Movement control method and device of wheeled tractor and medium

Abstract

The invention relates to the technical field of movement control, in particular to a movement control method and device of a wheeled tractor and a medium, the device comprises an automatic driving module and an induction switching module, and further comprises a working area establishing module, a route planning module and a historical operation storage module; the induction switching module is connected with the automatic driving module, the working area establishing module is connected with the route planning module, the route planning module is connected with the automatic driving module, and the historical operation storage module is connected with the automatic driving module. And therefore, an operator is assisted to drive the wheeled tractor to operate, and the whole operation quality is more stable.

Description

Technical Field

[0001] The present invention relates to the field of mobile control technology, and in particular to a mobile control method, device and medium for a wheeled tractor. Background Art

[0002] Wheeled tractors are a type of agricultural machinery widely used in agricultural production. Wheeled tractors can be equipped with tillage tools such as plows, harrows, and hoes to perform operations such as ploughing, loosening, and land preparation. In agricultural production, tractors can replace oxen to improve the efficiency and quality of farming, while reducing the labor intensity of farmers. At the same time, wheeled tractors can also be equipped with seeding tools to perform seeding operations. By driving the seeding tools with tractors, fast and accurate seeding can be achieved, improving agricultural production efficiency. This mechanized seeding method not only saves manpower and time, but also ensures the uniformity and density of seeding, thereby increasing the yield and quality of crops. Existing wheeled tractors are mostly driven manually when operating. The operator drives the wheeled tractor and the equipped equipment to work based on his own experience. However, when operating in an area with a large area of ​​cultivated land, the operator needs to constantly observe and adjust the forward direction of the wheeled tractor to avoid a large deviation of the tractor from the expected forward route. In this way, the operator needs to spend a lot of energy on observation and operation. Even if a lot of energy is spent on operation and observation, the final operation quality also depends largely on the operator's own driving experience. When an operator without driving experience operates, the overall operation quality will be greatly reduced, which makes it inconvenient during the actual operation. Summary of the invention

[0003] The object of the present invention is to provide a mobile control method, device and medium for a wheeled tractor, which can generate a specified operation trajectory in advance according to the corresponding working area through a set method, and then assist the operator to drive the wheeled tractor to perform the operation, so that the overall operation quality is more stable.

[0004] To achieve the above-mentioned object, the present invention provides a method, device and medium for controlling the movement of a wheeled tractor, including an automatic driving module and an induction switching module, characterized in that: It also includes a work area establishment module, a route planning module and a historical operation storage module; The sensing switching module is connected to the automatic driving module, the working area establishment module is connected to the route planning module, the route planning module is connected to the automatic driving module, and the historical operation storage module is connected to the automatic driving module; The work area establishment module generates a designated work area based on the actual work range of the work area and the positioning data of the work area; The route planning module generates an actual operation route trajectory based on the established operation area combined with the acquired operation equipment parameters; The historical operation storage module is used to classify and store the actual operation route trajectory according to the operation equipment parameters and the operation area; The automatic driving module is used to control the machine body to perform mobile operations based on the actual operation route trajectory and the operation area; The sensing switching module completes the switching between the manual driving mode and the automatic driving mode based on the analysis and judgment of the collected operation instructions.

[0005] The automatic driving module includes a real-time positioning submodule, an environment sensing submodule and a main control submodule, wherein the environment sensing submodule is connected to the real-time positioning submodule, and the main control submodule is connected to the environment sensing submodule; The real-time positioning submodule is used to obtain real-time positioning data of the operating machine body; The environmental sensing submodule is used to monitor the surrounding environment of the operating machine in real time during operation; The main control submodule is used to control the working body to perform mobile operations in the designated working area based on the actual working route trajectory according to the real-time positioning data of the working body and the surrounding environment data.

