analysis operation according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; S14, calculating according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug, to obtain the extension length and extension direction of the digging arm; S15, calculating the direction change of the wheel before and after the movement according to the real-time position information, and determining the moving direction of the mobile chassis according to the direction change; S16, analyzing and calculating according to the extension length of the digging arm, the extension direction of the digging arm and the moving direction, to obtain the digging range of the digging arm in the current moving state; S17, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root; S18, when the digging arm is full of lotus roots, the mobile chassis is controlled to move to the target position to unload the lotus roots, completing one lotus root digging operation, and repeating the lotus root digging operation until all the lotus roots are dug.

[0021] In step S11, real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and real-time position information of the mobile chassis of the lotus digging equipment are obtained.

[0022] It is worth mentioning that the real-time image information of the lotus field from different perspectives is obtained through the pan-tilt camera above the chassis, and a panoramic image of the lotus field is obtained through image stitching. The real-time image information is used to establish a distribution model of the lotus roots as one of the references in modeling the excavation range; a laser ranging sensor is set at the end of the excavation arm, and the controller receives the measured data and calculates the bottom distance; the real-time position information of the mobile chassis of the lotus root digging equipment is provided by GPS precise positioning technology.

[0023] In step S12, a preprocessing operation is performed on the real-time image information to obtain processed image information, including: Performing denoising processing on the real-time image information by using a median filtering algorithm to obtain a denoised image; Filtering the denoised image using a Gaussian blur algorithm to obtain a filtered image; The grayscale values ​​of all pixels in the filtered image that are lower than a set grayscale threshold are changed to zero by a threshold segmentation algorithm to obtain processed image information.

[0024] It is worth mentioning that due to the complex background of the lotus field, it is necessary to enhance the image contrast and balance the image brightness through the weighted average method to highlight the location information of the lotus root and eliminate the influence of lighting conditions; the image after image processing is converted into a grayscale image in which each pixel value represents the brightness of the pixel, and the converted grayscale image is represented as a two-dimensional matrix.

[0025] The median filter algorithm is a nonlinear filtering technique that eliminates image noise; the Gaussian blur algorithm is a linear smoothing filter technique that performs weighted averaging on an image using a Gaussian function; the threshold segmentation algorithm is a simple image segmentation method that divides an image into different regions based on the grayscale value of pixels; the three algorithms can all be used Programming implementation. Through the threshold segmentation algorithm, the image brightness threshold can be set, and the grayscale values ​​of all pixels in the image that are lower than the grayscale threshold are changed to zero, which is equivalent to changing the background to black, and retaining the remaining pixels, which is equivalent to changing the foreground to white, thereby completely separating the foreground target from the background and obtaining the processed image information.

[0026] In step S13, an analysis operation is performed according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug, including: Performing analysis operations according to the processed image information to obtain the location of the target area; According to the location of the target area lotus root, coordinate extraction is performed to obtain the coordinate value of the target area, and the location of the lotus root to be dug and the maximum radius of the lotus root to be dug are calculated, including; Construct the ground coordinate system with due north as the X-axis; Extracting the boundary coordinates of the target area, and calculating the center coordinates of the target area according to the boundary coordinates; Calculate the maximum length of the target area in the vertical direction and the maximum width in the horizontal direction according to the boundary coordinates; Calculate the maximum radius of the lotus root to be dug according to the maximum width; Calculate the target area according to the maximum length and the maximum width, and determine the position of the lotus root to be dug according to the target area and the center coordinates; The center coordinates of the target area are calculated using the following formula: ; ; The maximum radius of the lotus root to be dug and the area of ​​the target area are calculated by the following formula: ; ; ; ; in, , Represent the horizontal and vertical coordinates of the center coordinates, respectively. is the maximum value of the boundary horizontal coordinate, is the minimum value of the boundary horizontal coordinate, is the maximum value of the boundary ordinate, is the minimum value of the boundary ordinate; Indicates the maximum length of the target area in the vertical direction. Indicates the maximum width in the horizontal direction. Indicates the maximum radius of the lotus root to be dug. Indicates the area of ​​the target region.

