Row control method and device of harvester, electronic equipment and storage medium

Abstract

The invention provides a row control method and device of a harvester, electronic equipment and a storage medium. The row control method comprises the steps that the center position of each target crop in multiple target crops is acquired; based on the central position, determining an included angle between a plurality of target crops and a harvester header divider; based on the included angle, the steering direction of the wheels of the harvester is adjusted so that the harvester header divider can be aligned to the multiple target crops. By adopting the technical scheme provided by the invention, the fatigue feeling of a driver is relieved, complex working conditions can be coped, stable operation is ensured, meanwhile, device damage is avoided, and the accuracy of the harvester over against crops is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic row alignment technology, and in particular to a row alignment control method, device, electronic equipment and storage medium for a harvester. Background Art

[0002] With the development of science and technology, crop harvesting technology is also developing and progressing, and the way of crop harvesting is gradually changing from traditional manual labor to mechanized operations. As an important achievement of this change, the harvester can complete multiple operations such as picking ears, stacking, and returning stems to the field at one time when the crops are mature. The application of this technology not only reduces labor costs, but also improves the overall efficiency of crop production. In the actual operation process, since there is often a certain irregularity in the growth direction of crops, the operator needs to constantly adjust the steering wheel to align with the crops. In order to further improve the intelligence level of the harvesting process and reduce the intensity of manual labor, angle sensors and sensor rocker arms are installed on the harvester. Through this device, it is possible to identify whether the harvester and the crops are in a facing state, thereby adjusting the wheel angle steering of the harvester, realizing the function of assisted driving, and making the harvesting operation more efficient and accurate.

[0003] However, in the actual operation process, due to the complex working conditions, it is difficult to quickly and accurately obtain the action information that should be taken for subsequent operations by relying solely on angle sensors. At the same time, the angle sensor and sensor rocker arm installed on the cutting table are in a relatively exposed position and are easily subject to collision and friction, which can cause damage and affect the normal operation of the equipment. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a row control method, device, electronic device and storage medium for a harvester. The present application not only reduces the fatigue of the operator, but also can cope with various complex and changeable operating conditions, ensuring stable operation under different environmental conditions. At the same time, it avoids damage to related components during operation, ensures the reliability and durability of the system, and achieves higher accuracy in aligning the harvester with crops.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a row control method for a harvester, the row control method comprising:

[0007] Obtaining a center position of each target crop among a plurality of target crops;

[0008] Based on the center position, determining the angles between a plurality of target crops and a harvester header divider;

[0009] Based on the angle, the steering direction of the harvester wheels is adjusted to align the harvester header divider with multiple target crops.

[0010] Preferably, the center position of each target crop among the multiple target crops is obtained by the following steps:

[0011] Determine a detection frame corresponding to each target crop among multiple target crops;

[0012] Based on the vertex positions of the detection frame corresponding to the target crop, the center position of the target crop is determined.

[0013] Preferably, the determining of the angles between the plurality of target crops and the harvester header divider based on the center position includes:

[0014] Determine a land row where each target crop among a plurality of target crops is located;

[0015] Based on the center position and the land row, curve fitting is performed on the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester;

[0016] determining a target advancement curve for the harvester based on the plurality of advancement curves;

[0017] Based on the target advancement curve, the angles between a plurality of target crops and a crop divider of a harvester header are determined.

[0018] Preferably, the row control method further includes:

[0019] Determine whether the steering current of the harvester steering gear is greater than the preset dead zone current;

[0020] If the steering current of the harvester steering gear is greater than the preset dead zone current, the steering direction of the harvester wheels is adjusted;

[0021] If the steering current of the harvester steering gear is less than or equal to the preset dead zone current, the steering direction of the harvester wheels will not be adjusted.

[0022] In a second aspect, an embodiment of the present application further provides a row control device for a harvester, the row control device comprising:

[0023] An acquisition module, for acquiring a center position of each target crop among a plurality of target crops;

[0024] An angle calculation module, based on the center position, determines the angles between a plurality of target crops and a harvester header divider;

[0025] The wheel steering adjustment module adjusts the steering of the harvester wheels based on the angle so that the harvester header divider is aligned with multiple target crops.

[0026] Preferably, the acquisition module acquires the center position of each target crop among the multiple target crops by the following steps:

[0027] Determine a detection frame corresponding to each target crop among multiple target crops;

[0028] Based on the vertex positions of the detection frame corresponding to the target crop, the center position of the target crop is determined.

