Agricultural machine control method, device and equipment

Abstract

The embodiment of the invention discloses an agricultural machine control method, device and equipment, and the method comprises the steps: determining a planning path of the agricultural machine equipment in a working region according to the region information of the working region of the agricultural machine equipment, and the planning path comprises a linear working road section and a turning non-working road section; according to the operation driving speed of the agricultural equipment, the length of the linear operation road section and a preset path point generation period, determining the number of first path points corresponding to the linear operation road section; according to the turning running speed of the agricultural equipment, the turning radius of the turning non-operation road section and the preset path point generation period, determining the number of second path points corresponding to the turning non-operation road section; and according to a preset model prediction control algorithm, based on the number of the first path points and the number of the second path points, generating position index points in the planned path of the agricultural equipment.

Description

Technical Field

[0001] This document relates to the field of computer technology, and more particularly to agricultural machinery control methods, devices and equipment. Background Art

[0002] With the rapid development of navigation technology and vehicle control technology, agricultural machinery and equipment are gradually moving towards the path of automated precision development. During the working process of agricultural machinery and equipment, the planned path of agricultural machinery and equipment can be evenly divided based on the preset index spacing to determine the multiple position index points contained in the planned path, and then the agricultural machinery and equipment can be controlled according to the position index points to perform path tracking.

[0003] However, since the agricultural machinery may have a variety of different working states in the working area, the method of determining the position index point by averaging based on the preset index interval will result in a poor path tracking effect of the agricultural machinery, which will affect the working efficiency of the agricultural machinery. To this end, the embodiments of this specification provide a technical solution to improve the working efficiency of agricultural machinery by improving the path tracking effect. Summary of the invention

[0004] The purpose of the embodiments of this specification is to provide a technical solution for improving the working efficiency of agricultural machinery by improving the path tracking effect.

[0005] In order to implement the above technical solution, the embodiments of this specification are implemented as follows:

[0006] An agricultural machinery control method provided in an embodiment of the present specification comprises: determining a planned path of the agricultural machinery in the working area according to area information of the working area of ​​the agricultural machinery, wherein the planned path comprises a straight working section and a turning non-working section; determining the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery, the length of the straight working section and a preset path point generation cycle; determining the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle; generating position index points in the planned path of the agricultural machinery based on the first number of path points and the second number of path points according to a preset model predictive control algorithm, and controlling the agricultural machinery to perform path tracking in the working area according to the position index points in the planned path.

[0007] An agricultural machinery control device provided in an embodiment of the present specification comprises: a path planning module, for determining a planned path of the agricultural machinery control device in the working area according to area information of the working area of ​​the agricultural machinery control device, wherein the planned path comprises a straight working section and a turning non-working section; a first determination module, for determining the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery control device, the length of the straight working section and a preset path point generation cycle; a second determination module, for determining the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery control device, the turning radius of the turning non-working section and the preset path point generation cycle; a path tracking module, for generating position index points in the planned path of the agricultural machinery control device based on the first number of path points and the second number of path points according to a preset model predictive control algorithm, and controlling the agricultural machinery control device to perform path tracking in the working area according to the position index points in the planned path.

[0008] An agricultural machinery control device provided in an embodiment of the present specification comprises: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to: determine a planned path of the agricultural machinery control device in the working area according to area information of the working area of ​​the agricultural machinery control device, wherein the planned path comprises a straight working section and a turning non-working section; determine the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery control device, the length of the straight working section and a preset path point generation cycle; determine the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery control device, the turning radius of the turning non-working section and the preset path point generation cycle; generate position index points in the planned path of the agricultural machinery control device based on the first number of path points and the second number of path points according to a preset model predictive control algorithm, and control the agricultural machinery control device to perform path tracking in the working area according to the position index points in the planned path.

[0009] The embodiments of the present specification also provide a storage medium, which is used to store computer executable instructions. When the executable instructions are executed by a processor, the following process is implemented: according to the area information of the working area of ​​the agricultural machinery equipment, a planned path of the agricultural machinery equipment in the working area is determined, and the planned path includes a straight working section and a turning non-working section; according to the working driving speed of the agricultural machinery equipment, the length of the straight working section and the preset path point generation cycle, the number of first path points corresponding to the straight working section is determined; according to the turning driving speed of the agricultural machinery equipment, the turning radius of the turning non-working section and the preset path point generation cycle, the number of second path points corresponding to the turning non-working section is determined; according to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, the position index points in the planned path of the agricultural machinery equipment are generated, and according to the position index points in the planned path, the agricultural machinery equipment is controlled to perform path tracking in the working area.

