Control system and method for agricultural machinery automatic driving equipment

Abstract

The invention is suitable for the technical field of automatic agricultural machinery, and provides a control system and method for agricultural machinery automatic driving equipment, and the method comprises the steps: carrying out the sunken degree detection of a designated ground region on a target automatic agricultural machinery advancing path, so as to obtain the predicted sunken information of the designated ground region; and acquiring the real-time tire working condition of the target automatic agricultural machine, and generating an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the specified ground area and the real-time tire working condition. The technical problems that when the agricultural machine runs on the muddy and uneven ground, a vehicle body is prone to inclining, running is not stable, and operation precision is reduced can be effectively solved. By detecting the sinking degree of the target ground area and combining the real-time tire working condition to generate an adaptive adjustment strategy, the characteristics of the muddy ground can be predicted and dealt with in advance, and the running stability of the agricultural machine is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated agricultural machinery, and in particular relates to a control system and method for automatic driving equipment of agricultural machinery. Background Art

[0002] With the rapid development of modern agriculture, automatic agricultural machinery driving technology has gradually become one of the important means to improve agricultural production efficiency. The automatic agricultural machinery driving system uses a variety of sensors and control algorithms to enable agricultural machinery to autonomously complete operations such as sowing, fertilizing, spraying and harvesting in various fields, significantly reducing dependence on manpower and improving the accuracy and consistency of operations. However, the complex and changeable farmland environment, especially muddy road conditions, poses a great challenge to the technology of automatic driving agricultural machinery. On muddy ground, the softness and high water content of the soil lead to uneven bearing capacity of the ground, which is very easy to cause deep sinking and depression. Agricultural machinery is prone to lose balance when driving on this terrain, affecting the stability of the vehicle and the accuracy of the operation.

[0003] In the existing technology, automatic agricultural machinery driving systems usually rely on visual sensors (such as cameras, lidar) or other remote sensing technologies to identify ground characteristics in order to predict the driving path of agricultural machinery. However, in muddy ground environments, the recognition ability of visual sensors is limited, and it is difficult to accurately judge the depth and softness of the ground depressions. This inability to effectively perceive depressions in muddy ground directly leads to the inability of agricultural machinery to adjust its posture and wheel status in time when passing through uneven ground, resulting in unstable phenomena such as body tilt, side slip or deep sinking. In addition, in existing agricultural machinery automatic driving systems, the adjustment strategies of tire pressure and suspension often lack real-time and refined control, and cannot be effectively adjusted according to the real-time conditions of different ground conditions, resulting in the lack of adaptive capabilities of the vehicle when driving in complex terrain.

[0004] Due to the high uncertainty of muddy ground, traditional control methods (such as fixed tire pressure and constant suspension damping) are difficult to adapt to the rapid changes in ground characteristics, especially when facing muddy ground. The sudden change and depression of load-bearing capacity cannot be accurately judged by remote sensing technology, and the vehicle's automatic adjustment system (such as tire pressure control and suspension damping adjustment) is difficult to respond quickly. This not only causes agricultural machinery to be prone to posture imbalance during operation, affecting operational accuracy, but also further increases the mechanical burden, aggravates equipment wear, and shortens the service life of agricultural machinery due to unreasonable tire pressure and suspension adjustment. Therefore, how to improve the ground adaptability and control accuracy of automatic agricultural machinery under muddy and complex ground conditions is a problem that needs to be solved urgently in existing technologies. Summary of the invention

[0005] The object of the present invention is to provide a control system and method for automatic driving equipment of agricultural machinery, aiming to solve the problems raised in the background technology.

[0006] The present invention is implemented as follows: a control method for an agricultural machinery automatic driving device, the method comprising: Performing depression detection on a designated ground area on a path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area; Acquire the real-time tire working condition of the target automatic agricultural machine, and generate an adaptive tire working condition adjustment strategy by combining the predicted depression information of the designated ground area and the real-time tire working condition; Dynamically adjusting the tire working state according to the adaptive tire condition adjustment strategy within a preset time window before the tire of the target autonomous agricultural machine reaches the designated ground area; After the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, the posture balance state of the target automatic agricultural machinery is obtained, the degree of deviation from the expected balance state is evaluated, and the subsequent adaptive tire working condition adjustment strategy is optimized according to the deviation degree.

[0007] As a further limitation of the technical solution of the embodiment of the present invention, the target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device comprises a first mounting element, the first mounting element is fixedly mounted on the front end of the target automatic agricultural machine, a retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element; A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

[0008] As a further limitation of the technical solution of the embodiment of the present invention, the step of detecting the depression degree of a designated ground area on the travel path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area includes: When the target automatic agricultural machine travels to the designated ground area and the multifunctional sensing module is located above the designated ground area, a hydraulic extension and retraction instruction is generated; sending a hydraulic extension and retraction instruction to the hydraulic extension and retraction element so that it drives the second mounting element to extend toward a designated ground area; When the multifunctional sensing module comes into contact with the ground, it collects the bearing capacity data and humidity data of the ground, and generates predicted depression information for the designated ground area based on these data.

[0009] As a further limitation of the technical solution of the embodiment of the present invention, the steps of obtaining the real-time tire working condition of the target automatic agricultural machine and generating an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition include: Acquiring a real-time tire working condition of the target automatic agricultural machine, wherein the real-time tire working condition includes a real-time tire pressure parameter and a real-time suspension damping parameter of the target automatic agricultural machine; Retrieving a preset reference table, and finding corresponding standard tire pressure parameters and standard suspension damping parameters in the preset reference table according to the predicted sag information; According to the standard tire pressure parameters and suspension damping parameters, the real-time tire pressure parameters and suspension damping parameters of the target automatic agricultural machinery are adjusted accordingly to generate an adaptive tire state adjustment strategy.