[0029] Preferably, the angle calculation module is specifically used for:

[0030] Determine a land row where each target crop among a plurality of target crops is located;

[0031] Based on the center position and the land row, curve fitting is performed on the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester;

[0032] determining a target advancement curve for the harvester based on the plurality of advancement curves;

[0033] Based on the target advancement curve, the angles between a plurality of target crops and a crop divider of a harvester header are determined.

[0034] Preferably, the row control device further comprises:

[0035] A steering current judgment module determines whether the steering current of the harvester steering gear is greater than a preset dead zone current;

[0036] The wheel steering adjustment execution module adjusts the steering direction of the harvester wheel if the steering current of the harvester steering gear is greater than the preset dead zone current;

[0037] The wheel steering holding module does not adjust the steering direction of the harvester wheels if the steering current of the harvester steering gear is less than or equal to the preset dead zone current.

[0038] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the harvester row control method described in the first aspect or any possible implementation manner of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of row control of the harvester described in the first aspect or any possible implementation manner of the first aspect are executed.

[0040] The embodiment of the present application provides a harvester row control method, device, electronic device and storage medium, which obtains the center position of each crop in multiple target crops, and then determines the angle between these target crops and the harvester's cutter and straw divider, and then adjusts the steering of the harvester's wheels according to this angle, and finally achieves the alignment of the harvester's cutter and straw divider with multiple target crops. In this way, not only the fatigue of the operator is reduced, but also various complex and changeable operating conditions can be coped with, ensuring stable operation under different environmental conditions, and at the same time, avoiding damage to related devices during operation, ensuring the reliability and durability of the system, and achieving higher accuracy in aligning the harvester with the crops.

[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 One of the flow charts of a row control method of a harvester provided in an embodiment of the present application is shown;

[0044] Figure 2 A second flow chart of a row control method for a harvester provided in an embodiment of the present application is shown;

[0045] Figure 3 A third flowchart of a row control method for a harvester provided in an embodiment of the present application is shown;

[0046] Figure 4 One of the structural schematic diagrams of a row control device of a harvester provided in an embodiment of the present application is shown;

[0047] Figure 5 A second structural schematic diagram of a row control device for a harvester provided in an embodiment of the present application is shown;

[0048] Figure 6A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0050] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0051] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring automatic row alignment. The embodiments of the present application are not limited to specific application scenarios. Any solution of the row alignment control method and device of the harvester provided by the embodiments of the present application is within the protection scope of the present application.

[0052] With the development of science and technology, crop harvesting technology is also developing and progressing, and the way of crop harvesting is gradually changing from traditional manual labor to mechanized operations. As an important achievement of this change, harvesters can complete multiple operations such as picking ears, stacking, and returning stems to the field at one time when crops are mature. The application of this technology not only reduces labor costs, but also improves the overall efficiency of crop production. In the actual operation process, since there is often a certain irregularity in the growth direction of crops, the operator needs to constantly adjust the steering wheel to align with the crops. In order to further improve the intelligence level of the harvesting process and reduce the intensity of human labor, angle sensors and sensor rocker arms are installed on the harvester. Through this device, it is possible to accurately identify whether the harvester and the crops are in a facing state, thereby adjusting the wheel angle steering of the harvester, realizing the function of assisted driving, and making the harvesting operation more efficient and accurate. However, in the actual operation process, due to the complex working conditions, it is difficult to quickly and accurately obtain the action information that should be taken for subsequent operations by relying solely on angle sensors. At the same time, the angle sensors and sensor rocker arms installed on the cutting table are easily damaged by collision and friction due to their relatively exposed positions, which affects the normal operation of the equipment.

[0053] In response to the above-mentioned problems, the embodiments of the present application provide a row control method, device, electronic device and storage medium for a harvester. The present application not only reduces the fatigue of the operator, but also can cope with various complex and changeable operating conditions, ensuring stable operation under different environmental conditions. At the same time, it avoids damage to related components during operation, ensures the reliability and durability of the system, and achieves higher accuracy in aligning the harvester with crops.

[0054] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0055] See also Figure 1 , Figure 1 One of the flow charts of a row control method for a harvester provided in an embodiment of the present application.

[0056] The traditional row control method is based on the angle sensor and sensor rocker installed on the harvester's header. Specifically, when the harvester is operating, the plant is squeezed and bent, and the angle sensor rocker connected to the part of the crop that may be compressed and bent rotates accordingly. The angle sensor converts the rocker arm rotation angle into an electrical signal and transmits it to the control system. The control system calculates the deviation angle through signal processing, and then sends instructions to the steering actuator according to the preset control strategy based on the size and direction of the deviation angle, thereby achieving the purpose of controlling the steering. However, it is difficult to quickly and accurately obtain the action information that should be taken for subsequent operations by relying solely on angle sensors.