[0006] Wherein, the sensing switching module includes an instruction acquisition submodule, an instruction analysis submodule and an execution submodule, the instruction analysis submodule is connected to the instruction acquisition submodule, and the execution submodule is connected to the instruction analysis submodule; The instruction acquisition submodule is used to acquire the operation instruction generated by the operation behavior; The instruction analysis submodule is used to analyze and judge the acquired operation instruction; The execution submodule is used to execute the corresponding driving mode according to the analysis and judgment results of the operation instruction.

[0007] The work area establishment module includes a map acquisition submodule, a boundary point setting submodule and an operation area generation submodule, wherein the boundary point setting submodule is connected to the map acquisition submodule, and the operation area generation submodule is connected to the boundary point setting submodule; The map acquisition submodule is used to acquire electronic map data around the work area; The boundary point setting submodule is used to generate corresponding boundary points according to the actual operation range; The operation area generation submodule is used to establish the designated operation area according to the generated boundary points.

[0008] Wherein, the route planning module includes a device model establishment submodule, a trajectory setting submodule and a trajectory determination submodule, the trajectory setting submodule is connected to the device model establishment submodule, and the trajectory determination submodule is connected to the trajectory setting submodule; The equipment model establishment submodule is used to input the geometric parameters of the equipment to be operated and establish the corresponding equipment model; The trajectory setting submodule is used to generate an operation trajectory according to the established equipment model in combination with the corresponding operation area; The trajectory determination submodule is used to perform simulated operation according to the generated operation trajectory and determine the final actual operation route trajectory.

[0009] Wherein, the historical operation storage module includes a data collection submodule, an operation area classification submodule and an equipment classification submodule, the operation area classification submodule is connected to the data collection submodule, and the equipment classification submodule is connected to the operation area classification submodule; The data collection submodule is used to collect and store all generated actual operation route trajectories and corresponding operation area location data; The operation area classification submodule is used to classify and sort the operation area location data according to the actual location distribution; The equipment classification submodule is used to classify and sort the actual operation route trajectory of the operation area according to different equipment types.

[0010] The trajectory determination submodule includes an operation area model building unit, an operation trajectory importing unit, a simulation operation unit and a trajectory scheme output unit, wherein the operation area model building unit is connected to the simulation operation unit, the operation trajectory importing unit is connected to the simulation operation unit, and the simulation operation unit is connected to the trajectory scheme output unit; The operation area model establishing unit is used to establish a regional plate that is the same as the corresponding operation area according to the generated operation area; The operation trajectory importing unit is used to obtain the operation trajectory plan generated by the trajectory setting submodule; The simulation operation unit is used to run the imported operation trajectory plan on the regional plate generated by the operation area model establishment unit; The trajectory plan output unit generates the final actual operation route trajectory based on the operation result of the simulation operation unit.

[0011] The present invention provides a method, device and medium for controlling the movement of a wheeled tractor. The work area establishment module is used to obtain map position information corresponding to the work area. Then, based on the obtained map position information, the work area establishment module is used to establish a corresponding work area by setting boundary points. Then, the route planning module is used to design and determine the actual work trajectory in the established work area. Finally, the automatic driving module controls the work equipment to perform automatic operation based on the set actual work trajectory combined with the generated work area. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0013] Figure 1 It is a structural schematic diagram of the mobile control device of the wheeled tractor of the present invention.

[0014] Figure 2 It is a structural schematic diagram of the automatic driving module of the present invention.

[0015] Figure 3 It is a structural schematic diagram of the induction switching module of the present invention.

[0016] Figure 4 It is a structural schematic diagram of the working area establishment module of the present invention.

[0017] Figure 5 It is a structural schematic diagram of the route planning module of the present invention.

[0018] Figure 6 It is a structural schematic diagram of the historical job storage module of the present invention.

[0019] Figure 7 It is a structural schematic diagram of the trajectory determination submodule of the present invention.

[0020] Figure 8 4 is a flow chart of a movement control method of a wheeled tractor according to the present invention.