[0010] As a further limitation of the technical solution of the embodiment of the present invention, the preset reference table includes standard tire pressure parameters and standard suspension damping parameters required for the target automatic agricultural machinery to maintain good balance under different ground bearing capacity and humidity conditions.

[0011] As a further limitation of the technical solution of the embodiment of the present invention, the preset time window refers to an appropriate time period before the tires of the target automatic agricultural machinery are about to reach the designated ground area from the current ground area, that is, the time when the tires are close to the designated ground area.

[0012] As a further limitation of the technical solution of the embodiment of the present invention, after the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, the steps of obtaining the posture balance state of the target automatic agricultural machine, evaluating the degree of deviation from the expected balance state, and optimizing the subsequent adaptive tire working condition adjustment strategy according to the degree of deviation include: The target automatic agricultural machine is provided with a gyroscope, and the gyroscope is used to monitor the angular velocity and tilt of the target automatic agricultural machine in real time to determine the posture balance state of the target automatic agricultural machine during driving; After the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, the gyroscope data of the target automatic agricultural machine is collected to determine the attitude balance state of the target automatic agricultural machine; obtaining an expected balance state of the target automatic agricultural machine, and evaluating the degree of deviation between the posture balance state of the target automatic agricultural machine and the expected balance state; When formulating the subsequent adaptive tire state adjustment strategy, that is, when adjusting the real-time tire pressure parameters and real-time suspension damping parameters of the target automatic agricultural machinery according to the standard tire pressure parameters and standard suspension damping parameters, the adjustment range is dynamically adjusted according to the degree of deviation.

[0013] A control system for an automatic driving device for agricultural machinery, the system comprising: a depression degree detection module, an adjustment strategy generation module, a tire working state dynamic adjustment module and an adjustment strategy optimization module, wherein: A depression degree detection module is used to detect the depression degree of a designated ground area on the travel path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area; An adjustment strategy generation module is used to obtain the real-time tire working condition of the target automatic agricultural machine, and generate an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition; A tire working state dynamic adjustment module, used to dynamically adjust the tire working state according to an adaptive tire condition adjustment strategy within a preset time window before the tire of the target automatic agricultural machine reaches the designated ground area; The adjustment strategy optimization module is used to obtain the posture balance state of the target automatic agricultural machinery after the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, evaluate the degree of deviation from the expected balance state, and optimize the subsequent adaptive tire working condition adjustment strategy based on the deviation degree.

[0014] As a further limitation of the technical solution of the embodiment of the present invention, the target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device comprises a first mounting element, the first mounting element is fixedly mounted on the front end of the target automatic agricultural machine, a retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element; A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

[0015] As a further limitation of the technical solution of the embodiment of the present invention, the depression degree detection module specifically includes: The command generating unit is used to generate a hydraulic extension and retraction command when the target automatic agricultural machine travels to a designated ground area and the multifunctional sensing module is located above the designated ground area; An instruction execution unit, used for sending a hydraulic extension instruction to the hydraulic extension element, so that it drives the second installation element to extend to a designated ground area; The depression information collection unit is used to collect the bearing capacity data and humidity data of the ground after the multifunctional sensing module contacts the ground, and to generate predicted depression information for a designated ground area based on these data.

[0016] Compared with the prior art, the present invention has the following beneficial effects: It can effectively solve technical problems such as body tilt, unstable driving and reduced operation accuracy that are easy to occur when agricultural machinery is driving on muddy and uneven ground. By detecting the degree of depression in the target ground area and generating an adaptive adjustment strategy based on the real-time tire working conditions, the present invention can predict and respond to the characteristics of muddy ground in advance and ensure the stability of agricultural machinery driving.

[0017] Especially in muddy terrain, the ground is soft and the load-bearing capacity is uneven, so traditional agricultural machinery is prone to sinking and tilting when passing through. The present invention dynamically adjusts the tire pressure and suspension damping according to the predicted sinking information within a preset time window before the agricultural machinery reaches the designated ground, so that the agricultural machinery has completed the optimal tire adjustment before entering the muddy area. This pre-adaptive adjustment strategy greatly reduces the sudden tilt and instability caused by muddy ground, ensures the smooth driving of the vehicle when passing through muddy ground, and reduces the risk of sinking and slipping.

[0018] In addition, after the agricultural machinery passes through the muddy area, the system will collect the posture balance state of the agricultural machinery in real time, and compare it with the expected balance state, and continuously optimize the subsequent adjustment strategy according to the degree of deviation, so that the agricultural machinery has continuous adaptive adjustment capabilities in complex terrain. This feedback mechanism further enhances the adaptability of the vehicle on muddy ground, allowing the agricultural machinery to operate efficiently and accurately in muddy and uneven terrain, while effectively reducing mechanical losses and extending the service life of the equipment. In general, the present invention combines prediction with feedback to ensure that automatic agricultural machinery can maintain efficient and stable driving and operation on muddy ground, and has significant practical value and innovative advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a method provided by an embodiment of the present invention.

[0020] Figure 2 A flowchart of obtaining predicted depression information of a specified ground area in the method provided in an embodiment of the present invention.

[0021] Figure 3 A flow chart of generating an adaptive tire operating condition adjustment strategy in the method provided in an embodiment of the present invention.

[0022] Figure 4 A flow chart of optimizing a subsequent adaptive tire operating condition adjustment strategy in a method provided in an embodiment of the present invention.

[0023] Figure 5 This is an application architecture diagram of the system provided in an embodiment of the present invention.

[0024] Figure 6 This is a structural block diagram of a depression degree detection module in a system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script.

[0027] Figure 1 A flow chart of a method provided by an embodiment of the present invention is shown.