[0057] like Figure 1 As shown in , the row control method provided in the embodiment of the present application includes the following steps:

[0058] Step S101, obtaining the center position of each target crop among a plurality of target crops.

[0059] Here, crops may include but are not limited to: rice, wheat and corn. In the present application, a visual camera is installed above the harvester cab to detect crops to be harvested in front of the harvester and a harvester header divider.

[0060] Next, combine Figure 2 To illustrate how to obtain the center position of each target crop among multiple target crops.

[0061] See also Figure 2 , Figure 2 This is the second flow chart of a row control method for a harvester provided in an embodiment of the present application.

[0062] like Figure 2 As shown in the embodiment of the present application, as an example, the center position of each target crop among multiple target crops is obtained by the following steps:

[0063] Step S1011, determining a detection frame corresponding to each target crop among a plurality of target crops.

[0064] Here, a domain controller is installed in the cab to process the images detected by the visual camera. As an example, this application detects crops through the YOLOv5 target detection algorithm. Specifically, first, a data set of crop images in different scenes is constructed, and the images are annotated to mark the location of the crops. Then, starting from the pre-trained model of YOLOv5, fine-tuning is performed on the data set to train a model that can accurately identify crops. After the training is completed, the model is used to perform target detection on new crop images. The detection process of YOLOv5 includes the following stages: first, the input processing stage, pre-processing of the input image, involving image resizing and Mosaic data enhancement; then entering the feature extraction stage, extracting image features through the Backbone network; followed by the feature fusion stage, using the FPN+PAN structure to fuse features to obtain feature information of different scales; finally, the prediction output stage, the fused features are classified and positioned in the Head output layer, and the detection frame containing the target crop is output.

[0065] Step S1012, determining the center position of the target crop based on the vertex positions of the detection frame corresponding to the target crop.

[0066] Here, as an example, assume that the coordinates of the upper left corner of the detection frame corresponding to the target crop are (x1, y1), and the coordinates of the lower right corner are (x2, y2). The coordinates of the center point of the detection frame, that is, the center position of the target crop (c x ,c y ) can be calculated by the following formula: x =(x1+x2) / 2, c y =(y1+y2) / 2.

[0067] Step S102, based on the central position, determining the angles between the plurality of target crops and the harvester header divider.

[0068] Here, the angles between the multiple target crops and the harvester header divider represent the current deviation degree between the multiple target crops and the harvester header divider.

[0069] Next, combine Figure 3 To illustrate how to determine the angles between multiple target crops and the harvester's header divider based on the center position.

[0070] See also Figure 3 , Figure 3 This is the third flow chart of a row control method for a harvester provided in an embodiment of the present application.

[0071] like Figure 3 As shown in FIG. 1 , regarding step S102, in specific implementation, the following steps are included:

[0072] Step S1021, determining the land row where each target crop among multiple target crops is located.

[0073] Step S1022, based on the center position and the land row, curve fitting is performed at the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester. Here, the present application uses RANSAC to fit the straight line formula passing through the center position of the crop. As an example, first, the center positions of two crops in the same land row are selected as the initial estimate of the curve; then the curve equation is calculated, assuming that the two selected center positions are (c x1 ,c y1 ) and (c x2 ,c y2 ), then the equation of the straight line passing through the center position can be expressed as (c y2 -c y1 )x-(c x2 -c x1 )y+(c x2 ×c y1 -c x1 ×c y2)=0; then, iterate and optimize, that is, repeat the above steps of selecting the center position of the crop and calculating the straight line equation for multiple times, each time selecting a new center position of the crop to estimate the straight line equation, after multiple iterations, the optimal solution of the straight line equation is obtained, and finally the curve fitting results of multiple land ridges are output.

[0074] Step S1023, based on the multiple forward curves, determine the target forward curve of the harvester. Here, for the curve fitting results of multiple land ridges, the average value of the ordinates (or abscissas) corresponding to the curve fitting results of multiple land ridges can be calculated under the same abscissa (or ordinate) value to obtain new coordinates, and the curve formed by these new coordinates is the target forward curve of the harvester.