[0027] It is worth noting that obtaining the location of the lotus root in the target area requires two steps: finding contours and filtering contours. First, a contour detection algorithm is used to identify the boundaries of all white areas on the processed image information, such as the findContours function in OpenCV. These contours represent all possible foreground objects in the image, including the lotus root. Since the image may contain multiple foreground objects, it is necessary to filter out the contours that truly represent the lotus root according to certain standards, such as area size and shape characteristics, and use the screening results as the location of the lotus root in the target area.

[0028] Furthermore, extracting the boundary coordinates of the target area requires using an edge detection algorithm to identify the boundary of the target area and extract the coordinates; the center coordinates are determined by calculating the average value of the boundary coordinates; since the target area is most likely an irregular shape, it needs to be represented by a rectangle with a larger area than the target area, so the target area is calculated by approximating the product of the maximum length and the maximum width. The exact position of the lotus root to be dug refers to the center coordinates of the target area. The center coordinates of the target area plus the area of ​​the target area represent the complete position of the lotus root to be dug. The automatic lotus root digging equipment selects the complete position of the lotus root to be dug to ensure efficient completion of the work.

[0029] In step S14, the extension length and extension direction of the digging arm are obtained by calculating according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug, including: The average distance from the end of the digging arm to the bottom of the lotus field at the current position is calculated using the following formula: ; in, is the average distance from the end of the digging arm to the bottom of the lotus field at the current position, is the distance from the end of the digging arm to the bottom of the lotus field at the initial position, is the distance from the end of the digging arm to the bottom of the lotus field at the target position, is the number of times the digging arm is pressed down, The digging arm is pressed down The distance from the end of the digging arm to the bottom of the lotus field was measured after the last time. is the total number of pitches that the digging arm moves downward; the average distance from the end of the digging arm at the current position to the bottom of the lotus field can be obtained through the calculation formula.

[0030] When the maximum radius of the lotus root to be dug ≤ When , the extension length and extension direction of the digging arm are obtained by analyzing and calculating the center plane of the digging arm and the chassis. The distance moved by the front end of the digging arm along the X-axis direction is , the distance moved in the Y-axis direction is , vector synthesis , , obtaining the extending direction of the digging arm and the extending length of the digging arm along the extending direction of the digging arm; When the maximum radius of the lotus root to be dug > When the digging arm is extended forward, ≤ , record the distance that the front end of the digging arm moves along the X-axis direction of the center plane of the chassis as , the distance moved in the Y-axis direction is , stop stretching forward and perform vector synthesis , , obtaining the extension direction of the digging arm and the extension length of the digging arm along the direction; The extended length of the digging arm is calculated by the following formula and digging arm extension direction : ; ; in, is the distance the front end of the digging arm moves along the X-axis direction, is the distance moved in the Y-axis direction, It is the angle between the center line of the excavator arm and chassis and the positive direction of the target X-axis.

[0031] It is worth noting that the distance from the initial position of the end of the digging arm to the bottom of the lotus field is measured by setting a laser ranging sensor at the end of the digging arm and calculated by the controller. , digging arm pressed down The distance from the end of the digging arm to the bottom of the lotus field measured after the Distance from the end of the digging arm to the bottom of the lotus field at the target position , until all the predetermined pitch measurements are completed. Continuously press down and move downward to obtain the average distance. The average distance can more accurately reflect the actual distance from the end of the digging arm to the bottom of the lotus field, thereby providing more accurate guidance for subsequent digging operations.

[0032] Furthermore, the maximum radius of the lotus root to be dug is equal to the average distance from the end of the digging arm to the bottom of the lotus field at the current position. The size relationship is compared and the path planning of the digging arm is carried out based on the comparison results. This process involves precise measurement and calculation to ensure that the digging arm can accurately locate the position of the lotus root for digging. ≤ When , it is just right for excavation. The moving distances in different directions can be obtained by recording the projections of the excavation arm's movement process in different coordinate systems of the ground coordinate system. > When the digging arm is extended, ≤ When, the following steps are ≤ The same as before, so no more repeating.

[0033] Since the projection of the extension direction of the digging arm on the ground coordinate system is along the X-axis and the Y-axis respectively, and the X-axis and the Y-axis are perpendicular to each other, the extension length of the digging arm and the projection length in different directions can be obtained according to the Pythagorean theorem, and the extension direction of the digging arm can be obtained by vector synthesis according to the parallelogram theorem. The angle calculation of the extension direction of the digging arm is obtained by substituting the inverse tangent function formula in the trigonometric function into the recorded , Calculated.