[0010] The embodiments of the present specification also provide a computer program product, including a computer program, which implements the following process when executed by a processor: determining a planned path of the agricultural machinery in the working area according to area information of the working area of ​​the agricultural machinery, the planned path including a straight working section and a turning non-working section; determining the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery, the length of the straight working section and a preset path point generation cycle; determining the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle; generating position index points in the planned path of the agricultural machinery based on the first number of path points and the second number of path points according to a preset model predictive control algorithm, and controlling the agricultural machinery to perform path tracking in the working area according to the position index points in the planned path. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

[0012] Figure 1 This is an agricultural machinery control method embodiment of the present specification;

[0013] Figure 2 A schematic diagram of a target working area of ​​this specification;

[0014] Figure 3 A schematic diagram of an MPC predictive controller design framework for this specification;

[0015] Figure 4 This is a schematic diagram of a tracking process of agricultural machinery equipment in this manual;

[0016] Figure 5 A schematic diagram of a collaborative operation simulation system framework in this specification;

[0017] Figure 6 This is another agricultural machinery control method embodiment of the present specification;

[0018] Figure 7 This is another agricultural machinery control method embodiment of the present specification;

[0019] Figure 8 A schematic diagram of a communication process between heterogeneous agricultural machines in this specification;

[0020] Fig. 9 This is a schematic diagram of an algorithm for an agricultural machinery control method of this specification;

[0021] Fig.10 This is an embodiment of an agricultural machinery control device of this specification;

[0022] Fig.11 This is an agricultural machinery control device embodiment of this specification. DETAILED DESCRIPTION

[0023] The embodiments of this specification provide a method, device and equipment for controlling agricultural machinery.

[0024] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0025] The embodiments of this specification provide a technical solution for improving the working efficiency of agricultural machinery by improving the path tracking effect. With the rapid development of navigation technology and vehicle control technology, agricultural machinery and equipment are gradually moving towards the path of automated precision development. During the working process of agricultural machinery and equipment, the planned path of the agricultural machinery and equipment can be evenly divided based on the preset index spacing to determine the multiple position index points contained in the planned path, and then the agricultural machinery and equipment can be controlled to perform path tracking according to the position index points. However, since the agricultural machinery and equipment may contain a variety of different working states in the working area, the method of evenly dividing the position index points based on the preset index spacing will result in a low path tracking effect for the agricultural machinery and equipment, which will affect the working efficiency of the agricultural machinery and equipment. To this end, the embodiments of this specification provide a technical solution for improving the working efficiency of agricultural machinery by improving the path tracking effect. In this scheme, the planned path of the agricultural machinery equipment in the working area can be determined according to the regional information of the working area of ​​the agricultural machinery equipment, wherein the planned path may include a straight working section and a turning non-working section, and then the number of first path points corresponding to the straight working section can be determined according to the working driving speed of the agricultural machinery equipment, the length of the straight working section and the preset path point generation cycle, and the number of second path points corresponding to the turning non-working section can be determined according to the turning driving speed of the agricultural machinery equipment, the turning radius of the turning non-working section and the preset path point generation cycle. Finally, according to the preset model predictive control algorithm, based on the first path point number and the second path point number, the position index points in the planned path of the agricultural machinery equipment can be generated, and according to the position index points in the planned path, the agricultural machinery equipment can be controlled to perform path tracking in the working area. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0026] like Figure 1 As shown, the embodiment of this specification provides an agricultural machinery control method, the execution subject of the method can be a server, the method can be applied to agricultural machinery equipment, and the agricultural machinery equipment can be any agricultural machinery equipment that can perform agricultural operations. The method can specifically include the following steps:

[0027] In step S102, a planned path of the agricultural machinery in the working area is determined according to the area information of the working area of ​​the agricultural machinery.

[0028] Among them, the planned path may include straight working sections and turning non-working sections. The working area may be any area where agricultural operations need to be carried out. For example, the target working area may be indoor areas such as greenhouses, etc. The area information of the working area may include the number of rows of crops in the working area, the working range of agricultural machinery in the working area, and other information.

[0029] During implementation, the server may determine a planned path of the agricultural machinery in the working area based on the regional information of the working area of ​​the agricultural machinery.