[0021] In the figure: 1-autopilot module, 2-sensing switching module, 3-work area establishment module, 4-route planning module, 5-historical operation storage module, 11-real-time positioning submodule, 12-environmental sensing submodule, 13-main control submodule, 21-instruction acquisition submodule, 22-instruction analysis submodule, 23-execution submodule, 31-map acquisition submodule, 32-boundary point setting submodule, 33-work area generation submodule, 41-equipment model establishment submodule, 42-trajectory setting submodule, 43-trajectory determination submodule, 51-data collection submodule, 52-work area classification submodule, 53-equipment classification submodule, 431-work area model establishment unit, 432-work trajectory import unit, 433-simulation operation unit, 434-trajectory plan output unit. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0024] See also Figures 1 to 7 , the present invention provides a mobile control device for a wheeled tractor, comprising an automatic driving module 1, a sensing switching module 2, a work area establishment module 3, a route planning module 4 and a historical operation storage module 5; The sensing switching module 2 is connected to the automatic driving module 1, the working area establishment module 3 is connected to the route planning module 4, the route planning module 4 is connected to the automatic driving module 1, and the historical operation storage module 5 is connected to the automatic driving module 1; The work area establishment module 3 generates a designated work area based on the actual work range of the work area and the positioning data of the work area; The route planning module 4 generates an actual operation route trajectory based on the established operation area combined with the acquired operation equipment parameters; The historical operation storage module 5 is used to classify and store the actual operation route trajectory according to the operation equipment parameters and the operation area; The automatic driving module 1 is used to control the machine body to perform mobile operations based on the actual operation route trajectory and the operation area; The sensing switching module 2 completes the switching between the manual driving mode and the automatic driving mode based on the analysis and judgment of the collected operation instructions.

[0025] Specifically, the autonomous driving module 1 mainly uses artificial intelligence, sensors, computer vision and other technologies to enable the vehicle to drive automatically without active human operation. Existing autonomous driving technologies are mostly based on the technical framework of "environmental perception-decision planning-control execution". In this framework, environmental perception is the key to the interaction between autonomous driving vehicles and external environmental information. By integrating sensors such as cameras, lidars, and millimeter-wave radars, the road environment is detected and identified in an all-round and multi-level manner; decision planning is to calculate the best driving path and strategy through algorithms based on the perceived environmental information; finally, the control execution link is responsible for accurately executing instructions such as steering, acceleration and braking to ensure that the vehicle drives safely along the planned path; In this solution, since the automatic driving is carried out in a relatively limited and controllable working area, and there are fewer obstacles in the entire driving area, the control difficulty of the automatic driving is relatively low. When performing automatic driving, it is necessary to first set up and plan the working area through the working area establishment module 3, and then complete the design of the working route in the designated working area through the route planning module 4, so as to control the wheeled tractor to perform automatic operation in the corresponding working area. It should be noted that the control device designed in this solution is mainly used to assist the operator to operate. In the actual operation process, it is still necessary to arrange the driver to monitor and timely adjust the operation of the equipment according to the actual situation. The induction switching module 2 can be set to switch the entire control system to the manual operation mode in time when receiving the control command issued by the human, so as to avoid the operator from being unable to regain control in time when an unexpected situation occurs during the work process.

[0026] For further information, see Figure 2 , the automatic driving module 1 includes a real-time positioning submodule 11, an environment sensing submodule 12 and a main control submodule 13, the environment sensing submodule 12 is connected to the real-time positioning submodule 11, and the main control submodule 13 is connected to the environment sensing submodule 12; The real-time positioning submodule 11 is used to obtain real-time positioning data of the operating machine body; The environmental sensing submodule 12 is used to monitor the surrounding environment of the operating machine in real time during operation; The main control submodule 13 is used to control the operating body to perform mobile operations in the designated operating area based on the actual operating route trajectory according to the real-time positioning data of the operating body and the surrounding environment data.