[0028] Specifically, a control method for an agricultural machinery automatic driving device comprises the following steps: Step S100 , detecting the depression degree of a designated ground area on the travel path of the target automatic agricultural machine to obtain predicted depression information of the designated ground area.

[0029] The target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device includes a first mounting element, which is fixedly mounted on the front end of the target automatic agricultural machinery. A retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element.

[0030] A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

[0031] In the embodiment of the present invention, the designated ground area refers to a specific plot of land in the travel path of the target automatic agricultural machinery, which is the location that the vehicle is about to pass, and the ground characteristics need to be understood in advance to ensure that the vehicle passes safely and stably.

[0032] The purpose of detecting the degree of depression is to determine the hardness and bearing capacity of the ground, so as to predict the depression depth of the vehicle tire when passing through. The degree of depression directly affects the driving stability and operation accuracy of agricultural machinery. If the depression is too deep, the vehicle may tilt, become unstable, or even slip or sink, resulting in deviation and operation error, which in turn affects the quality of agricultural operations, such as the uniformity and accuracy of tasks such as spraying, sowing or harvesting. Even if the depression of the ground is reduced or shallower after the target automatic agricultural machinery arrives at the designated ground area, the vehicle may still tilt and become unstable. This is because the bearing capacity and surface characteristics of the ground are not only determined by the depth of the depression, but also closely related to factors such as the uniformity of the soil, local differences in hardness, and the distribution of moisture. If the tire falls on an uneven ground area, even if the depression is shallow, the support force of the left and right wheels or the front and rear wheels may be different, causing the vehicle to tilt or tilt forward and backward. This unbalanced support will cause the vehicle posture to lose balance and affect the overall driving stability.

[0033] In addition, the load weight of agricultural machinery may also exacerbate this instability, especially during operation, due to the uneven weight distribution of crops or mechanical equipment, the vehicle is more likely to tilt when passing through uneven hard and soft ground. Therefore, the change in the degree of depression is only one factor in the change of ground support force, and the balance state of the vehicle may still be affected by other complex factors.

[0034] The "front end of the target automatic agricultural machinery" specifically refers to the front area of ​​the agricultural machinery, that is, the frontmost position in the direction of travel of the vehicle. The advantage of installing a ground depression detection device at this position is that the ground conditions ahead can be detected before the tires arrive, thereby providing sufficient time for subsequent tire and suspension adjustments to ensure driving stability.

[0035] The pressure sensor is used to measure the bearing capacity of the ground. It determines the hardness and support capacity of the ground by applying a specific pressure to the ground and measuring the reaction force. If the pressure reaction force applied by the tire to the ground is small and below a preset threshold, it means that the ground is soft and has poor bearing capacity, and the tire may sink deeply. The ground humidity sensing unit is used to measure the moisture content of the surface soil. The ground humidity directly affects the viscosity and hardness of the soil. Ground with higher humidity is often more likely to form mud and has poor support. The measured humidity data can be used to further determine the soft and hard characteristics of the ground, thereby assisting in predicting the bearing capacity of the ground and the degree of tire sinking.

[0036] When the hydraulic element drives the second mounting assembly and the multifunctional sensor module thereon to press against the ground, the design can well simulate the process of the agricultural machinery tire acting on the ground. By applying a specific pressure through the hydraulic system, the force and depth of the sensor module in contact with the ground are similar to the actual downward pressure process of the tire, thereby effectively simulating the depression of the tire and the ground response characteristics when in contact with the ground.

[0037] Specifically, Figure 2 A flow chart for obtaining predicted depression information of a specified ground area is shown.

[0038] The process of detecting the depression degree of a designated ground area on the path of the target automatic agricultural machine to obtain predicted depression information of the designated ground area specifically includes the following steps: Step S101, when the target automatic agricultural machine travels to a designated ground area and the multifunctional sensor module is located above the designated ground area, a hydraulic extension and retraction instruction is generated; Step S102, sending a hydraulic expansion and contraction instruction to the hydraulic expansion and contraction element, so that it drives the second installation element to expand toward a designated ground area; Step S103, when the multifunctional sensing module contacts the ground, it collects bearing capacity data and humidity data of the ground, and generates predicted depression information for a designated ground area based on these data.

[0039] In the embodiment of the present invention, when the target automatic agricultural machine travels to the designated ground area, the multifunctional sensor module is first positioned directly above the designated area. The system generates a hydraulic extension command to instruct the hydraulic extension element to perform an extension operation. The control system sends the hydraulic extension command to the hydraulic extension element, which then drives the connected second mounting element to carry the multifunctional sensor module to extend to the designated ground area below, so that the multifunctional sensor module is in full contact with the ground.

[0040] When the multifunctional sensing module comes into contact with the ground, the pressure sensor and humidity sensing unit collect the bearing capacity data and humidity data of the ground respectively. These data are then sent to the control system for analysis to determine the bearing capacity and potential softness and hardness characteristics of the ground. Based on these measured data, the control system generates predicted depression information for the specified ground area, providing necessary support for the driving adjustment of the agricultural machinery tire after entering the area.

[0041] Furthermore, the control method for the agricultural machinery automatic driving equipment further includes the following steps: Step S200, obtaining the real-time tire working condition of the target automatic agricultural machine, and generating an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition.

[0042] Specifically, Figure 3A flow chart for generating an adaptive tire operating condition adjustment strategy is shown.