[0030] For example, first, the server can determine the number of working rows of agricultural machinery according to the number of rows of crops in the working area and the width of the plot in the working area. Specifically, the server can determine the number of working rows of agricultural machinery according to the number of rows of crops in the working area and the width of the plot in the working area according to the following formula:

[0031] W = floor (L / D),

[0032] Determine the number of working rows of agricultural machinery, where W is the number of working rows, L is the width of the plot in the working area, D is the number of rows of crops in the working area, and floor() is a rounding operation.

[0033] The server can determine the planned path of the agricultural machinery in the working area according to the number of working rows of the agricultural machinery. Figure 2 In the rectangular working area shown, after the server determines the number of working rows of the agricultural machinery, a planned path including turning non-working sections and straight working sections can be generated, wherein the two ends of the planned path can be turning non-working sections, and the sections other than the turning non-working sections at the two ends can be straight working sections. The agricultural machinery needs to complete work on the crops in the straight working sections, while the agricultural machinery does not need to operate in the turning non-working sections and only needs to complete the U-turn and turning action.

[0034] In step S104, the number of first path points corresponding to the straight working section is determined according to the operating driving speed of the agricultural machinery, the length of the straight working section and the preset path point generation cycle.

[0035] During implementation, the server can determine the number of first path points corresponding to the straight working section based on the pre-trained first generation model, the operating driving speed of the agricultural machinery, the length of the straight working section, and the preset path point generation cycle, wherein the pre-trained first generation model can be obtained by training a model constructed by a preset machine learning algorithm based on the historical operating driving speed of the agricultural machinery, the length of the straight working section, and the preset path point generation cycle.

[0036] In addition, the above-mentioned method for determining the number of first path points is an optional and feasible determination method. In actual application scenarios, there may be a variety of different determination methods. Different determination methods can be selected according to different actual application scenarios. The embodiments of this specification do not make specific limitations on this.

[0037] In step S106, the number of second path points corresponding to the turning non-operating section is determined according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating section and the preset path point generation cycle.

[0038] During implementation, the server can determine the number of second path points corresponding to the turning non-working section based on the pre-trained second generation model, the turning speed of the agricultural machinery, the turning radius of the turning non-working section, and the preset path point generation cycle, wherein the pre-trained second generation model can be obtained by training a model constructed by a preset machine learning algorithm based on the historical turning speed of the agricultural machinery, the turning radius of the turning non-working section, and the preset path point generation cycle.

[0039] In addition, the above-mentioned method for determining the number of second path points is an optional and feasible determination method. In actual application scenarios, there may be multiple different determination methods. Different determination methods can be selected according to different actual application scenarios. The embodiments of this specification do not make specific limitations on this.

[0040] In step S108, according to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, position index points in the planned path of the agricultural machinery are generated, and according to the position index points in the planned path, the agricultural machinery is controlled to perform path tracking in the working area.

[0041] In implementation, the server may generate position index points in the planned path of the agricultural machinery equipment based on the first number of path points and the second number of path points according to a preset Model Predictive Control (MPC) algorithm.

[0042] The server can discretize the planned path, sample the planned path according to the sampling period of the preset path point (such as T = 0.01s), and obtain the discrete trajectory of the planned path of the agricultural machinery equipment. The MPC predictive controller design framework of the agricultural machinery equipment can be as follows Figure 3 Then, as Figure 4 As shown, the server can control the agricultural machinery to perform path tracking in the working area according to the discrete trajectory and position index points through the MPC algorithm.

[0043] In addition, in the case where the agricultural machinery equipment is a device that needs to work in coordination with the cooperative agricultural machinery equipment, the agricultural machinery equipment can output its position index point according to the MPC model predictive controller algorithm, and output the real-time position point information of the agricultural machinery equipment through the MPC model predictive controller algorithm of the agricultural machinery equipment, wherein the real-time position point information of the agricultural machinery equipment is continuously updated by the controller algorithm. Then, the agricultural machinery equipment can transmit its position index point to the cooperative agricultural machinery equipment in real time through the wireless communication device, so that the cooperative agricultural machinery equipment can control the cooperative agricultural machinery equipment to achieve position parallelism with the position index point of the agricultural machinery equipment at the expected position point according to the position index point of the agricultural machinery equipment, so as to assist the agricultural machinery equipment in performing agricultural operations, wherein the cooperative operation simulation system framework of the agricultural machinery equipment and the cooperative agricultural machinery equipment can be as follows Figure 5 shown.