[0027] When this embodiment is in use, the real-time positioning submodule 11 is used to monitor the position of the operating equipment in real time to ensure that the equipment can maintain a high degree of consistency with the set route during the automatic driving process. The environmental sensing submodule is used to detect and identify the working environment around the working equipment by setting various sensors, thereby ensuring that the equipment performs more safe and stable automatic operation. The main control submodule 13 mainly operates the operating equipment according to the corresponding instructions through the set control chip, thereby realizing automatic driving control of the operating equipment.

[0028] For further information, see Figure 3 The sensing switching module 2 includes an instruction acquisition submodule 21, an instruction analysis submodule 22 and an execution submodule 23, wherein the instruction analysis submodule 22 is connected to the instruction acquisition submodule 21, and the execution submodule 23 is connected to the instruction analysis submodule 22; The instruction acquisition submodule 21 is used to acquire the operation instruction generated by the operation behavior; The instruction analysis submodule 22 is used to analyze and judge the acquired operation instruction; The execution submodule 23 is used to execute the corresponding driving mode according to the analysis and judgment result of the operation instruction.

[0029] When this embodiment is in use, the operation of the operator is detected by the designated acquisition submodule, and then the acquired operation instruction is analyzed by the instruction analysis submodule 22 to determine whether the corresponding operation instruction is a main control operation instruction. The corresponding main control operation instruction mainly includes braking instructions, steering instructions and acceleration instructions, wherein the steering instruction can be set within a certain range, and the corresponding small-range steering quality can be excluded from the main control operation instruction. When the main control operation instruction is detected, the operating system of the operating equipment needs to be switched to the manual operation mode to facilitate rapid switching between operation modes.

[0030] For further information, see Figure 4 The work area establishment module 3 includes a map acquisition submodule 31, a boundary point setting submodule 32 and an operation area generation submodule 33, wherein the boundary point setting submodule 32 is connected to the map acquisition submodule 31, and the operation area generation submodule 33 is connected to the boundary point setting submodule 32; The map acquisition submodule 31 is used to acquire electronic map data around the work area; The boundary point setting submodule 32 is used to generate corresponding boundary points according to the actual operation range; The operation area generation submodule 33 is used to establish the designated operation area according to the generated boundary points.

[0031] When this embodiment is in use, the map acquisition submodule 31 mainly acquires existing electronic map data. When using the map acquisition submodule 31, the user can first determine the approximate location of the work area in combination with the existing electronic map, and then reduce the display range in turn, and finally determine the location of the entire operation. It should be noted that the electronic map used is also dependent on the existing Beidou satellite system, and the real-time positioning submodule 11 is also dependent on the corresponding Beidou satellite system, so that the subsequently set work area map can be quickly matched with the positioning information fed back by the real-time positioning submodule 11. In order to be able to set the entire work area more accurately, the boundary point setting submodule 32 is used to set several key points of the work area, and then the work area generation submodule 33 finally generates the specified work area by connecting the set multiple key points.

[0032] For further information, see Figure 5 , the route planning module 4 includes a device model building submodule 41, a track setting submodule 42 and a track determination submodule 43, the track setting submodule 42 is connected to the device model building submodule 41, and the track determination submodule 43 is connected to the track setting submodule 42; The equipment model establishment submodule is used to input the geometric parameters of the equipment to be operated and establish the corresponding equipment model; The trajectory setting submodule 42 is used to generate an operation trajectory according to the established equipment model and the corresponding operation area; The trajectory determination submodule 43 is used to perform a simulated operation according to the generated operation trajectory and determine the final actual operation route trajectory.