[0075] Step S1024, based on the target forward curve, determine the angles between the multiple target crops and the harvester's header divider. Here, if the angle is a positive value, it means that the harvester's header divider is offset to the right relative to the target crop. At this time, the control system will send a command to the harvester's steering system to turn the harvester's wheels to the left by a corresponding angle; conversely, if the angle is a negative value, it means that the harvester's header divider is offset to the left, and the harvester's wheels turn to the right by a corresponding angle.

[0076] Step S103, based on the angle, adjusting the steering direction of the harvester wheels so that the harvester header divider is aligned with multiple target crops.

[0077] Here, in the adjustment process, in order to achieve smooth and precise steering, advanced control algorithms are usually used, such as using PID control algorithms to send control current to the steering gear. Specifically, in the specific process of PID control, the desired angle between the target crop and the harvester divider is preset to 0 degrees. Subsequently, the difference between the desired angle and the actual angle output by the visual sensor is calculated. The difference obtained will be amplified by the proportional link and the integral link respectively, and then the amplified result will be output to the steering gear, thereby controlling the steering gear to perform corresponding steering operations until the angle between the target crop and the harvester divider reaches the desired angle.

[0078] In the embodiment of the present application, as an example, the row control method of the harvester further includes:

[0079] First, determine whether the steering current of the harvester steering gear is greater than the preset dead zone current. Here, as an example, the preset dead zone current is 200mA, and the preset dead zone current can also be set according to other conditions, which are not limited here. The purpose of the preset dead zone current is to prevent the steering gear from performing unnecessary steering actions due to some slight changes in the current signal, which may be caused by errors or interference factors.

[0080] Then, if the steering current of the harvester steering gear is greater than the preset dead zone current, the steering of the harvester wheels is adjusted. Here, the wheels are hydraulically controlled to steer left and right, thereby adjusting the harvester to align with the crops and realizing the automatic row alignment function.

[0081] Secondly, if the steering current of the harvester steering gear is less than or equal to the preset dead zone current, the steering direction of the harvester wheels will not be adjusted.

[0082] In the application, the visual algorithm can accurately detect the specific position of the crops to be harvested in front. Subsequently, the detected position information of the crops to be harvested is compared with the position information of the harvester's straw divider, so as to accurately determine the angle formed between the two. Through the angle information, it is further determined whether the harvester can align with the crops if it continues to move in the current direction of travel. When the judgment result shows that it can be aligned, the harvester will maintain the current direction of travel, continue to move forward steadily and carry out harvesting operations. On the contrary, if it is determined that the harvester's straw divider and the crops are not aligned, it is necessary to perform corresponding processing according to the specific offset situation: if the harvester's straw divider is offset to the left, the system will output a negative angle value indicating an offset to the left; if the harvester's straw divider is offset to the right, it will output a positive angle value indicating an offset to the right. Finally, the system will send the data containing the above angle value information to the vehicle controller through the CAN bus to control the steering of the harvester's wheels.

[0083] The embodiment of the present application provides a row control method for a harvester. Through the method, not only the fatigue of the operator is reduced, but also various complex and changeable operating conditions can be coped with, ensuring stable operation under different environmental conditions. At the same time, related components are prevented from being damaged during operation, the reliability and durability of the system are guaranteed, and the harvester can be aligned with crops with higher accuracy.

[0084] Based on the same application concept, the embodiment of the present application also provides a row control device for a harvester corresponding to the row control method for a harvester provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the row control method for a harvester in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0085] See also Figure 4 and Figure 5 , Figure 4 This is one of the structural schematic diagrams of a row control device for a harvester provided in an embodiment of the present application. Figure 5 This is a second structural schematic diagram of a row control device for a harvester provided in an embodiment of the present application.

[0086] like Figure 4As shown in , the embodiment of the present application further provides a row control device 410 of a harvester, and the row control device 410 includes:

[0087] An acquisition module 411 acquires the center position of each target crop among a plurality of target crops;

[0088] An angle calculation module 412 determines the angles between a plurality of target crops and a harvester header divider based on the center position;

[0089] The wheel steering adjustment module 413 adjusts the steering of the harvester wheels based on the angle so that the harvester header divider is aligned with multiple target crops.

[0090] Preferably, the acquisition module 411 acquires the center position of each target crop among the multiple target crops by the following steps:

[0091] Determine a detection frame corresponding to each target crop among multiple target crops;

[0092] Based on the vertex positions of the detection frame corresponding to the target crop, the center position of the target crop is determined.