[0044] The embodiments of the present specification provide an agricultural machinery control method, which can determine the planned path of the agricultural machinery equipment in the working area according to the area information of the working area of ​​the agricultural machinery equipment, wherein the planned path may include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery equipment, the length of the straight working section and the preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery equipment, the turning radius of the turning non-working section and the preset path point generation cycle. Finally, according to the preset model predictive control algorithm, based on the first path point number and the second path point number, the position index points in the planned path of the agricultural machinery equipment can be generated, and according to the position index points in the planned path, the agricultural machinery equipment can be controlled to perform path tracking in the working area. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0045] In practical applications, the turning non-operating road section may include a turning road section and a straight road section. For example, the turning non-operating road section may include two turning road sections of a quarter circle and a straight road section between the two turning road sections. Correspondingly, in the above step S106, the specific processing method for determining the number of second path points corresponding to the turning non-operating road section according to the turning speed of the agricultural machinery equipment, the turning radius of the turning non-operating road section and the preset path point generation cycle can be various. The following is an optional processing method, such as Figure 6 As shown, the process may specifically include the following steps S1062 to S1066.

[0046] In step S1062, the number of first sub-path points corresponding to the turning path is determined according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating road section, and the preset path point generation cycle.

[0047] In actual applications, in the above step S1062, there are various ways to determine the number of first sub-path points corresponding to the turning path based on the turning speed of the agricultural machinery, the turning radius of the turning non-working section, and the preset path point generation cycle. An optional processing method is provided below, which may specifically include the processing of the following step A1.

[0048] In step A1, according to the turning speed of the agricultural machinery, the turning radius of the non-operating road section and the preset path point generation cycle, the following formula is used

[0049] Quadrant=floor((2×pi×R / 4) / ((V w ×1000 / 3600) / (1 / T))),

[0050] Determine the number of first sub-path points corresponding to the turning path, where Quadrant is the number of first sub-path points, R is the turning radius of the turning non-operating section, and V w is the turning speed of the agricultural machinery, T is the preset path point generation cycle, and floor() is the rounding operation.

[0051] In step S1064, the number of second sub-path points corresponding to the straight section is determined based on the working row spacing of the agricultural machinery in the working area, the turning speed of the agricultural machinery, the turning radius of the turning non-working section, and the preset path point generation cycle.

[0052] In actual applications, in the above step S1064, there are various ways to determine the number of second sub-path points corresponding to the straight section based on the working row spacing of the agricultural machinery equipment in the working area, the turning speed of the agricultural machinery equipment, the turning radius of the turning non-working section and the preset path point generation cycle. An optional processing method is provided below, which may specifically include the processing of the following step B1.

[0053] In step B1, according to the working row spacing of the agricultural machinery in the working area, the turning speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle, the following formula is used

[0054] Turn = floor ((D-2×R) / ((V w×1000 / 3600) / (1 / T))),

[0055] Determine the number of second sub-path points corresponding to the straight section, where Turn is the number of second sub-path points corresponding to the straight section, and D is the working row spacing of the agricultural machinery in the working area.

[0056] In step S1066, the number of second path points corresponding to the turning non-operating section is determined based on the number of first sub-path points and the number of second sub-path points.

[0057] In practical applications, in the above step S104, the specific processing method for determining the number of first path points corresponding to the straight working section according to the operating speed of the agricultural machinery, the length of the straight working section, and the preset path point generation cycle can be various. An optional processing method is provided below, such as Figure 6 As shown, the processing may specifically include the following step S1042.

[0058] In step S1042, according to the operating speed of the agricultural machinery, the length of the straight working section and the preset path point generation cycle, the following formula is used

[0059] Straight=floor(H / ((V×1000 / 3600) / (1 / T))),

[0060] Determine the number of first path points corresponding to the straight working section, where Straight is the number of first path points, H is the length of the straight working section, V is the operating speed of the agricultural machinery, T is the preset path point generation cycle, and floor() is a rounding operation.

[0061] In practical applications, the length of the straight working section may be a path distance between the starting point and the ending point determined according to the position coordinates of the starting point and the ending point of the straight working section.

[0062] For example, the coordinates of the start of the straight line operation section of the agricultural machinery can be set to (X0, Y0), and the coordinates of the end point (i.e. the position where the agricultural machinery reaches the end of the field and starts to turn) can be set to (X1, Y1). The following formula can be used:

[0063]

[0064] Determine the path distance between the starting point and the end point, that is, the length of the straight working section, where H is the length of the straight working section, which is used to represent the path distance from (X0, Y0) to (X1, Y1) along the preset planned path of the agricultural machinery.