[0033] For further information, see Figure 7 The trajectory determination submodule 43 includes an operation area model building unit 431, an operation trajectory importing unit 432, a simulation operation unit 433 and a trajectory scheme output unit 434, wherein the operation area model building unit 431 is connected to the simulation operation unit 433, the operation trajectory importing unit 432 is connected to the simulation operation unit 433, and the simulation operation unit 433 is connected to the trajectory scheme output unit 434; The operation area model establishing unit 431 is used to establish a regional plate that is the same as the corresponding operation area according to the generated operation area; The operation trajectory importing unit 432 is used to obtain the operation trajectory solution generated by the trajectory setting submodule 42; The simulation operation unit 433 is used to run the imported operation trajectory plan on the regional plate generated by the operation area model establishment unit 431; The trajectory solution output unit 434 generates the final actual operation route trajectory based on the operation result of the simulation operation unit 433.

[0034] When the present embodiment is used, the volume parameters of the operating equipment can be set in advance through the equipment model establishment submodule 41. The volume parameters of the operating equipment include not only the geometric parameters of the wheeled tractor but also the main operating equipment carried by the wheeled tractor. Then, a device model similar to the device geometric parameters is generated according to the entered device geometric parameters. The final operating trajectory can be planned by running the set device model in the previously set operating area. The planning of the entire operating trajectory needs to take into account the turning of the equipment when it runs to the boundary and the operating coverage area. When planning the operating trajectory, the designer needs to set a plurality of feasible trajectory schemes in advance, and then use the operating trajectory importing unit 432 to import the generated trajectory scheme into the simulation operation unit 433. The simulation operation unit 433 is mainly a simulation operation software that can perform driving simulation on the equipment. The simulation operation unit 433 can refer to the simulation operation software developed by the German IPG company (IPG Automotive CarMaker is an advanced vehicle dynamics simulation software developed by AG GmbH. CarMaker can provide comprehensive simulation functions, support model-in-the-loop (MIL), software-in-the-loop (SIL) and hardware-in-the-loop (HIL) testing, and is an indispensable tool in the development process of autonomous driving systems. Since the driving environment that the autonomous driving technology involved in this solution needs to deal with is controllable and single, the simulation operation unit 433 only needs to be able to simulate the operation of the set equipment model in the same area as the operating area, and does not need to consider various systems involved in vehicle design. Therefore, the establishment of the entire system is more convenient and easy than the above-mentioned professional software. The simulation operation unit 433 can screen out the optimal operating trajectory as the actual operating route trajectory through the operation results of multiple trajectories for the operating unit 433, and then the selected actual operating route trajectory is exported through the trajectory solution output unit 434, so as to complete the automatic operation in combination with the set operating area and the corresponding autonomous driving control system.

[0035] For further information, see Figure 6 The historical operation storage module 5 includes a data collection submodule 51, an operation area classification submodule 52 and an equipment classification submodule 53, wherein the operation area classification submodule 52 is connected to the data collection submodule 51, and the equipment classification submodule 53 is connected to the operation area classification submodule 52; The data collection submodule 51 is used to collect and store all generated actual operation route trajectories and corresponding operation area location data; The work area classification submodule 52 is used to classify and sort the work area location data according to the actual location distribution; The equipment classification submodule 53 is used to classify and sort the actual operation route trajectory of the operation area according to different equipment types.

[0036] When the present embodiment is in use, the data collection submodule 51 is mainly used to collect and store all the generated work areas and the corresponding actual work route trajectories. When storing the above data, the corresponding equipment parameters need to be attached so that they can be quickly retrieved later. The work area classification submodule 52 can classify the stored work areas and the corresponding actual work route trajectory data according to the location of the work areas. When classifying, the work areas can be classified from small to large according to the actual map locations corresponding to the work areas, so that users can quickly search for the actual work route trajectories corresponding to the specified work areas. At the same time, due to different equipment parameters, the actual work route trajectories of the same work area are also inconsistent. Therefore, the equipment classification submodule 53 can also classify and organize the equipment parameters of the actual work route trajectories in the corresponding work areas, so that subsequent operators can quickly retrieve and use the required actual work route trajectories.

