Walking safety detection method, device and equipment for agricultural machine and medium

Abstract

The invention provides a walking safety detection method and device for an agricultural machine, equipment and a medium, and the method comprises the steps: receiving a walking request for the agricultural machine; in response to the walking request, a driving signal is sent to a walking power system of the agricultural machine, so that the walking power system drives the agricultural machine to walk; when the agricultural machine is in the walking state, whether the control state of a steering wheel of the agricultural machine and the holding state of a walking control handle of the agricultural machine meet safe walking conditions or not is recognized, the control state indicates whether the steering wheel is used for controlling the walking direction of the agricultural machine by a driver of the agricultural machine or not, and the holding state indicates whether the walking control handle is held by the driver or not; the safe walking condition indicates that a driver holds a walking control handle while controlling a steering wheel; and if it is identified that the safe walking condition is not met, determining a triggered dangerous operation type, and starting a target safety mechanism corresponding to the dangerous operation type. According to the invention, the safety guarantee of the driver and the agricultural machine is realized.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and more specifically, to a method, device, equipment, and medium for detecting the travel safety of agricultural machinery. Background Art

[0002] With the increase in the feed volume of smart agricultural machinery and the significant improvement in its intelligence level, the quality of the entire machine has increased significantly compared with the past, and more intelligent control and operation functions have been integrated. Therefore, the dependence on the auxiliary safety functions of the whole vehicle has also increased.

[0003] However, the operation method of smart agricultural machinery is completely different from that of cars. Operators usually need to control the steering wheel with one hand and the control handle with the other hand to dynamically adjust the vehicle speed and direction of travel. Taking walking safety as an example, the driver's distraction or operational errors during driving may cause the equipment to lose control, and then induce safety accidents. Especially when the driver temporarily releases the control handle or steering wheel while driving, if the agricultural machinery continues to move forward, this will undoubtedly pose an extremely serious safety hazard. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a walking safety detection method, device, equipment and medium for agricultural machinery, aiming to improve the safety and stability of agricultural machinery operation and reduce safety accidents caused by driver misoperation or distraction.

[0005] In the first aspect, the present application provides a walking safety detection method for agricultural machinery, the method comprising: receiving a walking request for the agricultural machinery; in response to the walking request, sending a drive signal to the walking power system of the agricultural machinery so that the walking power system drives the agricultural machinery to walk; when the agricultural machinery is in a walking state, identifying whether the control state of the steering wheel of the agricultural machinery and the holding state of the walking control handle of the agricultural machinery meet the safe walking conditions, the control state indicates whether the steering wheel is used by the driver of the agricultural machinery to control the walking direction of the agricultural machinery, the holding state indicates whether the walking control handle is held by the driver, and the safe walking condition indicates that the driver holds the walking control handle while controlling the steering wheel; if it is identified that the safe walking conditions are not met, determining the triggered dangerous operation type, and starting the target safety mechanism corresponding to the dangerous operation type.

[0006] In a possible embodiment, the control state of the steering wheel is identified in the following manner: receiving a first state signal of a torque sensing sensor, wherein the torque sensing sensor is arranged on the rotation shaft of the steering wheel; when a torque value identified according to the first state signal is greater than a preset torque threshold, determining that the steering wheel is in a controlled state; when the torque value identified according to the first state signal is not greater than the preset torque threshold, determining that the steering wheel is in a non-controlled state.

[0007] In a possible embodiment, the holding state of the walking control handle is identified in the following manner: receiving a second state signal of a hands-off detection sensor, wherein the hands-off detection sensor is arranged at the holding portion of the walking control handle; when a voltage value identified according to the second state signal is higher than a preset voltage threshold, determining that the walking control handle is in a held state; when a voltage value identified according to the second state signal is not higher than a preset voltage threshold, determining that the walking control handle is in a not-held state.

[0008] In a possible embodiment, whether the control state of the steering wheel and the holding state of the travel control handle meet the safe travel conditions is determined in the following manner: when the steering wheel is in a controlled state and the travel control handle is in a held state, it is determined that the agricultural machinery meets the safe travel conditions; when the steering wheel is in an uncontrolled state, and / or the travel control handle is in an unheld state, it is determined that the agricultural machinery does not meet the safe travel conditions.