[0065] In practical applications, agricultural machinery equipment can also be equipment that can independently perform agricultural operations. When it is determined that agricultural machinery equipment needs to work in coordination with other agricultural machinery equipment, a coordination scheduling instruction can be sent to the coordinated agricultural machinery equipment according to the location index point of the agricultural machinery equipment. There are many specific processing methods for sending the coordination scheduling instruction. The following is another optional processing method, such as Figure 7 As shown, the process may specifically include the following steps S302 to S304.

[0066] In step S702, the target position of the agricultural machinery when it reaches the coordinated working state in the working area is determined according to the working efficiency, working driving speed and turning driving speed of the agricultural machinery.

[0067] During implementation, the server can determine the target position of the agricultural machinery when it reaches a collaborative working state in the working area based on the pre-trained position determination model, the operating efficiency, operating driving speed and turning speed of the agricultural machinery, wherein the position determination model can be a model built based on a preset machine learning algorithm.

[0068] In step S704, the target position index point corresponding to the target position in the planned path is sent to the cooperative agricultural machinery equipment.

[0069] Among them, the target position index point can be used to trigger the cooperative working agricultural machinery equipment to travel to the target position, and trigger the cooperative working agricultural machinery equipment to work cooperatively with the agricultural machinery equipment when reaching the target position.

[0070] During implementation, the server may send a collaborative scheduling instruction to the collaborative agricultural machinery equipment, and the collaborative scheduling instruction may include a target location index point.

[0071] In the collaborative operation scenario, when the collaborative agricultural machinery equipment receives the collaborative scheduling instruction, the collaborative agricultural machinery equipment can plan the collaborative operation path according to the target location index point and other information. After completing the collaborative operation path planning, the collaborative agricultural machinery equipment can go to the target location for collaborative operation based on the MPC model predictive controller. The agricultural machinery equipment and the MPC model predictive controller of the collaborative agricultural machinery equipment are designed separately, such as Figure 8 As shown, the collaborative operation between agricultural machinery equipment (i.e., host agricultural machinery) and cooperative agricultural machinery equipment (i.e., slave agricultural machinery) can rely on wireless communication equipment to achieve information transmission.

[0072] Agricultural machinery and cooperative agricultural machinery must be equipped with: satellite navigation positioning module, capacity sensor module, computing central processing unit, wireless communication module, and MPC model predictive controller.

[0073] Among them, the satellite navigation positioning module can be responsible for locating the position information of each agricultural machinery and equipment, and sending the position information to the computing central processor. The capacity sensor module can be responsible for supervising the capacity information of the agricultural machinery and equipment in the current state, and sending the storage information of the current agricultural machinery to the computing central processor. The computing central processor (i.e., the server) can process the information data obtained above. The computing central processor can transmit the planned path, driving speed, posture and other information of the agricultural machinery and equipment, as well as the collaborative scheduling instructions to the MPC controller to realize the kinematic control of the agricultural machinery and equipment. The wireless communication module can be responsible for the information transmission between agricultural machinery and equipment and collaborative agricultural machinery and equipment, such as transmitting the current position index point of the agricultural machinery and equipment.

[0074] In addition, during the collaborative operation, the agricultural machinery and the cooperative agricultural machinery will travel in parallel along their respective planned paths. When the agricultural machinery and the cooperative agricultural machinery are about to enter the turning section from the straight operation section, how to coordinate the turning to avoid collision and improve operation efficiency is a key issue.

[0075] In order to avoid collision problems and improve the overall work efficiency, referring to the actual field conditions, agricultural machinery equipment can be made to turn at the end of the farmland, and no harvesting operations are performed during the turning process. During the whole process, the agricultural machinery equipment does not stop to reduce the work efficiency. Instead, the control algorithm is used to give the collaborative agricultural machinery equipment a speed increment after the turn is completed, and based on the MPC model prediction controller agricultural machinery equipment and the communication of the target position index point between the collaborative agricultural machinery equipment, the position index point of the collaborative agricultural machinery equipment is made equal to the position index point of the agricultural machinery equipment, so that the collaborative agricultural machinery equipment can catch up with the agricultural machinery equipment in the straight operation section, thereby realizing collaborative operation. This not only avoids collision problems during turning, but also allows the agricultural machinery equipment to operate without stopping, thereby improving the overall work efficiency.

[0076] For example, in Figure 2 In the working area shown, agricultural machinery only needs to work in the straight working section, and agricultural machinery does not work when turning at the end of the field, which means that agricultural machinery does not need the assistance of system working agricultural machinery during the turning process. Since the cooperative working agricultural machinery is not required to follow the agricultural machinery in the turning section, in order to avoid collisions between different types of agricultural machinery and improve the overall working efficiency, the strategy of "master and slave agricultural machinery turning in sequence" can be adopted, that is, the agricultural machinery does not stop and wait during the whole working process, and always moves forward along the preset planned path of the agricultural machinery. Instead, the cooperative working agricultural machinery accelerates to catch up with the host agricultural machinery after completing the turn, so as to realize the cooperative operation of different types of agricultural machinery in the straight working section.