[0037] See also Figure 8 A method for controlling the movement of a wheeled tractor, using the above-mentioned device for controlling the movement of a wheeled tractor, comprises the following steps: S1: Obtaining map location information corresponding to the work area through the work area establishment module 3; S2: Based on the acquired map location information, the work area establishment module 3 establishes a corresponding work area by setting boundary points; Specifically, the map acquisition submodule 31 in the work area establishment module 3 is mainly used to acquire existing electronic map data. When using the map acquisition submodule 31, the user can first determine the approximate location of the work area in combination with the existing electronic map, and then reduce the display range in turn, and finally determine the location of the entire operation. It should be noted that the electronic map used is also dependent on the existing Beidou satellite system, and the real-time positioning submodule 11 is also dependent on the corresponding Beidou satellite system, so that the subsequently set work area map can be quickly matched with the positioning information fed back by the real-time positioning submodule 11. In order to be able to set the entire work area more accurately, the boundary point setting submodule 32 is used to set several key points of the work area, and then the work area generation submodule 33 finally generates the specified work area by connecting the set multiple key points.

[0038] S3: Designing and determining the actual work trajectory in the established work area through the route planning module 4; Specifically, the volume parameters of the operating equipment can be set in advance through the equipment model establishment submodule 41 in the route planning module 4. The volume parameters of the operating equipment include not only the geometric parameters of the wheeled tractor but also the main operating equipment carried by the wheeled tractor. Then, a device model similar to the equipment geometric parameters is generated according to the entered equipment geometric parameters. The final operating trajectory can be planned by running the set equipment model in the previously set operating area. The planning of the entire operating trajectory needs to take into account the turning of the equipment when it runs to the boundary and the operating coverage area. When planning the operating trajectory, the designer needs to set multiple feasible trajectory plans in advance, and then use the operating trajectory import unit 432 to import the generated trajectory plan into the simulation operation unit 433.

[0039] S4: The automatic driving module 1 controls the working equipment to perform automatic operation based on the set actual working trajectory and the generated working area.

[0040] Specifically, the autonomous driving module 1 mainly uses artificial intelligence, sensors, computer vision and other technologies to enable the vehicle to drive automatically without active human operation. Existing autonomous driving technologies are mostly based on the technical framework of "environmental perception-decision planning-control execution". In this framework, environmental perception is the key to the interaction between autonomous driving vehicles and external environmental information. By integrating sensors such as cameras, lidars, and millimeter-wave radars, the road environment is detected and identified in all directions and at multiple levels; decision planning is based on the perceived environmental information and uses algorithms to calculate the best driving path and strategy; finally, the control execution link is responsible for accurately executing steering, acceleration, braking and other instructions to ensure that the vehicle drives safely along the planned path.

[0041] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed in a computer, the computer is caused to execute the movement control method of a wheeled tractor as claimed in claim 8.

[0042] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A mobile control device for a wheeled tractor, comprising an automatic driving module and a sensing switching module, characterized in that: It also includes a work area establishment module, a route planning module and a historical operation storage module; The sensing switching module is connected to the automatic driving module, the working area establishment module is connected to the route planning module, the route planning module is connected to the automatic driving module, and the historical operation storage module is connected to the automatic driving module; The work area establishment module generates a designated work area based on the actual work range of the work area and the positioning data of the work area; The route planning module generates an actual operation route trajectory based on the established operation area combined with the acquired operation equipment parameters; The historical operation storage module is used to classify and store the actual operation route trajectory according to the operation equipment parameters and the operation area; The automatic driving module is used to control the machine body to perform mobile operations based on the actual operation route trajectory and the operation area; The sensing switching module completes the switching between the manual driving mode and the automatic driving mode based on the analysis and judgment of the collected operation instructions.

2. The movement control device for a wheeled tractor according to claim 1, characterized in that: The automatic driving module includes a real-time positioning submodule, an environment sensing submodule and a main control submodule, wherein the environment sensing submodule is connected to the real-time positioning submodule, and the main control submodule is connected to the environment sensing submodule; The real-time positioning submodule is used to obtain real-time positioning data of the operating machine body; The environmental sensing submodule is used to monitor the surrounding environment of the operating machine in real time during operation; The main control submodule is used to control the working body to perform mobile operations in the designated working area based on the actual working route trajectory according to the real-time positioning data of the working body and the surrounding environment data.