[0009] In a possible embodiment, the dangerous operation type triggered by the agricultural machinery is determined in the following manner: when the time when the steering wheel is in an uncontrolled state reaches a first dangerous time, or the time when the travel control handle is in an unheld state reaches a first dangerous time, it is determined that the first dangerous operation type is triggered; when the time when the steering wheel is in an uncontrolled state reaches a second dangerous time, or the time when the travel control handle is in an unheld state reaches a second dangerous time, it is determined that the second dangerous operation type is triggered; when the time when the steering wheel is in an uncontrolled state reaches the first dangerous time, and the time when the travel control handle is in an unheld state reaches the first dangerous time, it is determined that the second dangerous operation type is triggered.

[0010] In a possible embodiment, the first dangerous operation type corresponds to a first safety mechanism, wherein the first safety mechanism is activated in the following manner: displaying a warning notification on a display terminal of the agricultural machine.

[0011] In a possible embodiment, the second dangerous operation type corresponds to a second safety mechanism, wherein the second safety mechanism is activated in the following manner: cutting off the power supply from the power supply system of the agricultural machinery to the traveling power system so that the traveling power system stops driving the agricultural machinery to travel, and issuing an audible and visual alarm on the display terminal of the agricultural machinery.

[0012] In the second aspect, the present application provides a walking safety detection device for agricultural machinery, the device comprising: a receiving module for receiving a walking request for the agricultural machinery; an execution module for sending a driving signal to the walking power system of the agricultural machinery in response to the walking request, so that the walking power system drives the agricultural machinery to walk; an identification module for identifying whether the control state of the steering wheel of the agricultural machinery and the holding state of the walking control handle of the agricultural machinery meet the safe walking conditions when the agricultural machinery is in the walking state, the control state indicates whether the steering wheel is used by the driver of the agricultural machinery to control the walking direction of the agricultural machinery, the holding state indicates whether the walking control handle is held by the driver, and the safe walking condition indicates that the driver controls the steering wheel while holding the walking control handle; a triggering module for determining the triggered dangerous operation type and starting the target safety mechanism corresponding to the dangerous operation type if it is identified that the safe walking condition is not met.

[0013] In a third aspect, the present application also provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above method are performed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are executed.

[0015] The present application provides a walking safety detection method, device, equipment, and medium for agricultural machinery, wherein the method includes: receiving a walking request for the agricultural machinery; in response to the walking request, sending a drive signal to the walking power system of the agricultural machinery so that the walking power system drives the agricultural machinery to walk; when the agricultural machinery is in the walking state, identifying whether the control state of the steering wheel of the agricultural machinery and the grip state of the walking control handle of the agricultural machinery meet the safe walking conditions, the control state indicates whether the steering wheel is used by the driver of the agricultural machinery to control the walking direction of the agricultural machinery, the grip state indicates whether the walking control handle is held by the driver, and the safe walking condition indicates that the driver controls the steering wheel while holding the walking control handle; if it is identified that the safe walking conditions are not met, determining the type of dangerous operation triggered and activating the target safety mechanism corresponding to the dangerous operation type. Through this application, the safety of drivers and agricultural machinery is achieved.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A flow chart of a method for detecting travel safety of agricultural machinery provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the position of the torque sensing sensor provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the position of the hands-off detection sensor provided in an embodiment of the present application;

[0021] Figure 4 A schematic structural diagram of a walking safety detection device for agricultural machinery provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0024] First, the application scenarios to which this application is applicable are introduced. This application can be applied to agricultural machinery.

[0025] With the increase in the feed volume of smart agricultural machinery and the significant improvement in its intelligence level, the quality of the entire machine has increased significantly compared with the past, and more intelligent control and operation functions have been integrated. Therefore, the dependence on the auxiliary safety functions of the whole vehicle has also increased.

[0026] However, the operation of smart agricultural machinery differs significantly from that of cars. Operators typically need to use one hand on the steering wheel and the other on the control handle to dynamically adjust vehicle speed and direction. For example, in the case of driving safety, driver distraction or operational errors can cause loss of control of the equipment, leading to accidents. This is especially true if the driver temporarily releases the control handle or steering wheel while the agricultural machinery continues to move forward, posing a serious safety hazard.

[0027] Based on this, the embodiments of this application provide a method, device, equipment, and medium for detecting the safety of agricultural machinery in motion. These methods utilize non-contact detection technology to detect when the control handle is released, and incorporate a torque sensor to monitor when the steering wheel is released, significantly improving fault tolerance. This solution not only effectively avoids frequent triggering of auxiliary safety brakes during operation, significantly improving operational efficiency, but also reduces the occurrence of misoperations and false alarms, allowing operators to focus more on the task at hand and avoid distractions.