[0043] The process of obtaining the real-time tire working condition of the target automatic agricultural machine and generating an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition specifically includes the following steps: Step S201, obtaining the real-time tire working condition of the target automatic agricultural machine, wherein the real-time tire working condition includes the real-time tire pressure parameter and the real-time suspension damping parameter of the target automatic agricultural machine; Step S202, calling a preset reference table, and finding corresponding standard tire pressure parameters and standard suspension damping parameters in the preset reference table according to the predicted sag information; Step S203: adjusting the real-time tire pressure parameters and suspension damping parameters of the target automatic agricultural machine according to the standard tire pressure parameters and suspension damping parameters to generate an adaptive tire state adjustment strategy.

[0044] The preset reference table includes standard tire pressure parameters and standard suspension damping parameters required for the target automatic agricultural machine to maintain good balance under different ground bearing capacity and humidity conditions.

[0045] In an embodiment of the present invention, the real-time tire pressure parameters of the target automatic agricultural machinery are obtained in real time through tire pressure sensors installed inside the tires. These sensors continuously monitor the air pressure changes of each tire and transmit the data to the central control unit. The suspension damping parameters are measured in real time by the suspension damping sensors integrated in the suspension system. These sensors can monitor the current damping state of the suspension and feed the data back to the control system. Through the joint monitoring of tire pressure and suspension damping sensors, the system can grasp the working condition of the vehicle's tires in real time and provide reliable data support for subsequent adjustments.

[0046] The preset reference table is based on a large amount of experimental data and historical operating experience in the agricultural field, combined with the optimal performance of agricultural machinery operation under various ground conditions. Specifically, agricultural technicians conduct extensive testing of agricultural machinery under various terrain and environmental conditions (such as soft muddy land, hard soil, high humidity areas, etc.), recording the ground bearing capacity and humidity under each condition, as well as the optimal tire pressure and suspension damping parameters required for the vehicle to maintain balance and operating accuracy under these conditions. These experimental data are sorted and classified to form a preset reference table for guiding automatic agricultural machinery, which helps the system to make effective adjustments under different ground conditions to ensure stable driving and operating performance.

[0047] According to the standard tire pressure and suspension damping parameters found in the preset reference table, the system will make corresponding adjustments to the real-time tire status of the target automatic agricultural machinery. Specifically, the automatic agricultural machinery is equipped with a central inflation and deflation system (CTIS) for tire pressure adjustment. The control system sends inflation or deflation instructions to the compressor and air valve in the tire according to the preset standard tire pressure, and automatically adjusts the tire pressure to ensure that the tire has the best adhesion and contact area under the current ground conditions. At the same time, the adjustment of suspension damping is achieved through the electronic control suspension system (ECS). The system sends instructions to the suspension electronic control unit according to the standard suspension damping parameters, and dynamically controls the hardness of the suspension by adjusting the opening and closing degree of the suspension damping valve to cope with the depression and unevenness of the ground and maintain the balance and stability of the vehicle.

[0048] Through this set of dynamic adjustment strategies, the target automatic agricultural machinery can adaptively adjust its tire pressure and suspension under different ground conditions to ensure smooth passage, reduce the impact of terrain changes on vehicle and operation accuracy, improve the overall operation efficiency of agricultural machinery, and reduce equipment wear and tear.

[0049] Furthermore, the control method for the agricultural machinery automatic driving equipment further includes the following steps: Step S300, dynamically adjusting the tire working state according to the adaptive tire condition adjustment strategy within a preset time window before the tires of the target automatic agricultural machine arrive at the designated ground area.

[0050] The preset time window refers to an appropriate time period before the tire of the target automatic agricultural machine is about to reach the designated ground area from the current ground area, that is, the time when the tire is in close contact with the designated ground area.

[0051] In the embodiment of the present invention, the setting of the preset time window is crucial, which enables the system to make necessary adjustments in advance according to the ground conditions ahead, rather than waiting until the tires actually enter the complex ground before starting to respond. This can ensure that the agricultural machinery can achieve a smooth transition when entering new terrain, significantly reducing vehicle imbalance and operation deviations caused by terrain changes. At the same time, making adjustments in advance can reduce the vehicle's reaction lag when the ground characteristics change, thereby improving driving stability and operation accuracy, and reducing mechanical losses and resource waste caused by sudden adjustments. By rationally utilizing the preset time window, agricultural machinery can better adapt to ground changes and ensure safe and efficient operations in complex terrain.

[0052] Furthermore, the control method for the agricultural machinery automatic driving equipment further includes the following steps: Step S400, after the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, the posture balance state of the target automatic agricultural machinery is obtained, the degree of deviation from the expected balance state is evaluated, and the subsequent adaptive tire working condition adjustment strategy is optimized according to the degree of deviation.

[0053] Specifically, Figure 4 A flow chart for optimizing a subsequent adaptive tire operating condition adjustment strategy is shown.

[0054] Among them, after the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, the posture balance state of the target automatic agricultural machine is obtained, the degree of deviation from the expected balance state is evaluated, and the subsequent adaptive tire working condition adjustment strategy is optimized according to the degree of deviation. Specifically, the following steps are included: Step S401, after the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, collecting gyroscope data of the target automatic agricultural machine to determine the attitude balance state of the target automatic agricultural machine; Step S402, obtaining an expected balance state of the target automatic agricultural machine, and evaluating the degree of deviation between the posture balance state of the target automatic agricultural machine and the expected balance state; Step S403, when formulating the subsequent adaptive tire state adjustment strategy, that is, when adjusting the real-time tire pressure parameters and real-time suspension damping parameters of the target automatic agricultural machinery according to the standard tire pressure parameters and standard suspension damping parameters, dynamically adjust the adjustment range according to the degree of deviation.

[0055] The target automatic agricultural machine is provided with a gyroscope, and the gyroscope is used to monitor the angular velocity and tilt of the target automatic agricultural machine in real time to determine the posture balance state of the target automatic agricultural machine during driving.