[0093] Preferably, the angle calculation module 412 is specifically used for:

[0094] Determine a land row where each target crop among a plurality of target crops is located;

[0095] Based on the center position and the land row, curve fitting is performed on the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester;

[0096] determining a target advancement curve for the harvester based on the plurality of advancement curves;

[0097] Based on the target advancement curve, the angles between a plurality of target crops and a crop divider of a harvester header are determined.

[0098] like Figure 5 As shown in , preferably, the row control device 410 further includes:

[0099] A steering current determination module 414 determines whether the steering current of the harvester steering device is greater than a preset dead zone current;

[0100] The wheel steering adjustment execution module 415 adjusts the steering direction of the harvester wheel if the steering current of the harvester steering gear is greater than the preset dead zone current;

[0101] The wheel steering maintaining module 416 does not adjust the steering direction of the harvester wheels if the steering current of the harvester steering gear is less than or equal to the preset dead zone current.

[0102] An embodiment of the present application provides a row control device for a harvester. Through the device, not only the fatigue of the operator is reduced, but also various complex and changeable operating conditions can be coped with, ensuring stable operation under different environmental conditions. At the same time, related components are prevented from being damaged during operation, the reliability and durability of the system are guaranteed, and the harvester and crops are aligned with higher accuracy.

[0103] See also Figure 6 , Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0104] like Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0105] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figure 1 , Figure 2 and Figure 3 The specific implementation of the steps of the harvester row control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0106] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 , Figure 2 and Figure 3 The specific implementation of the steps of the harvester row control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0107] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0110] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0111] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A row control method for a harvester, characterized in that: The row control method comprises: Obtaining a center position of each target crop among a plurality of target crops; Based on the center position, determining the angles between a plurality of target crops and a harvester header divider; Based on the angle, the steering direction of the harvester wheels is adjusted to align the harvester header divider with multiple target crops.

2. The row control method according to claim 1, characterized in that: Get the center position of each target crop among multiple target crops by following the steps below: Determine a detection frame corresponding to each target crop among multiple target crops; Based on the vertex positions of the detection frame corresponding to the target crop, the center position of the target crop is determined.

3. The row control method according to claim 1, characterized in that: The method of determining the angles between a plurality of target crops and a harvester header divider based on the center position includes: Determine a land row where each target crop among a plurality of target crops is located; Based on the center position and the land row, curve fitting is performed on the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester; determining a target advancement curve for the harvester based on the plurality of advancement curves; Based on the target advancement curve, the angles between a plurality of target crops and a crop divider of a harvester header are determined.

4. The row control method according to claim 1, characterized in that: The row control method further includes: Determine whether the steering current of the harvester steering gear is greater than the preset dead zone current; If the steering current of the harvester steering gear is greater than the preset dead zone current, the steering direction of the harvester wheels is adjusted; If the steering current of the harvester steering gear is less than or equal to the preset dead zone current, the steering direction of the harvester wheels will not be adjusted.

5. A row control device for a harvester, characterized in that: The row control device comprises: An acquisition module, for acquiring a center position of each target crop among a plurality of target crops; An angle calculation module, based on the center position, determines the angles between a plurality of target crops and a harvester header divider; The wheel steering adjustment module adjusts the steering of the harvester wheels based on the angle so that the harvester header divider is aligned with multiple target crops.

6. The row control device according to claim 5, characterized in that: The acquisition module acquires the center position of each target crop among the multiple target crops by the following steps: Determine a detection frame corresponding to each target crop among multiple target crops; Based on the vertex positions of the detection frame corresponding to the target crop, the center position of the target crop is determined.

7. The row control device according to claim 5, characterized in that: The angle calculation module is specifically used for: Determine a land row where each target crop among a plurality of target crops is located; Based on the center position and the land row, curve fitting is performed on the center position corresponding to the target crop in the same land row to obtain multiple forward curves of the harvester; determining a target advancement curve for the harvester based on the plurality of advancement curves; Based on the target advancement curve, the angles between a plurality of target crops and a crop divider of a harvester header are determined.

8. The row control device according to claim 5, characterized in that: The row control device also includes: A steering current judgment module determines whether the steering current of the harvester steering gear is greater than a preset dead zone current; The wheel steering adjustment execution module adjusts the steering direction of the harvester wheel if the steering current of the harvester steering gear is greater than the preset dead zone current; The wheel steering holding module does not adjust the steering direction of the harvester wheels if the steering current of the harvester steering gear is less than or equal to the preset dead zone current.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. When the machine-readable instructions are run by the processor, the steps of the row control method for a harvester as described in any one of claims 1 to 4 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the row control method for a harvester as described in any one of claims 1 to 4 are executed.

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