A harvester row control method, device, electronic device and storage medium

Abstract

This application provides a harvester row control method, device, electronic device, and storage medium. The row control method includes: obtaining the center position of each of multiple target crops; determining the angles between the multiple target crops and the harvester's header divider based on the center position; and adjusting the steering of the harvester's wheels based on the angles to align the harvester's header divider with the multiple target crops. The technical solution provided by this application not only reduces operator fatigue, but also ensures stable operation in complex working conditions, avoids component damage, and improves the accuracy of the harvester's alignment with the crops.

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 advancement of science and technology, crop harvesting technology is also developing and progressing, gradually shifting from traditional manual labor to mechanized operations. Harvesters, a key achievement of this transformation, are capable of simultaneously completing multiple tasks, including plucking, stacking, and returning stalks to the field when crops are ripe. The application of this technology not only reduces labor costs but also improves the overall efficiency of crop production. In actual operations, due to the often irregular growth patterns of crops, the operator must constantly adjust the steering wheel to align the crop. To further enhance the intelligence of the harvesting process and reduce manual labor, angle sensors and sensor rocker arms have been installed on harvesters. These devices can detect whether the harvester is aligned with the crop, adjusting the wheel angle accordingly, providing assisted driving and making harvesting more efficient and precise.

[0003] However, in actual operations, 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 harvester row control method, device, electronic device and storage medium. 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 the plurality of target crops and a harvester header divider;

[0009] Based on the angle, the steering 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 a plurality of 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] determining a row of land 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 advancement 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 advancing curve, the included angles between a plurality of target crops and a harvester header divider 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, which determines the angles between the plurality of target crops and the harvester header divider based on the center position;

[0025] The wheel steering adjustment module adjusts the steering of the harvester wheels based on the included 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 a plurality of 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 to:

[0030] determining a row of land 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 advancement 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 advancing curve, the included angles between a plurality of target crops and a harvester header divider are determined.

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

[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 wheels 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 a third aspect, an embodiment of the present application further 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 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 controlling the rows of the harvester as described in the first aspect or any possible embodiment of the first aspect are executed.

[0040] The embodiments of the present application provide a harvester row control method, device, electronic device, and storage medium. By obtaining the center position of each of a plurality of target crops, the angle between these target crops and the harvester's cutter and straw divider is determined, and the steering of the harvester's wheels is adjusted based on this angle, ultimately achieving alignment between the harvester's cutter and straw divider and the plurality of target crops. This not only reduces operator fatigue, but also enables the system to cope with a variety of complex and changing operating conditions, ensuring stable operation under different environmental conditions. At the same time, it prevents related components from being damaged during operation, ensures the reliability and durability of the system, and achieves 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 given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0044] Figure 2 The second flowchart of the row control method of a harvester provided in an embodiment of the present application is shown;

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

[0047] Figure 5 The second structural diagram of the row control device of 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] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration 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 to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this 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 of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various 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 claimed application, but merely represents 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 are within 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 using the row alignment control method and device of the harvester provided by the embodiments of the present application is within the scope of protection of this application.

[0052] With the advancement of science and technology, crop harvesting technology is also developing and progressing, gradually shifting from traditional manual labor to mechanized operations. Harvesters, a key achievement of this transformation, are capable of simultaneously completing multiple tasks, including plucking, stacking, and returning stalks to the field when crops are ripe. The application of this technology not only reduces labor costs but also improves overall crop production efficiency. In actual operations, crop growth often exhibits irregularities, requiring operators to constantly adjust the steering wheel to align the crop. To further enhance the intelligence of the harvesting process and reduce manual labor, angle sensors and sensor rocker arms are installed on harvesters. These devices accurately identify whether the harvester is aligned with the crop, adjusting the wheel angle and steering accordingly, providing assisted driving and making harvesting more efficient and accurate. However, in actual operations, due to the complex working conditions, relying solely on angle sensors cannot quickly and accurately obtain the necessary action information for subsequent operations. Furthermore, the angle sensors and sensor rocker arms, mounted on the harvesting table, are located in a relatively exposed position, making them susceptible to collision and friction, which can damage the equipment and affect its normal operation.

[0053] In response to the above problems, the embodiments of the present application provide a harvester row control method, device, electronic device and storage medium. 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 understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

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

[0056] Traditional row control methods rely on angle sensors and sensor arms installed on the harvester's header. Specifically, when the harvester is operating, the plants are squeezed and bent, and the angle sensor arm, connected to the area of ​​the crop likely to bend, rotates accordingly. The angle sensor converts the arm's rotation angle into an electrical signal and transmits it to the control system. The control system processes the signal and calculates the deviation angle. Based on the deviation angle and direction, it sends instructions to the steering actuator according to a preset control strategy, thereby achieving steering control. However, relying solely on angle sensors makes it difficult to quickly and accurately obtain information about the actions to be taken in subsequent operations.

[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 the crops to be harvested in front of the harvester and the 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 FIG, in an 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 scenarios 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, which pre-processes the input image, involving adjusting the image size and performing mosaic data enhancement; then enters 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 Head output layer classifies and locates the fused features and outputs the detection box containing the target crop.

[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: determining the angles between the plurality of target crops and the harvester header divider based on the center position.

[0068] Here, the angles between the multiple target crops and the harvester header divider represent the current deviation degrees 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, regarding step S102, in specific implementation, the following steps are included:

[0072] Step S1021: determining the land row where each target crop among a plurality of target crops is located.