[0034] In step S15, the direction change amount before and after the wheel moves is calculated according to the real-time position information, and the moving direction of the mobile chassis is determined according to the direction change amount, including: Constructing chassis coordinates and wheel coordinates according to the real-time position information; Calculating according to the chassis coordinates and the wheel coordinates to obtain the direction changes in different directions before and after the wheel moves; When the direction change > When , the moving direction of the mobile chassis is determined to be the positive direction of the X axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the X axis; When the direction change > When the moving direction of the mobile chassis is determined to be the positive direction of the Y axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the Y axis; Set the coordinates of the chassis center point to , the coordinates of the four wheel centers at the front, rear, left and right are set to , , , The origins of the coordinate systems of the center points of the four wheels are set to Construct a chassis movement model and calculate the direction change using the following formula: ; in, is the change in the X-axis direction after the wheel moves, It is the change in the Y-axis direction after the wheel moves. When the movement stops, the coordinates of the four wheels will be used as the updated coordinate origin of the center point coordinate system.

[0035] It is worth noting that the chassis coordinates and the wheel coordinates both belong to the ground coordinate system, and the coordinates are determined by real-time positioning using GPS technology; the direction change is calculated by subtracting the coordinates before the movement from the coordinates after the movement of a wheel or chassis center point, and the coordinate origin is used as the coordinate before the movement; the direction change of different coordinate axes is the discovery change in different directions, and the direction change of the two directions can be vector-synthesized according to the parallelogram theorem to obtain the travel direction and displacement. Selecting the coordinates of any of the four wheels or the coordinates of the chassis center point as the benchmark has the same effect, so there is no need to select all of them for analysis.

[0036] Among them, the steps of vector synthesis are as follows: first draw two vectors, that is, the directional changes in the two directions, so that their tails coincide; then draw a parallelogram with these two vectors as adjacent sides; starting from the point where the tails of the two vectors coincide, draw the diagonal of the parallelogram, and this diagonal line is the synthetic vector of the two vectors.

[0037] In step S16, an analysis and calculation is performed based on the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state, including: When the digging arm is extended in the direction When , the chassis moves along the positive direction of the X axis; When the digging arm is extended in the direction When , the chassis moves along the positive direction of the Y axis; When the digging arm is extended in the direction When , the chassis stops moving; The digging length of the digging arm is obtained by summing the extension length of the digging arm and the distance from the end of the digging arm to the center of the chassis; Use the attitude sensor to obtain the angle between the rotation axis and the center plane of the chassis ; According to the angle between the rotation axis and the center plane of the chassis Calculate the actual effective digging length of the digging arm in the center plane of the chassis; Construct the coordinate system of the digging arm and obtain the digging range formula of the digging arm; The digging length of the digging arm is calculated by the following formula : ; in, is the distance from the end of the digging arm to the center of the chassis, is the extended length of the digging arm; The actual effective digging length of the digging arm at the center plane of the chassis is calculated by the following formula : ; in, is the digging length of the digging arm, is the angle between the rotation axis and the center plane of the chassis; Construct the coordinate system of the digging arm and calculate the digging range of the digging arm as follows: ; ; ; in, is the actual digging width range of the digging arm, is the actual digging length range of the digging arm, It is the distance between the center point of chassis and the rotation axis of digging arm. is the direction in which the digging arm extends, is the digging area of ​​the digging arm in the current traveling state, is the ratio of pi.

[0038] It is worth noting that according to the extension direction of the digging arm Analysis is performed, and different angles control the chassis to move in different directions to get closer to the position to be dug. When the rotating shaft is tilted, it will drive the digging arm forward or backward in the current direction. According to trigonometric functions, the digging length will be affected, which in turn affects the digging range of the digging arm. The coordinate system of the digging arm is constructed based on the center plane of the bottom surface, and the two horizontal planes are parallel to each other. The construction of the coordinate system of the digging arm is for the calculation of the actual digging width range and the actual digging length range of the digging arm in the next step. It can be regarded as the actual effective excavation length The projection of the Y axis on the coordinate system of the digging arm. The distance between the center point of the chassis and the rotation axis of the digging arm Helps determine the fixed position of the digging arm relative to the center point of the chassis.