[0028] See also Figure 1 , Figure 1 This is a flow chart of a walking safety detection method for agricultural machinery provided in an embodiment of the present application. Figure 1 As shown in , the walking safety detection method for agricultural machinery provided in the embodiment of the present application includes:

[0029] S101: Receive a travel request for an agricultural machine.

[0030] Here, the agricultural machine may be a combine harvester, a tractor, etc., and the moving request refers to an instruction issued by the agricultural machine driver in some way, such as pressing a start button or stepping on the accelerator, to start moving the agricultural machine.

[0031] S102 . In response to a travel request, a drive signal is sent to a travel power system of the agricultural machine, so that the travel power system drives the agricultural machine to travel.

[0032] Here, the travel power system refers to a mechanical or electrical system that drives the agricultural machinery to move, such as an engine, and the drive signal refers to an instruction sent by the control system to the travel power system, requiring it to start working and drive the agricultural machinery to move.

[0033] S103: When the agricultural machine is in a traveling state, identifying whether the control state of the steering wheel of the agricultural machine and the grip state of the traveling control handle of the agricultural machine meet the safe traveling conditions.

[0034] Here, in the agricultural machinery operation environment, since the direction needs to be constantly corrected to cope with complex terrain, the control status of the steering wheel and travel control handle is crucial to ensure safe travel. To this end, a torque sensing sensor and a control handle release detection sensor are used to monitor the driver's operating status. Figure 2 As shown, the torque sensor is installed on the rotation shaft of the steering wheel and can detect and measure the torque value generated when the steering wheel is rotated.

[0035] At the same time, if Figure 3 As shown, the travel control handle is also equipped with a hands-off detection sensor. This sensor uses non-contact sensing technology and has waterproof and dustproof properties. It can accurately identify whether the driver's hand is holding the handle.

[0036] In a preferred example of the present application, the steering wheel control state is identified by:

[0037] A first state signal of a torque sensing sensor is received, where the torque sensing sensor is disposed on a rotation axis of a steering wheel; when a torque value identified according to the first state signal is greater than a preset torque threshold, the steering wheel is determined to be in a controlled state; and when the torque value identified according to the first state signal is not greater than the preset torque threshold, the steering wheel is determined to be in a non-controlled state.

[0038] Specifically, a preset torque threshold is set as a judgment criterion. When the detected torque value is greater than this threshold, it is considered that the steering wheel is in a controlled state and the driver is actively controlling the direction of travel of the agricultural machinery. On the contrary, if the torque value is not greater than the preset threshold, it is determined that the steering wheel is in an uncontrolled state and there may be a safety hazard.

[0039] The grip status of the travel control handle is identified by the following methods:

[0040] Receive a second state signal of a hands-off detection sensor, which is arranged at the gripping portion of the walking control handle; when a voltage value identified according to the second state signal is higher than a preset voltage threshold, determine that the walking control handle is in a gripped state; when the voltage value identified according to the second state signal is not higher than the preset voltage threshold, determine that the walking control handle is in a non-gripped state.

[0041] Specifically, when the handle is gripped, the sensor detects a voltage signal that is higher than a preset voltage threshold and determines that the handle is gripped. If the voltage value is not higher than the preset threshold, the handle is not gripped. When the handle is gripped, the sensor detects a voltage signal that is higher than a preset voltage threshold and determines that the handle is gripped. If the voltage value is not higher than the preset threshold, the handle is not gripped.

[0042] Both sensors communicate with the control module via the CAN bus. Once the control module receives a signal confirming safe travel conditions (i.e., the steering wheel is being operated and the travel control handle is being held), the travel power hydraulic system is enabled to operate normally, ensuring safe travel of the agricultural machine. This design aims to improve the safety and stability of agricultural machine operation and reduce accidents caused by driver error or distraction.

[0043] In a preferred example of the present application, whether the control state of the steering wheel and the grip state of the walking control handle meet the safe walking conditions is determined by the following method:

[0044] When the steering wheel is in a controlled state and the travel control handle is in a held state, it is determined that the agricultural machinery meets the safe travel conditions; when the steering wheel is in an uncontrolled state and / or the travel control handle is in an unheld state, it is determined that the agricultural machinery does not meet the safe travel conditions.