[0056] In the embodiment of the present invention, the expected balance state refers to the ideal posture that the target automatic agricultural machinery is expected to maintain when passing through different ground conditions, ensuring that the vehicle remains level and stable during driving. This state is pre-set, based on the standard posture of the agricultural machinery on flat and uniform ground, and fine-tuned in combination with the characteristics of the specific terrain and the operating requirements. The setting of the expected balance state includes indicators such as the tilt angle is zero or a smaller angle within the specified range, and the overall balance of the vehicle is not tilted, not tilted forward or backward. These standards are to ensure that the agricultural machinery can always maintain a good posture during the operation and avoid operational deviations and instability.

[0057] The degree of deviation is used to measure the difference between the actual posture and the expected balance state, which can be calculated using data collected by the gyroscope. The degree of deviation is usually expressed as a percentage, for example, by calculating the ratio of the current tilt angle to the ideal state. Specifically, the gyroscope collects the actual tilt angle of the agricultural machinery in real time, such as front and rear tilt or lateral tilt, and then compares it with the preset ideal tilt angle to calculate the actual deviation of the vehicle from the expected degree. By comparing the current angle with the maximum allowable deviation angle, a percentage deviation is obtained to help the system determine whether the vehicle needs further adjustment.

[0058] When adjusting the real-time tire pressure parameters and suspension damping parameters of the target automatic agricultural machinery, dynamically adjusting the adjustment range according to the degree of deviation means that the system will determine the adjustment strength of the tire pressure and suspension damping according to the calculated degree of deviation. The greater the degree of deviation, the greater the adjustment range, and vice versa. This dynamic adjustment method can ensure that the vehicle remains stable under different terrain conditions and avoid unstable driving due to insufficient or excessive adjustment.

[0059] For example, suppose the target autonomous agricultural machine is passing through a muddy ground with different depression depths. After the front wheels of the agricultural machine enter the designated ground area, the gyroscope data detects that the forward tilt angle of the agricultural machine is 3°, while the expected balance state is 0°, and the maximum allowable deviation angle is 5°, so the calculated deviation degree is 60%. In this case, the system will decide to significantly increase the suspension damping to increase the support force of the suspension and prevent the vehicle from tilting further. At the same time, the system will appropriately reduce the tire pressure to increase the contact area of ​​the tire and obtain better ground adhesion to increase the stability of the vehicle body. On the other hand, if the calculated deviation degree is only 20%, it means that the tilt of the vehicle is not serious, and the system will make relatively small suspension adjustments and tire pressure adjustments to ensure that the posture balance can be improved without causing driving discomfort due to excessive adjustments.

[0060] This dynamic adjustment strategy ensures that each adjustment is matched to the actual needs of the vehicle, thus achieving a more precise control effect. The dynamic adjustment significantly improves the vehicle's balance control accuracy, making each adjustment consistent with the vehicle's actual conditions and avoiding secondary deviations caused by over- or under-adjustment. At the same time, dynamic adjustment reduces unnecessary system operations under complex ground conditions, making the vehicle's operations more efficient and precise, and reducing the time and energy consumption required for adjustment.

[0061] More importantly, this dynamic adjustment strategy based on the degree of deviation provides a data basis for the adaptive learning of the system. By continuously collecting the actual deviation and adjustment response of the vehicle under different terrains, the system can gradually optimize its adjustment algorithm to make the subsequent automatic adjustment more intelligent and in line with the actual situation. This method can not only improve the operating stability of agricultural machinery, but also significantly reduce the operating errors caused by tilt, and improve the quality and uniformity of spraying, sowing, harvesting and other work. Therefore, the optimization of dynamic adjustment strategies is crucial in maintaining the working efficiency of agricultural machinery and extending the service life of equipment.

[0062] Furthermore, Figure 5 The application architecture diagram of the system provided by the embodiment of the present invention is shown.

[0063] Among them, in another preferred embodiment provided by the present invention, a control system for automatic driving equipment of agricultural machinery includes: The depression degree detection module 100 is used to detect the depression degree of a designated ground area on the travel path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area.

[0064] The target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device comprises a first mounting element, the first mounting element is fixedly mounted on the front end of the target automatic agricultural machine, a retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element; A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

[0065] In the embodiment of the present invention, the designated ground area refers to a specific plot of land in the travel path of the target automatic agricultural machinery, which is the location that the vehicle is about to pass, and the ground characteristics need to be understood in advance to ensure that the vehicle passes safely and stably.

[0066] The purpose of detecting the degree of depression is to determine the hardness and bearing capacity of the ground, so as to predict the depression depth of the vehicle tire when passing through. The degree of depression directly affects the driving stability and operation accuracy of agricultural machinery. If the depression is too deep, the vehicle may tilt, become unstable, or even slip or sink, resulting in deviation and operation error, which in turn affects the quality of agricultural operations, such as the uniformity and accuracy of tasks such as spraying, sowing or harvesting. Even if the depression of the ground is reduced or shallower after the target automatic agricultural machinery arrives at the designated ground area, the vehicle may still tilt and become unstable. This is because the bearing capacity and surface characteristics of the ground are not only determined by the depth of the depression, but also closely related to factors such as the uniformity of the soil, local differences in hardness, and the distribution of moisture. If the tire falls on an uneven ground area, even if the depression is shallow, the support force of the left and right wheels or the front and rear wheels may be different, causing the vehicle to tilt or tilt forward and backward. This unbalanced support will cause the vehicle posture to lose balance and affect the overall driving stability.

[0067] In addition, the load weight of agricultural machinery may also exacerbate this instability, especially during operation, due to the uneven weight distribution of crops or mechanical equipment, the vehicle is more likely to tilt when passing through uneven hard and soft ground. Therefore, the change in the degree of depression is only one factor in the change of ground support force, and the balance state of the vehicle may still be affected by other complex factors.