[0039] Furthermore, since the digging arm is designed to dig in a nearly circular pattern, the digging range of the digging arm in the current traveling state is calculated by the area formula of a circle.

[0040] In step S17, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root, including: Real-time monitoring is performed according to the real-time position information, the position of the lotus root to be dug, the maximum radius of the lotus root to be dug and the digging range of the digging arm, and when it is determined that the digging range and the position of the lotus root to be dug have an intersection, the mobile chassis is controlled to stop moving, and the digging arm is controlled to grab the lotus root; When it is determined that the excavation range has no intersection with the position of the lotus root to be excavated, controlling the mobile chassis to continue moving; According to the chassis movement model, the forward distance of the chassis in the current state is calculated; Determine whether the forward distance is greater than the actual excavation length range If the chassis advances farther than the actual digging length, , then you need to determine the chassis angle to adjust the position; When the chassis angle is greater than 90°, the chassis is controlled to stop moving forward and rotate 180°, and the length of travel in this direction , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; When the chassis angle is less than 90°, the chassis is controlled to turn left by 90°+ , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; If the excavation range exceeds the boundary, determine whether the chassis angle is greater than 90°. If the chassis angle is greater than 90°, control the chassis to move forward. , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and excavation begins; if the chassis angle is less than 90°, control the chassis to move forward , then turn left 90°+ , so that the excavation range intersects with the location of the lotus root to be excavated, and then start excavation.

[0041] It is worth noting that the chassis movement model obtains the forward distance of the chassis in the current state by adding the direction change vectors in different directions; the pan-tilt camera is used to detect in real time whether the excavation range and the position of the lotus root to be excavated intersect; In step S18, when the digging arm has fully grabbed the lotus roots, the mobile chassis is controlled to move to the target position to unload the lotus roots, completing one lotus root digging operation, and the lotus root digging operation is repeated until all the lotus roots are dug.

[0042] It is worth noting that the judgment of whether the lotus root is full depends on the weight sensor and the volume sensor. When the measurement value of any sensor reaches the maximum preset value, the lotus root is judged to be full. The target position is the preset position for unloading the lotus root.

[0043] In order to facilitate the understanding of the present invention, some preferred embodiments of the present invention are further described below.

[0044] The working process of the present invention is described below using a relatively common scenario as an example.

[0045] In this embodiment, the remote control method of the automatic lotus root digging device relates to an automatic lotus root digging device. The method aims to realize the automation of lotus root digging, reduce the intensity of manual labor, and improve the automation degree and efficiency of lotus root digging.

[0046] The working process is as follows: Step 1: Obtain image information of the lotus field in real time through a pan / tilt camera installed above the chassis; Step 2: The control end calculates the extension length and extension direction of the digging arm through an image processing algorithm based on the image information transmitted in real time by the pan-tilt camera; Step 3: The control end obtains the moving direction of the mobile chassis according to the real-time location information provided by the GPS module; Step 4: Based on the data obtained in the above steps, construct the excavation range formula of the excavating arm and the movement model of the chassis, analyze the excavation range of the excavating arm in the current moving state, and when the excavation range of the excavating arm intersects with the position of the lotus root to be excavated, control the chassis to stop moving and control the excavating arm to grab the lotus root; Step 5: When the digging arm grabs the lotus root fully, the chassis moves to the target position; Step 6: Repeat steps 1-5 until all lotus roots are harvested.

[0047] Through the above steps, the remote control method of the automatic lotus root digging equipment can realize automatic control of the chassis and the digging arm, greatly improving the accuracy of lotus root digging, reducing the error rate, and increasing the working speed.

[0048] In summary, the present invention provides a remote control method for automatic lotus root digging equipment, including: obtaining the distance from the end of the digging arm to the bottom of the lotus field and the real-time image information of the lotus field and performing preprocessing, analyzing and processing the image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; calculating the extension length and extension direction of the digging arm; calculating the directional change before and after the wheel moves according to the real-time position information, and judging the travel direction of the mobile chassis; analyzing and calculating according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction, to obtain the digging range of the digging arm, when the digging range intersects with the position of the lotus root to be dug, controlling the mobile chassis to stop moving and controlling the digging arm to grab the lotus root; after grabbing it, controlling the mobile chassis to unload at the target position, and repeating the lotus root digging operation until all the lotus roots are dug.