[0077] In the implementation, taking agricultural machinery as the host agricultural machinery and cooperative agricultural machinery as the slave agricultural machinery as an example, the MPC algorithm can achieve the tracking effect according to the set discrete trajectory, so it is necessary to discretize the full coverage planning path, and then obtain the discrete trajectory matrix of the planning path. The MPC controller can realize the tracking control of the agricultural machinery on the planning path according to the discrete trajectory matrix. p×5 and ref_a p×5 The planning path discrete trajectory matrices of the host agricultural machinery equipment and the slave agricultural machinery equipment can be respectively, and their corresponding row vectors are (index mp ,x mp ,y mp ,δ mp ,v mp ) and (index ap ,x ap ,y ap ,δ ap ,v ap ), the items in the row vector represent the index point, expected horizontal coordinate, expected vertical coordinate, expected front wheel steering angle and expected speed corresponding to each discrete trajectory point in the planned path of the host agricultural machinery and the slave agricultural machinery. In addition, the turning position of the host agricultural machinery can be expressed as TurningPosition m , the turning position of the slave agricultural machinery can be TurningPosition a When the host agricultural machinery is in a turning state, TurningPosition m When the host agricultural machinery is in a straight-line driving state, TurningPosition m The MPC controller can control the motion state of agricultural machinery by controlling the control increment of agricultural machinery equipment. The control increment of the slave agricultural machinery equipment can be Δu t =[Δv t ,Δδ t ], where Δv t Can be the speed increment of the slave agricultural machinery, Δδ t It can increase the steering angle of the front wheels of the follower agricultural equipment.

[0078] Discrete trajectory matrix ref_m based on the planned path of the host agricultural machinery equipment and the slave agricultural machinery equipment p×5 and ref_a p×5 Based on the MPC controller, the host agricultural machinery and the slave agricultural machinery move forward in a coordinated manner along the straight working section. At this time, TurningPosition m With TurningPosition aIn the process of collaborative operation, the slave agricultural machinery always checks the turning position of the master agricultural machinery. m , when TurningPosition m When it changes to 1, it means that the host agricultural machinery is about to enter the turning state. At this time, the slave agricultural machinery should stop and wait for the host agricultural machinery to complete the turning. m When it is 1, the control increment Δu in the MPC controller of the slave agricultural machinery equipment is t =[Δv t ,Δδ t ]=[0,0], when the host agricultural machinery equipment is turning, the control increment Δu of the slave agricultural machinery equipment t It is always 0 to achieve the effect that the slave agricultural machinery equipment stops and waits for the master agricultural machinery equipment to complete the turn.

[0079] After the host agricultural machinery completes the turn, TurningPosition m From 1 to 0, the slave agricultural machinery can start turning. m When it is 0, cancel the t The MPC controller of the slave agricultural machinery equipment can continue to be based on the slave discrete trajectory matrix ref_a p×5 Get the row vector (index) corresponding to the subsequent discrete points in the planned path of the slave agricultural machinery equipment ap ,x ap ,y ap ,δ ap ,v ap ), calculate the control increment Δu of the output slave agricultural machinery equipment t =[Δv t ,Δδ t ], control the slave agricultural machinery to turn along the planned path of the slave agricultural machinery, and at the same time TurningPosition a Changes from 0 to 1. In the process of the slave agricultural machinery equipment turning, the host agricultural machinery equipment does not stop and wait, but continues to operate along the preset planned path of the host agricultural machinery equipment.

[0080] After the slave agricultural machinery equipment completes the turn, the slave agricultural machinery equipment also enters the straight-line driving operation state. At this time, the turning mark position of the slave agricultural machinery equipment is TurningPosition a = 0. Since the speed of the agricultural machinery in straight-line operation (i.e., the operating speed) and the turning speed in the turning state (i.e., the turning speed) V wTherefore, after the slave agricultural machinery completes the turn, the distance between the master agricultural machinery and the slave agricultural machinery actually changes greatly. At this time, the slave agricultural machinery needs to accelerate along the straight working section to catch up with the master agricultural machinery to resume the coordinated operation with the master agricultural machinery.