[0045] return Figure 1 , S104, if it is identified that the safe walking conditions are not met, the triggered dangerous operation type is determined, and the target safety mechanism corresponding to the dangerous operation type is activated.

[0046] In a preferred example, the type of dangerous operation triggered by the agricultural machinery is determined in the following manner:

[0047] When the time when the steering wheel is in an uncontrolled state reaches the first dangerous time, or the time when the travel control handle is in an unheld state reaches the first dangerous time, it is determined that the first dangerous operation type is triggered; when the time when the steering wheel is in an uncontrolled state reaches the second dangerous time, or the time when the travel control handle is in an unheld state reaches the second dangerous time, it is determined that the second dangerous operation type is triggered; when the time when the steering wheel is in an uncontrolled state reaches the first dangerous time, and the time when the travel control handle is in an unheld state reaches the first dangerous time, it is determined that the second dangerous operation type is triggered.

[0048] Dangerous operation types are defined as those that may be triggered when the control state of agricultural machinery does not meet safe travel conditions. These types are categorized according to the degree of danger. The first and second danger durations refer to the duration that the steering wheel or travel control handle remains in a state that does not meet safe travel conditions. When this duration reaches a certain threshold, the corresponding dangerous operation type is triggered. The target safety mechanism refers to the safety measures or mechanisms that need to be activated when a dangerous operation type is identified. Different safety mechanisms can be activated depending on the type of dangerous operation.

[0049] In a preferred example of the present application, the first dangerous operation type corresponds to a first safety mechanism, wherein the first safety mechanism is activated in the following manner: displaying a warning notification on a display terminal of the agricultural machine.

[0050] The second dangerous operation type corresponds to the second safety mechanism, wherein the second safety mechanism is activated in the following manner: cutting off the power supply from the power supply system of the agricultural machinery to the walking power system so that the walking power system stops driving the agricultural machinery to move, and issuing an audible and visual alarm on the display terminal of the agricultural machinery.

[0051] Compared with other technologies, this application adds induction sensors to the handle and steering wheel to monitor in real time whether the driver's hands are placed on the handle or steering wheel. It aims to enhance the driver's safety awareness, encourage him to stay focused during operation, and effectively prevent accidental walking caused by negligence, distraction or accidental touch. When the driver does not hold the handle or steering wheel, the agricultural machinery will be automatically cut off, the walking power will be cut off, and an audible and visual alarm will be issued to ensure the safety of the walking process. In addition, the application of this method also enhances the intelligence level of agricultural equipment, making agricultural operations more efficient and convenient. By reducing safety accidents and the losses caused by them, the present invention reduces the total cost of agricultural production and improves economic benefits. At the same time, its promotion and application will promote the agricultural equipment industry to pay attention to walking safety issues, promote the formulation and improvement of relevant safety standards, and thus improve the safety level of the entire industry. Ultimately, the present invention provides drivers with a safer and more comfortable operating environment, and improves users' overall satisfaction and trust in agricultural equipment.

[0052] Based on the same inventive concept, the embodiment of the present application also provides a walking safety detection device for agricultural machinery corresponding to the walking safety detection method for agricultural machinery. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned walking safety detection method for agricultural machinery in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0053] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of the walking safety detection device for agricultural machinery provided in the embodiment of the present application, as shown in FIG. Figure 4 As shown in FIG, the walking safety detection device 200 for agricultural machinery includes:

[0054] The receiving module 201 is configured to receive a travel request for the agricultural machine.

[0055] The execution module 202 is configured to send a driving signal to a traveling power system of the agricultural machine in response to a traveling request, so that the traveling power system drives the agricultural machine to travel.

[0056] The identification module 203 is used to identify whether the control state of the steering wheel of the agricultural machinery and the holding state of the travel control handle of the agricultural machinery meet the safe travel conditions when the agricultural machinery is in the travel state. The control state indicates whether the steering wheel is used by the driver of the agricultural machinery to control the travel direction of the agricultural machinery. The holding state indicates whether the travel control handle is held by the driver. The safe travel condition indicates that the driver controls the steering wheel while holding the travel control handle.

[0057] The trigger module 204 is configured to determine the type of dangerous operation triggered if it is identified that the safe walking condition is not met, and activate the target safety mechanism corresponding to the dangerous operation type.

[0058] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in FIG, the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .

[0059] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the above-mentioned Figure 1 as well as Figure 2 The specific implementation of the steps of the walking safety detection method for agricultural machinery in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0060] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the walking safety detection method for agricultural machinery in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0061] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0062] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0063] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0064] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0065] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0066] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A walking safety detection method for agricultural machinery, characterized in that: The method comprises: receiving a travel request for the agricultural machine; In response to the walking request, sending a driving signal to a walking power system of the agricultural machine so that the walking power system drives the agricultural machine to walk; When the agricultural machine is in a walking state, identifying whether the control state of the steering wheel of the agricultural machine and the holding state of the walking control handle of the agricultural machine meet the safe walking condition, the control state indicates whether the steering wheel is used by the driver of the agricultural machine to control the walking direction of the agricultural machine, the holding state indicates whether the walking control handle is held by the driver, and the safe walking condition indicates that the driver controls the steering wheel while holding the walking control handle; If it is identified that the safe walking condition is not met, the triggered dangerous operation type is determined, and the target safety mechanism corresponding to the dangerous operation type is activated.

2. The method according to claim 1, characterized in that The control state of the steering wheel is identified by: receiving a first state signal of a torque sensing sensor, wherein the torque sensing sensor is disposed on a rotating shaft of the steering wheel; When the torque value identified according to the first state signal is greater than a preset torque threshold, determining that the steering wheel is in a controlled state; When the torque value identified according to the first state signal is not greater than a preset torque threshold, it is determined that the steering wheel is in an uncontrolled state.

3. The method according to claim 1, characterized in that The holding state of the walking control handle is identified by: receiving a second state signal of a hands-off detection sensor, wherein the hands-off detection sensor is disposed at a holding portion of the walking control handle; When the voltage value identified according to the second state signal is higher than a preset voltage threshold, determining that the walking control handle is in a held state; When the voltage value identified according to the second state signal is not higher than a preset voltage threshold, it is determined that the walking control handle is in an unheld state.

4. The method according to claim 1, characterized in that: Whether the control state of the steering wheel and the holding state of the walking control handle meet the safe walking conditions is determined by the following method: When the steering wheel is in a controlled state and the travel control handle is in a held state, determining that the agricultural machine meets the safe travel conditions; When the steering wheel is in an uncontrolled state and / or the travel control handle is in an unheld state, it is determined that the agricultural machine does not meet the safe travel condition.

5. The method according to claim 4, characterized in that The type of dangerous operation triggered by the agricultural machinery is determined by: When the duration of the steering wheel being in an uncontrolled state reaches a first dangerous duration, or the duration of the travel control handle being in an unheld state reaches a first dangerous duration, determining to trigger a first dangerous operation type; When the duration of the steering wheel being in an uncontrolled state reaches a second dangerous duration, or the duration of the travel control handle being in an unheld state reaches a second dangerous duration, determining to trigger a second dangerous operation type; When the time duration during which the steering wheel is in an uncontrolled state reaches the first dangerous time duration, and the time duration during which the travel control handle is in an unheld state reaches the first dangerous time duration, it is determined that the second dangerous operation type is triggered.

6. The method according to claim 5, characterized in that The first dangerous operation type corresponds to a first safety mechanism, The first safety mechanism is activated in the following manner: A warning notification is displayed on a display terminal of the agricultural machine.

7. The method according to claim 5, characterized in that The second dangerous operation type corresponds to a second safety mechanism, The second safety mechanism is activated in the following manner: Cut off the power supply from the power system of the agricultural machine to the travel power system so that the travel power system stops driving the agricultural machine to travel, and issue an audible and visual alarm on the display terminal of the agricultural machine.

8. A walking safety detection device for agricultural machinery, characterized in that: The device comprises: A receiving module, used for receiving a travel request for the agricultural machine; an execution module, configured to send a driving signal to a traveling power system of the agricultural machine in response to the traveling request, so that the traveling power system drives the agricultural machine to travel; an identification module, used for identifying, when the agricultural machine is in a walking state, whether the control state of the steering wheel of the agricultural machine and the holding state of the walking control handle of the agricultural machine meet the safe walking condition, the control state indicating whether the steering wheel is used by the driver of the agricultural machine to control the walking direction of the agricultural machine, the holding state indicating whether the walking control handle is held by the driver, and the safe walking condition indicating that the driver controls the steering wheel while holding the walking control handle; The trigger module is used to determine the type of dangerous operation triggered if it is identified that the safe walking condition is not met, and to start the target safety mechanism corresponding to the dangerous operation type.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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