[0049] The method combines image acquisition technology, GPS precise positioning technology and control technology in the existing technology to achieve remote control of automatic lotus root digging equipment, thereby realizing the automation of lotus root digging, reducing manual labor intensity, improving the automation level and efficiency of lotus root digging, and ensuring the accuracy of lotus root digging.

[0050] Reference Figure 2 The second embodiment of the present invention provides a remote control system for an automatic lotus root digging device, comprising: An information acquisition module is used to acquire real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and the real-time position information of the mobile chassis of the lotus digging equipment; An information processing module performs a preprocessing operation according to the real-time image information to obtain processed image information, and performs an analysis operation according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; The digging arm control module calculates the extension length and extension direction of the digging arm according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug; A mobile chassis control module calculates the direction change of the wheel before and after movement according to the real-time position information, and determines the moving direction of the mobile chassis according to the direction change; A digging range calculation module is used to analyze and calculate according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state; A grabbing module, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, controls the mobile chassis to stop moving, and controls the excavating arm to grab the lotus root; The unloading module controls the mobile chassis to move to the target position to unload the lotus roots when the digging arm is full of lotus roots, thus completing a lotus root digging operation. The lotus root digging operation is repeated until all the lotus roots are dug.

[0051] It should be noted that the remote control system of an automatic lotus root digging equipment provided in an embodiment of the present invention is used to execute all the process steps of a remote control method of an automatic lotus root digging equipment in the above embodiment. The working principles and beneficial effects of the two correspond one to one, and thus will not be repeated here.

[0052] An embodiment of the present invention further provides an electronic device. The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a data acquisition program. When the processor executes the computer program, the steps in the above-mentioned remote control method embodiments of each automatic lotus root digging device are implemented. When the processor executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented, such as a real-time digging range calculation module.

[0053] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0054] The electronic device may be a computing device such as a desktop computer, a notebook, a PDA, and a smart tablet. The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above components are merely examples of electronic devices and do not constitute a limitation on the electronic device. The electronic device may include more or fewer components than the above components, or may combine certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0055] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0056] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0057] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0058] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0059] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A remote control method for automatic lotus root digging equipment, characterized in that: Executed by the control end, including: Obtain real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and the real-time position information of the mobile chassis of the lotus digging equipment; Performing a preprocessing operation on the real-time image information to obtain processed image information; Performing analysis operations according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; Calculate the extension length and extension direction of the digging arm according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug; The direction change of the wheel before and after the movement is calculated according to the real-time position information, and the moving direction of the mobile chassis is determined according to the direction change; Analyze and calculate according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state; When it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root; When the digging arm is full of lotus roots, the mobile chassis is controlled to move to the target position to unload the lotus roots, completing one lotus root digging operation, and the lotus root digging operation is repeated until all the lotus roots are dug.

2. The remote control method of the automatic lotus root digging equipment according to claim 1 is characterized in that: The preprocessing operation is performed on the real-time image information to obtain processed image information, including: Performing denoising processing on the real-time image information by using a median filtering algorithm to obtain a denoised image; Filtering the denoised image using a Gaussian blur algorithm to obtain a filtered image; The grayscale values ​​of all pixels in the filtered image that are lower than a set grayscale threshold are changed to zero by a threshold segmentation algorithm to obtain processed image information.

3. The remote control method of the automatic lotus root digging equipment according to claim 1 is characterized in that: The analyzing operation is performed according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug, including: Performing analysis operations according to the processed image information to obtain the location of the target area; According to the location of the lotus root in the target area, coordinate extraction is performed to obtain the coordinate value of the target area, and the location of the lotus root to be dug and the maximum radius of the lotus root to be dug are calculated.