[0081] In the MPC model predictive controller, Point a It can be the position index point corresponding to the MPC controller of the host agricultural machinery equipment, Point m It can be the position index point corresponding to the MPC controller of the slave agricultural machinery equipment. The technical solution for the slave agricultural machinery equipment to accelerate and catch up with the master agricultural machinery equipment can be to control the overall control increment Δu of the slave agricultural machinery equipment. t =[Δv t ,Δδ t ], so that the position index point corresponding to the slave agricultural machinery equipment Point m Equal to the location index point Point corresponding to the host agricultural machinery a , so that the MPC controller of the slave agricultural machinery equipment gives the slave speed change to catch up with the host agricultural machinery equipment.

[0082] Relying on wireless communication equipment, the slave agricultural machinery equipment can obtain the position status of the host agricultural machinery equipment in real time after the turning state is completed. At this time, in the straight-line driving operation state, the slave agricultural machinery equipment increases the speed increment Δv t According to the working principle of the MPC model predictive controller, the update speed of the expected path index point of the slave agricultural machinery equipment is also accelerating. At the same time, constraints are added to the controller algorithm to make the value of the position index point of the slave agricultural machinery equipment equal to the value of the position index point of the host agricultural machinery equipment, that is, Point m =Point a , so that the slave agricultural machinery equipment will be parallel to the index point position of the master agricultural machinery equipment when the expected position point update speed is faster than that of the master agricultural machinery equipment. When the index point positions of the master agricultural machinery equipment and the slave agricultural machinery equipment are equal, it means that the slave agricultural machinery equipment has caught up with the master agricultural machinery equipment. At this time, it is necessary to make the MPC controller of the slave agricultural machinery equipment control the increment Δu t =[Δv t ,Δδ t ] is set to 0 again, so that the host agricultural machinery equipment and the slave agricultural machinery equipment resume coordinated operation.

[0083] In summary, if Fig. 9 As shown above, in summary, the imperative collaborative turning algorithm includes:

[0084] The first step is to initialize the turning position of the master and slave agricultural machinery. m = 0 and TurningPositiona = 0 and other related parameters (such as the turning radius of agricultural machinery, turning speed, etc.), the master and slave machines work together in the straight working section according to the planned path. During the collaborative operation, the slave machine always checks the turning position of the master machine. m Whether it becomes 1, if TurningPosition m If it is still 0, the collaborative work will continue along the straight line working section.

[0085] The second step is when TurningPosition m When it changes to 1, it means that the host enters the turning driving state. At this time, the control increment Δu of the slave agricultural machinery equipment is set t =[Δv t ,Δδ t ]=[0,0], the slave agricultural machinery stops and waits for the master agricultural machinery to complete the turn. At the same time, the slave agricultural machinery checks the turning position TurningPosition of the master agricultural machinery m Whether it becomes 0, if TurningPosition m If it is still 1, the slave agricultural machinery continues to stop and wait.

[0086] The third step is when TurningPosition m When it becomes 0, the host agricultural machinery equipment completes the turn and enters the straight operation section, and the control increment Δu of the slave agricultural machinery equipment is canceled at this time. t =[Δv t ,Δδ t ] is reset to zero, the slave starts turning, and the turning flag of the slave agricultural machinery equipment is TurningPosition a Changes to 1. Check TurningPosition during the turning process of the slave agricultural machinery a Whether it changes to 0, if the turning position of the slave agricultural machinery equipment is a If it is still 1, the slave agricultural machinery continues to complete the turn according to the planned path.

[0087] Step 4: When TurningPosition a After it becomes 0, it means that the slave agricultural machinery equipment has also completed the turn. At this time, let the index point index of the slave agricultural machinery equipment a Equal to the index point index of the host agricultural machinery equipment m The model predictive controller can increase the speed increment Δv of the slave agricultural machinery by tracking the index point t , so that the slave agricultural machinery equipment can catch up with the host agricultural machinery equipment at an accelerated speed.

[0088] In the fifth step, after the slave agricultural machinery equipment catches up with the master agricultural machinery equipment, the master and slave continue to move forward in parallel along the straight working section to complete the cooperative operation of heterogeneous agricultural machinery. And according to the conditions such as the capacity of the master and slave agricultural machinery, it is judged whether the cooperative operation task of heterogeneous agricultural machinery is completed. If it is completed, the algorithm ends. If not, it returns to the first step to continue the cooperative operation.