[0068] The "front end of the target automatic agricultural machinery" specifically refers to the front area of ​​the agricultural machinery, that is, the frontmost position in the direction of travel of the vehicle. The advantage of installing a ground depression detection device at this position is that the ground conditions ahead can be detected before the tires arrive, thereby providing sufficient time for subsequent tire and suspension adjustments to ensure driving stability.

[0069] The pressure sensor is used to measure the bearing capacity of the ground. It determines the hardness and support capacity of the ground by applying a specific pressure to the ground and measuring the reaction force. If the pressure reaction force applied by the tire to the ground is small and below a preset threshold, it means that the ground is soft and has poor bearing capacity, and the tire may sink deeply. The ground humidity sensing unit is used to measure the moisture content of the surface soil. The ground humidity directly affects the viscosity and hardness of the soil. Ground with higher humidity is often more likely to form mud and has poor support. The measured humidity data can be used to further determine the soft and hard characteristics of the ground, thereby assisting in predicting the bearing capacity of the ground and the degree of tire sinking.

[0070] When the hydraulic element drives the second mounting assembly and the multifunctional sensor module thereon to press against the ground, the design can well simulate the process of the agricultural machinery tire acting on the ground. By applying a specific pressure through the hydraulic system, the force and depth of the sensor module in contact with the ground are similar to the actual downward pressure process of the tire, thereby effectively simulating the depression of the tire and the ground response characteristics when in contact with the ground.

[0071] Specifically, Figure 6 It shows a structural block diagram of the depression degree detection module 100 in the system provided by an embodiment of the present invention.

[0072] Among them, in the preferred embodiment provided by the present invention, the depression degree detection module 100 specifically includes: The command generating unit 101 is used to generate a hydraulic extension and retraction command when the target automatic agricultural machine travels to a designated ground area and the multifunctional sensing module is located above the designated ground area; The instruction execution unit 102 is used to send a hydraulic expansion and contraction instruction to the hydraulic expansion and contraction element, so that it drives the second installation element to expand toward a designated ground area; The depression information collection unit 103 is used to collect bearing capacity data and humidity data of the ground after the multifunctional sensing module contacts the ground, and to generate predicted depression information for a designated ground area based on these data.

[0073] In the embodiment of the present invention, when the target automatic agricultural machine travels to the designated ground area, the multifunctional sensor module is first positioned directly above the designated area. The system generates a hydraulic extension command to instruct the hydraulic extension element to perform an extension operation. The control system sends the hydraulic extension command to the hydraulic extension element, which then drives the connected second mounting element to carry the multifunctional sensor module to extend to the designated ground area below, so that the multifunctional sensor module is in full contact with the ground.

[0074] When the multifunctional sensing module comes into contact with the ground, the pressure sensor and humidity sensing unit collect the bearing capacity data and humidity data of the ground respectively. These data are then sent to the control system for analysis to determine the bearing capacity and potential softness and hardness characteristics of the ground. Based on these measured data, the control system generates predicted depression information for the specified ground area, providing necessary support for the driving adjustment of the agricultural machinery tire after entering the area.

[0075] Furthermore, the control system for the agricultural machinery automatic driving equipment also includes: The adjustment strategy generation module 200 is used to obtain the real-time tire working condition of the target automatic agricultural machine, and generate an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition.

[0076] In an embodiment of the present invention, the real-time tire pressure parameters of the target automatic agricultural machinery are obtained in real time through tire pressure sensors installed inside the tires. These sensors continuously monitor the air pressure changes of each tire and transmit the data to the central control unit. The suspension damping parameters are measured in real time by the suspension damping sensors integrated in the suspension system. These sensors can monitor the current damping state of the suspension and feed the data back to the control system. Through the joint monitoring of tire pressure and suspension damping sensors, the system can grasp the working condition of the vehicle's tires in real time and provide reliable data support for subsequent adjustments.

[0077] The preset reference table is based on a large amount of experimental data and historical operating experience in the agricultural field, combined with the optimal performance of agricultural machinery operation under various ground conditions. Specifically, agricultural technicians conduct extensive testing of agricultural machinery under various terrain and environmental conditions (such as soft muddy land, hard soil, high humidity areas, etc.), recording the ground bearing capacity and humidity under each condition, as well as the optimal tire pressure and suspension damping parameters required for the vehicle to maintain balance and operating accuracy under these conditions. These experimental data are sorted and classified to form a preset reference table for guiding automatic agricultural machinery, which helps the system to make effective adjustments under different ground conditions to ensure stable driving and operating performance.

[0078] According to the standard tire pressure and suspension damping parameters found in the preset reference table, the system will make corresponding adjustments to the real-time tire status of the target automatic agricultural machinery. Specifically, the automatic agricultural machinery is equipped with a central inflation and deflation system (CTIS) for tire pressure adjustment. The control system sends inflation or deflation instructions to the compressor and air valve in the tire according to the preset standard tire pressure, and automatically adjusts the tire pressure to ensure that the tire has the best adhesion and contact area under the current ground conditions. At the same time, the adjustment of suspension damping is achieved through the electronic control suspension system (ECS). The system sends instructions to the suspension electronic control unit according to the standard suspension damping parameters, and dynamically controls the hardness of the suspension by adjusting the opening and closing degree of the suspension damping valve to cope with the depression and unevenness of the ground and maintain the balance and stability of the vehicle.

[0079] Through this set of dynamic adjustment strategies, the target automatic agricultural machinery can adaptively adjust its tire pressure and suspension under different ground conditions to ensure smooth passage, reduce the impact of terrain changes on vehicle and operation accuracy, improve the overall operation efficiency of agricultural machinery, and reduce equipment wear and tear.