4. The remote control method of the automatic lotus root digging equipment according to claim 3 is characterized in that: The method of extracting coordinates according to the location of the lotus root in the target area to obtain the coordinate value of the target area, and calculating the location of the lotus root to be dug and the maximum radius of the lotus root to be dug includes: Construct the ground coordinate system with due north as the X-axis; Extracting the boundary coordinates of the target area, and calculating the center coordinates of the target area according to the boundary coordinates; Calculate the maximum length of the target area in the vertical direction and the maximum width in the horizontal direction according to the boundary coordinates; Calculate the maximum radius of the lotus root to be dug according to the maximum width; Calculate the target area according to the maximum length and the maximum width, and determine the position of the lotus root to be dug according to the target area and the center coordinates; The center coordinates of the target area are calculated using the following formula: ； ； The maximum radius of the lotus root to be dug and the area of ​​the target area are calculated by the following formula: ； ； ； ； in, , Represent the horizontal and vertical coordinates of the center coordinates, respectively. is the maximum value of the boundary horizontal coordinate, is the minimum value of the boundary horizontal coordinate, is the maximum value of the boundary ordinate, is the minimum value of the boundary ordinate; Indicates the maximum length of the target area in the vertical direction. Indicates the maximum width in the horizontal direction. Indicates the maximum radius of the lotus root to be dug. Indicates the area of ​​the target region.

5. The remote control method of the automatic lotus root digging equipment according to claim 4 is characterized in that: The determining according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug to obtain the extension length and extension direction of the digging arm includes: The average distance from the end of the digging arm to the bottom of the lotus field at the current position is calculated using the following formula: ； in, is the average distance from the end of the digging arm to the bottom of the lotus field at the current position, is the distance from the end of the digging arm to the bottom of the lotus field at the initial position, is the distance from the end of the digging arm to the bottom of the lotus field at the target position, is the number of times the digging arm is pressed down, The digging arm is pressed down The distance from the end of the digging arm to the bottom of the lotus field was measured after the last time. is the total number of pitches the digging arm moves downward; When the maximum radius of the lotus root to be dug ≤ When , the extension length and extension direction of the digging arm are obtained by analyzing and calculating the center plane of the digging arm and the chassis. The distance moved by the front end of the digging arm along the X-axis direction is , the distance moved in the Y-axis direction is , vector synthesis , , obtaining the extending direction of the digging arm and the extending length of the digging arm along the extending direction of the digging arm; When the maximum radius of the lotus root to be dug > When the digging arm is extended forward, ≤ , record the distance that the front end of the digging arm moves along the X-axis direction of the center plane of the chassis as , the distance moved in the Y-axis direction is , stop stretching forward and perform vector synthesis , , obtaining the extending direction of the digging arm and the extending length of the digging arm along the extending direction of the digging arm; The extended length of the digging arm is calculated by the following formula and digging arm extension direction : ； ； in, is the distance the front end of the digging arm moves along the X-axis direction, is the distance moved in the Y-axis direction, It is the angle between the center line of the excavator arm and chassis and the positive direction of the target X-axis.

6. The remote control method of the automatic lotus root digging equipment according to claim 1 is characterized in that: The step of calculating the direction change amount before and after the wheel moves according to the real-time position information, and determining the moving direction of the mobile chassis according to the direction change amount includes: Constructing chassis coordinates and wheel coordinates according to the real-time position information; Calculating according to the chassis coordinates and the wheel coordinates to obtain the direction changes in different directions before and after the wheel moves; When the direction change > When , the moving direction of the mobile chassis is determined to be the positive direction of the X axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the X axis; When the direction change > When the moving direction of the mobile chassis is determined to be the positive direction of the Y axis; when the direction change amount < When , it is determined that the moving direction of the mobile chassis is the negative direction of the Y axis; Set the coordinates of the chassis center point to , the coordinates of the four wheel centers at the front, rear, left and right are set to , , , The origins of the coordinate systems of the center points of the four wheels are set to Construct a chassis movement model and calculate the direction change using the following formula: ； in, is the change in the X-axis direction after the wheel moves, It is the change in the Y-axis direction after the wheel moves. When the movement stops, the coordinates of the four wheels will be used as the updated coordinate origin of the center point coordinate system.