[0073] Step S1022, 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. 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, iteration and optimization are performed, that is, the above steps of selecting the center position of the crop and calculating the straight line equation are repeated multiple times, and each time a new center position of the crop is selected 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: Determine a target forward curve for the harvester based on the multiple forward curves. For the curve fitting results for multiple soil rows, the average of the corresponding ordinates (or abscissas) of the curve fitting results for the multiple soil rows can be calculated under the same abscissa (or ordinate) value to obtain new coordinates. The curve formed by these new coordinates is the target forward curve for the harvester.

[0075] Step S1024 determines the angles between the target crops and the harvester's header divider based on the target forward curve. If the angles are positive, it indicates the header divider is offset to the right relative to the target crops. In this case, the control system sends a command to the harvester's steering system, causing the harvester's wheels to turn left by a corresponding angle. Conversely, if the angles are negative, it indicates the header divider is offset to the left, causing the harvester's wheels to turn right by a corresponding angle.

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

[0077] Here, during the adjustment process, advanced control algorithms are usually used to achieve smooth and precise steering. For example, a PID control algorithm is used to send a control current to the steering gear. Specifically, during the PID control process, the desired angle between the target crop and the harvester is preset to 0 degrees. Subsequently, the difference between this desired angle and the actual angle output by the visual sensor is calculated. The resulting difference is amplified by the proportional and integral links respectively, and the amplified result is then output to the steering gear, thereby controlling the steering gear to perform the corresponding steering operation until the angle between the target crop and the harvester 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's steering gear is greater than a preset deadband current. Here, as an example, the preset deadband current is 200mA. This deadband current can also be set based on other conditions and is not limited here. The purpose of the preset deadband current is to prevent the steering gear from performing unnecessary steering actions due to minor current signal changes, which may be caused by errors or interference factors.

[0080] If the steering current of the harvester's steering gear exceeds the preset deadband current, the harvester's wheels are adjusted to steer left and right. This hydraulically controlled wheel steering aligns the harvester with the crop, achieving automatic row alignment.

[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, a visual algorithm is used to accurately detect the specific location of crops about to be harvested. The detected position of the crops to be harvested is then compared with the position of the harvester's crop divider to accurately determine the angle between the two. This angle information is used to further determine whether the harvester can align with the crops if it continues in its current direction of travel. If alignment is successful, the harvester will maintain its current direction of travel, continue steadily forward, and begin harvesting. Conversely, if the harvester's crop divider is found to be misaligned with the crops, appropriate processing is required based on the specific offset: if the harvester's crop divider is offset to the left, the system will output a negative angle value indicating a leftward offset; if the harvester's crop divider is offset to the right, a positive angle value indicating a rightward offset will be output. Finally, the system sends data containing this angle value information via the CAN bus to the vehicle controller to control the steering of the harvester's wheels.

[0083] An 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, ensuring the reliability and durability of the system, and achieving higher accuracy in aligning the harvester with crops.

[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 diagrams of a row control device for a harvester provided in an embodiment of the present application. Figure 5 This is the 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 for a harvester, and the row control device 410 includes:

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

[0088] An angle calculation module 412 determines 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 included 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 through the following steps:

[0091] Determine a detection frame corresponding to each target crop among a plurality of 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 to:

[0094] determining a row of land 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 advancement 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 advancing curve, the included angles between a plurality of target crops and a harvester header divider 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 wheels 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, ensuring the reliability and durability of the system, and achieving higher accuracy in aligning the harvester with crops.

[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 FIG, 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 embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 、 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 this 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

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

[0111] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A row control method for a harvester, characterized in that: A visual camera is installed above the harvester cab to detect the crops to be harvested in front of the harvester and the harvester header divider; the row control method includes: Obtaining a center position of each target crop among a plurality of target crops; Based on the center position, determining the angles between the plurality of target crops and a harvester header divider; Based on the angle, adjusting the steering of the harvester wheels so that the harvester header divider is aligned with the plurality of target crops; The step of determining the angles between the plurality of target crops and the harvester header divider based on the center position includes: determining a row of land 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 advancement curves of the harvester; determining a target advancement curve for the harvester based on the plurality of advancement curves; Based on the target advancing curve, the included angles between a plurality of target crops and a harvester header divider are determined.

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

4. A row control device for a harvester, characterized in that: A visual camera is installed above the harvester cab to detect the crops to be harvested in front of the harvester and the harvester header divider; the row control device includes: an acquisition module, for acquiring a center position of each target crop among a plurality of target crops; An angle calculation module, which determines the angles between the plurality of target crops and the harvester header divider based on the center position; a wheel steering adjustment module, which adjusts the steering of the harvester wheels based on the included angle so that the harvester header divider is aligned with the plurality of target crops; The angle calculation module is specifically used for: determining a row of land 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 advancement curves of the harvester; determining a target advancement curve for the harvester based on the plurality of advancement curves; Based on the target advancing curve, the included angles between a plurality of target crops and a harvester header divider are determined.

5. The row control device according to claim 4, characterized in that: The acquisition module acquires the center position of each target crop among the multiple target crops through the following steps: Determine a detection frame corresponding to each target crop among a plurality of 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.

6. The row control device according to claim 4, characterized in that: The row control device further 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 wheels 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.

7. 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 through the bus. When the processor is running, the machine-readable instructions execute the steps of the row control method for a harvester as described in any one of claims 1 to 3.

8. 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 3 are executed.

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