[0080] Furthermore, the control system for the agricultural machinery automatic driving equipment also includes: The tire working state dynamic adjustment module 300 is used to dynamically adjust the tire working state according to the adaptive tire condition adjustment strategy within a preset time window before the tires of the target automatic agricultural machine arrive at the designated ground area.

[0081] In the embodiment of the present invention, the setting of the preset time window is crucial, which enables the system to make necessary adjustments in advance according to the ground conditions ahead, rather than waiting until the tires actually enter the complex ground before starting to respond. This can ensure that the agricultural machinery can achieve a smooth transition when entering new terrain, significantly reducing vehicle imbalance and operation deviations caused by terrain changes. At the same time, making adjustments in advance can reduce the vehicle's reaction lag when the ground characteristics change, thereby improving driving stability and operation accuracy, and reducing mechanical losses and resource waste caused by sudden adjustments. By rationally utilizing the preset time window, agricultural machinery can better adapt to ground changes and ensure safe and efficient operations in complex terrain.

[0082] Furthermore, the control system for the agricultural machinery automatic driving equipment also includes: The adjustment strategy optimization module 400 is used to obtain the posture balance state of the target automatic agricultural machinery after the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, evaluate the degree of deviation from the expected balance state, and optimize the subsequent adaptive tire working condition adjustment strategy based on the deviation degree.

[0083] In the embodiment of the present invention, the expected balance state refers to the ideal posture that the target automatic agricultural machinery is expected to maintain when passing through different ground conditions, ensuring that the vehicle remains level and stable during driving. This state is pre-set, based on the standard posture of the agricultural machinery on flat and uniform ground, and fine-tuned in combination with the characteristics of the specific terrain and the operating requirements. The setting of the expected balance state includes indicators such as the tilt angle is zero or a smaller angle within the specified range, and the overall balance of the vehicle is not tilted, not tilted forward or backward. These standards are to ensure that the agricultural machinery can always maintain a good posture during the operation and avoid operational deviations and instability.

[0084] The degree of deviation is used to measure the difference between the actual posture and the expected balance state, which can be calculated using data collected by the gyroscope. The degree of deviation is usually expressed as a percentage, for example, by calculating the ratio of the current tilt angle to the ideal state. Specifically, the gyroscope collects the actual tilt angle of the agricultural machinery in real time, such as front and rear tilt or lateral tilt, and then compares it with the preset ideal tilt angle to calculate the actual deviation of the vehicle from the expected degree. By comparing the current angle with the maximum allowable deviation angle, a percentage deviation is obtained to help the system determine whether the vehicle needs further adjustment.

[0085] When adjusting the real-time tire pressure parameters and suspension damping parameters of the target automatic agricultural machinery, dynamically adjusting the adjustment range according to the degree of deviation means that the system will determine the adjustment strength of the tire pressure and suspension damping according to the calculated degree of deviation. The greater the degree of deviation, the greater the adjustment range, and vice versa. This dynamic adjustment method can ensure that the vehicle remains stable under different terrain conditions and avoid unstable driving due to insufficient or excessive adjustment.

[0086] For example, suppose the target autonomous agricultural machine is passing through a muddy ground with different depression depths. After the front wheels of the agricultural machine enter the designated ground area, the gyroscope data detects that the forward tilt angle of the agricultural machine is 3°, while the expected balance state is 0°, and the maximum allowable deviation angle is 5°, so the calculated deviation degree is 60%. In this case, the system will decide to significantly increase the suspension damping to increase the support force of the suspension and prevent the vehicle from tilting further. At the same time, the system will appropriately reduce the tire pressure to increase the contact area of ​​the tire and obtain better ground adhesion to increase the stability of the vehicle body. On the other hand, if the calculated deviation degree is only 20%, it means that the tilt of the vehicle is not serious, and the system will make relatively small suspension adjustments and tire pressure adjustments to ensure that the posture balance can be improved without causing driving discomfort due to excessive adjustments.

[0087] This dynamic adjustment strategy ensures that each adjustment is matched to the actual needs of the vehicle, thus achieving a more precise control effect. The dynamic adjustment significantly improves the vehicle's balance control accuracy, making each adjustment consistent with the vehicle's actual conditions and avoiding secondary deviations caused by over- or under-adjustment. At the same time, dynamic adjustment reduces unnecessary system operations under complex ground conditions, making the vehicle's operations more efficient and precise, and reducing the time and energy consumption required for adjustment.

[0088] More importantly, this dynamic adjustment strategy based on the degree of deviation provides a data basis for the adaptive learning of the system. By continuously collecting the actual deviation and adjustment response of the vehicle under different terrains, the system can gradually optimize its adjustment algorithm to make the subsequent automatic adjustment more intelligent and in line with the actual situation. This method can not only improve the operating stability of agricultural machinery, but also significantly reduce the operating errors caused by tilt, and improve the quality and uniformity of spraying, sowing, harvesting and other work. Therefore, the optimization of dynamic adjustment strategies is crucial in maintaining the working efficiency of agricultural machinery and extending the service life of equipment.

[0089] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0090] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for automatic driving equipment of agricultural machinery, characterized in that: The method comprises: Performing depression detection on a designated ground area on a path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area; Acquire the real-time tire working condition of the target automatic agricultural machine, and generate an adaptive tire working condition adjustment strategy by combining the predicted depression information of the designated ground area and the real-time tire working condition; Dynamically adjusting the tire working state according to the adaptive tire condition adjustment strategy within a preset time window before the tire of the target autonomous agricultural machine reaches the designated ground area; After the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, the posture balance state of the target automatic agricultural machinery is obtained, the degree of deviation from the expected balance state is evaluated, and the subsequent adaptive tire working condition adjustment strategy is optimized according to the deviation degree.