7. The remote control method of the automatic lotus root digging equipment according to claim 6 is characterized in that: The analyzing and calculating according to the extension length of the digging arm, the extension direction of the digging arm and the traveling direction to obtain the digging range of the digging arm in the current traveling state includes: When the digging arm is extended in the direction When , the chassis moves along the positive direction of the X axis; When the digging arm is extended in the direction When , the chassis moves along the positive direction of the Y axis; When the digging arm is extended in the direction When , the chassis stops moving; The digging length of the digging arm is obtained by summing the extension length of the digging arm and the distance from the end of the digging arm to the center of the chassis; Use the attitude sensor to obtain the angle between the rotation axis and the center plane of the chassis ; According to the angle between the rotation axis and the center plane of the chassis Calculate the actual effective digging length of the digging arm in the center plane of the chassis; Construct the coordinate system of the digging arm and obtain the digging range formula of the digging arm; The digging length of the digging arm is calculated by the following formula : ； in, is the distance from the end of the digging arm to the center of the chassis, is the extended length of the digging arm; The actual effective digging length of the digging arm at the center plane of the chassis is calculated by the following formula : ； in, is the digging length of the digging arm, is the angle between the rotation axis and the center plane of the chassis; Construct the coordinate system of the digging arm and calculate the digging range of the digging arm as follows: ； ； ； in, is the actual digging width range of the digging arm, is the actual digging length range of the digging arm, It is the distance between the center point of chassis and the rotation axis of digging arm. is the direction in which the digging arm extends, is the digging area of ​​the digging arm in the current traveling state, is the ratio of pi.

8. The remote control method of the automatic lotus root digging equipment according to claim 7 is characterized in that: When it is determined that the excavation range intersects with the position of the lotus root to be excavated, the mobile chassis is controlled to stop moving, and the excavation arm is controlled to grab the lotus root, including: Real-time monitoring is performed according to the real-time position information, the position of the lotus root to be dug, the maximum radius of the lotus root to be dug and the digging range of the digging arm, and when it is determined that the digging range and the position of the lotus root to be dug have an intersection, the mobile chassis is controlled to stop moving, and the digging arm is controlled to grab the lotus root; When it is determined that the excavation range has no intersection with the position of the lotus root to be excavated, controlling the mobile chassis to continue moving; According to the chassis movement model, the forward distance of the chassis in the current state is calculated; Determine whether the forward distance is greater than the actual excavation length range If the chassis advances farther than the actual digging length, , then you need to determine the chassis angle to adjust the position; When the chassis angle is greater than 90°, the chassis is controlled to stop moving forward and rotate 180°, and the length of travel in this direction , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; When the chassis angle is less than 90°, the chassis is controlled to turn left by 90°+ , so that the excavation range intersects with the position of the lotus root to be excavated, and then the excavation begins; If the excavation range exceeds the boundary, determine whether the chassis angle is greater than 90°. If the chassis angle is greater than 90°, control the chassis to move forward. , then turn right , so that the excavation range intersects with the position of the lotus root to be excavated, and excavation begins; if the chassis angle is less than 90°, control the chassis to move forward , then turn left 90°+ , so that the excavation range intersects with the location of the lotus root to be excavated, and then start excavation.

9. A remote control system for automatic lotus root digging equipment, characterized in that: include: An information acquisition module is used to acquire real-time image information of the lotus field, the distance from the end of the digging arm to the bottom of the lotus field, and the real-time position information of the mobile chassis of the lotus digging equipment; An information processing module performs a preprocessing operation according to the real-time image information to obtain processed image information, and performs an analysis operation according to the processed image information to obtain the position of the lotus root to be dug and the maximum radius of the lotus root to be dug; The digging arm control module calculates the extension length and extension direction of the digging arm according to the bottom distance, the position of the lotus root to be dug, and the maximum radius of the lotus root to be dug; A mobile chassis control module calculates the direction change of the wheel before and after movement according to the real-time position information, and determines the moving direction of the mobile chassis according to the direction change; A digging range calculation module is used to analyze and calculate according to the extension length of the digging arm, the extension direction of the digging arm and the travel direction to obtain the digging range of the digging arm in the current travel state; A grabbing module, when it is determined that the excavation range intersects with the position of the lotus root to be excavated, controls the mobile chassis to stop moving, and controls the excavating arm to grab the lotus root; The unloading module controls the mobile chassis to move to the target position to unload the lotus roots when the digging arm is full of lotus roots, thus completing a lotus root digging operation. The lotus root digging operation is repeated until all the lotus roots are dug.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the remote control method for the automatic lotus root digging device according to any one of claims 1 to 8.

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