3. The movement control device for a wheeled tractor according to claim 2, characterized in that: The induction switching module includes an instruction acquisition submodule, an instruction analysis submodule and an execution submodule, wherein the instruction analysis submodule is connected to the instruction acquisition submodule, and the execution submodule is connected to the instruction analysis submodule; The instruction acquisition submodule is used to acquire the operation instruction generated by the operation behavior; The instruction analysis submodule is used to analyze and judge the acquired operation instruction; The execution submodule is used to execute the corresponding driving mode according to the analysis and judgment results of the operation instruction.

4. The movement control device for a wheeled tractor according to claim 3, characterized in that: The work area establishment module includes a map acquisition submodule, a boundary point setting submodule and an operation area generation submodule, wherein the boundary point setting submodule is connected to the map acquisition submodule, and the operation area generation submodule is connected to the boundary point setting submodule; The map acquisition submodule is used to acquire electronic map data around the work area; The boundary point setting submodule is used to generate corresponding boundary points according to the actual operation range; The operation area generation submodule is used to establish the designated operation area according to the generated boundary points.

5. The movement control device for a wheeled tractor according to claim 4, characterized in that: The route planning module includes a device model building submodule, a trajectory setting submodule and a trajectory determination submodule, wherein the trajectory setting submodule is connected to the device model building submodule, and the trajectory determination submodule is connected to the trajectory setting submodule; The equipment model establishment submodule is used to input the geometric parameters of the equipment to be operated and establish the corresponding equipment model; The trajectory setting submodule is used to generate an operation trajectory according to the established equipment model in combination with the corresponding operation area; The trajectory determination submodule is used to perform simulated operation according to the generated operation trajectory and determine the final actual operation route trajectory.

6. The movement control device for a wheeled tractor according to claim 5, characterized in that: The historical operation storage module includes a data collection submodule, an operation area classification submodule and an equipment classification submodule, wherein the operation area classification submodule is connected to the data collection submodule, and the equipment classification submodule is connected to the operation area classification submodule; The data collection submodule is used to collect and store all generated actual operation route trajectories and corresponding operation area location data; The operation area classification submodule is used to classify and sort the operation area location data according to the actual location distribution; The equipment classification submodule is used to classify and sort the actual operation route trajectory of the operation area according to different equipment types.

7. The movement control device for a wheeled tractor according to claim 6, characterized in that: The trajectory determination submodule includes an operation area model building unit, an operation trajectory importing unit, a simulation operation unit and a trajectory scheme output unit, wherein the operation area model building unit is connected to the simulation operation unit, the operation trajectory importing unit is connected to the simulation operation unit, and the simulation operation unit is connected to the trajectory scheme output unit; The operation area model establishing unit is used to establish a regional plate that is the same as the corresponding operation area according to the generated operation area; The operation trajectory importing unit is used to obtain the operation trajectory plan generated by the trajectory setting submodule; The simulation operation unit is used to run the imported operation trajectory plan on the regional plate generated by the operation area model establishment unit; The trajectory plan output unit generates the final actual operation route trajectory based on the operation result of the simulation operation unit.

8. A method for controlling the movement of a wheeled tractor, using the device for controlling the movement of a wheeled tractor as claimed in claim 1, characterized in that: The following steps are included: Obtain map location information corresponding to the work area through the work area establishment module; Based on the acquired map location information, the corresponding work area is established by the work area establishment module using the set boundary points; The actual work trajectory is designed and determined within the established work area through the route planning module; The automatic driving module controls the operating equipment to perform automatic operation based on the set actual working trajectory and the generated working area.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the movement control method of a wheeled tractor as claimed in claim 8.

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