2. The control method for automatic driving equipment of agricultural machinery according to claim 1, characterized in that: The target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device comprises a first mounting element, the first mounting element is fixedly mounted on the front end of the target automatic agricultural machine, a retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element; A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

3. The control method for automatic driving equipment of agricultural machinery according to claim 2, characterized in that: The steps of detecting the depression degree of a designated ground area on the path of the target automatic agricultural machine to obtain predicted depression information of the designated ground area include: When the target automatic agricultural machine travels to the designated ground area and the multifunctional sensing module is located above the designated ground area, a hydraulic extension and retraction instruction is generated; sending a hydraulic extension and retraction instruction to the hydraulic extension and retraction element so that it drives the second mounting element to extend toward a designated ground area; When the multifunctional sensing module comes into contact with the ground, it collects the bearing capacity data and humidity data of the ground, and generates predicted depression information for the designated ground area based on these data.

4. The control method for automatic driving equipment of agricultural machinery according to claim 3, characterized in that: The steps of obtaining the real-time tire working condition of the target automatic agricultural machine and generating an adaptive tire working condition adjustment strategy by combining the predicted depression information of the designated ground area and the real-time tire working condition include: Acquiring a real-time tire working condition of the target automatic agricultural machine, wherein the real-time tire working condition includes a real-time tire pressure parameter and a real-time suspension damping parameter of the target automatic agricultural machine; Retrieving a preset reference table, and finding corresponding standard tire pressure parameters and standard suspension damping parameters in the preset reference table according to the predicted sag information; According to the standard tire pressure parameters and suspension damping parameters, the real-time tire pressure parameters and suspension damping parameters of the target automatic agricultural machinery are adjusted accordingly to generate an adaptive tire state adjustment strategy.

5. The control method for automatic driving equipment of agricultural machinery according to claim 4, characterized in that: The preset reference table includes standard tire pressure parameters and standard suspension damping parameters required for the target automatic agricultural machine to maintain good balance under different ground bearing capacity and humidity conditions.

6. The control method for automatic driving equipment of agricultural machinery according to claim 1, characterized in that: The preset time window refers to an appropriate time period before the tire of the target automatic agricultural machine is about to reach the designated ground area from the current ground area, that is, the time when the tire is in close contact with the designated ground area.

7. The control method for automatic driving equipment of agricultural machinery according to claim 4, characterized in that: After the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, the steps of obtaining the posture balance state of the target automatic agricultural machine, evaluating the degree of deviation from the expected balance state, and optimizing the subsequent adaptive tire working condition adjustment strategy according to the degree of deviation include: The target automatic agricultural machine is provided with a gyroscope, and the gyroscope is used to monitor the angular velocity and tilt of the target automatic agricultural machine in real time to determine the posture balance state of the target automatic agricultural machine during driving; After the target automatic agricultural machine passes through the designated ground area according to the adjusted tire working condition, the gyroscope data of the target automatic agricultural machine is collected to determine the attitude balance state of the target automatic agricultural machine; obtaining an expected balance state of the target automatic agricultural machine, and evaluating the degree of deviation between the posture balance state of the target automatic agricultural machine and the expected balance state; When formulating the subsequent adaptive tire state adjustment strategy, that is, when adjusting the real-time tire pressure parameters and real-time suspension damping parameters of the target automatic agricultural machinery according to the standard tire pressure parameters and standard suspension damping parameters, the adjustment range is dynamically adjusted according to the degree of deviation.

8. A control system for automatic driving equipment of agricultural machinery, characterized in that: The system comprises: a depression degree detection module, an adjustment strategy generation module, a tire working state dynamic adjustment module and an adjustment strategy optimization module, wherein: A depression degree detection module is used to detect the depression degree of a designated ground area on the travel path of the target automatic agricultural machinery to obtain predicted depression information of the designated ground area; An adjustment strategy generation module is used to obtain the real-time tire working condition of the target automatic agricultural machine, and generate an adaptive tire working condition adjustment strategy in combination with the predicted depression information of the designated ground area and the real-time tire working condition; A tire working state dynamic adjustment module, used to dynamically adjust the tire working state according to an adaptive tire condition adjustment strategy within a preset time window before the tire of the target automatic agricultural machine reaches the designated ground area; The adjustment strategy optimization module is used to obtain the posture balance state of the target automatic agricultural machinery after the target automatic agricultural machinery passes through the designated ground area according to the adjusted tire working condition, evaluate the degree of deviation from the expected balance state, and optimize the subsequent adaptive tire working condition adjustment strategy based on the deviation degree.

9. The control system for automatic driving equipment for agricultural machinery according to claim 8, characterized in that: The target automatic agricultural machine is provided with a ground depression degree detection device; The ground depression degree detection device comprises a first mounting element, the first mounting element is fixedly mounted on the front end of the target automatic agricultural machine, a retractable hydraulic retractable element is integrated on the first mounting element, and one end of the hydraulic retractable element is connected to a second mounting element; A multifunctional sensing module is installed on the second mounting element, including a pressure sensor and a ground humidity sensing unit, which can be used to measure the bearing capacity and humidity characteristics of the ground.

10. The control system for automatic driving equipment for agricultural machinery according to claim 9, characterized in that: The depression degree detection module specifically includes: The command generating unit is used to generate a hydraulic extension and retraction command when the target automatic agricultural machine travels to a designated ground area and the multifunctional sensing module is located above the designated ground area; An instruction execution unit, used for sending a hydraulic extension instruction to the hydraulic extension element, so that it drives the second installation element to extend to a designated ground area; The depression information collection unit is used to collect the bearing capacity data and humidity data of the ground after the multifunctional sensing module contacts the ground, and to generate predicted depression information for a designated ground area based on these data.

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