[0089] Through the above method, it is no longer necessary to use existing longitudinal relative position speed coupling controllers, self-correcting controllers or sliding mode control theories, and to design asymptotically stable paths to maintain control laws and formation maintenance control laws for special-shaped agricultural machinery operations or agricultural machinery formation control operations. By designing an MPC model predictive controller path for special-shaped agricultural machinery, the position index point of each agricultural machinery equipment can be set, and the information transmission between the position index points of the agricultural machinery equipment can be used to enable effective information communication between the agricultural machinery equipment. In addition, by using this information communication technology, a new turning scheme is designed, so that the agricultural machinery equipment can continue to operate throughout the process and obtain a high-efficiency control effect, which greatly reduces the adverse effects caused by communication technology and communication technology requirements, reduces additional research and development costs such as speed coupling controllers, and can greatly reduce the safety hazards caused by collision problems of agricultural machinery equipment, and minimize the non-operation waiting time of agricultural machinery equipment, which is of significant significance for improving the efficiency of collaborative operations of special-shaped agricultural machinery in unmanned farms.

[0090] The embodiments of the present specification provide an agricultural machinery control method, which can determine the planned path of the agricultural machinery equipment in the working area according to the area information of the working area of ​​the agricultural machinery equipment, wherein the planned path may include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section according to the working driving speed of the agricultural machinery equipment, the length of the straight working section and the preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section according to the turning driving speed of the agricultural machinery equipment, the turning radius of the turning non-working section and the preset path point generation cycle. Finally, according to the preset model predictive control algorithm, based on the first path point number and the second path point number, the position index points in the planned path of the agricultural machinery equipment can be generated, and according to the position index points in the planned path, the agricultural machinery equipment can be controlled to perform path tracking in the working area. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0091] The above is the agricultural machinery control method provided by the embodiment of this specification. Based on the same idea, the embodiment of this specification also provides an agricultural machinery control device, such as Fig.10 shown.

[0092] The agricultural machinery control device comprises: a path planning module 1001, a first determination module 1002, a second determination module 1003 and a path tracking module 1004, wherein:

[0093] A path planning module 1001 is used to determine a planned path of the agricultural machinery control device in the working area according to the area information of the working area of ​​the agricultural machinery control device, wherein the planned path includes a straight working section and a turning non-working section;

[0094] A first determination module 1002 is used to determine the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery control device, the length of the straight working section and the preset path point generation cycle;

[0095] The second determination module 1003 is used to determine the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery control device, the turning radius of the turning non-operating section and the preset path point generation cycle;

[0096] The path tracking module 1004 is used to generate position index points in the planned path of the agricultural machinery control device based on the first number of path points and the second number of path points according to a preset model prediction control algorithm, and control the agricultural machinery control device to perform path tracking in the working area according to the position index points in the planned path.

[0097] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the agricultural machinery control device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0098] An embodiment of the present specification provides an agricultural machinery control device, which can determine a planned path of the agricultural machinery in a working area according to area information of the working area of ​​the agricultural machinery, wherein the planned path may include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section according to the working speed of the agricultural machinery, the length of the straight working section and a preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section according to the turning speed of the agricultural machinery, the turning radius of the turning non-working section and a preset path point generation cycle. Finally, according to a preset model predictive control algorithm, position index points in the planned path of the agricultural machinery can be generated based on the first number of path points and the second number of path points, and the agricultural machinery can be controlled to perform path tracking in the working area according to the position index points in the planned path. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0099] The above is an agricultural machinery control device provided in the embodiments of this specification. Based on the same idea, the embodiments of this specification also provide an agricultural machinery control device, such as Fig.11 shown.

[0100] The agricultural machinery control device may provide a terminal device or a server, etc. for the above-mentioned embodiments.

[0101] The agricultural machinery control device may have relatively large differences due to different configurations or performances, and may include one or more processors 1101 and memory 1102, and the memory 1102 may store one or more storage applications or data. Among them, the memory 1102 may be a short-term storage or a persistent storage. The application stored in the memory 1102 may include one or more modules (not shown in the figure), and each module may include a series of computer executable instructions in the agricultural machinery control device. Furthermore, the processor 1101 can be configured to communicate with the memory 1102 to execute a series of computer executable instructions in the memory 1102 on the agricultural machinery control device. The agricultural machinery control device may also include one or more power supplies 1103, one or more wired or wireless network interfaces 1104, one or more input and output interfaces 1105, and one or more keyboards 1106.

[0102] Specifically in this embodiment, the agricultural machinery control device includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions in the agricultural machinery control device, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions:

[0103] Determining a planned path of the agricultural machinery control device in the working area according to the area information of the working area of ​​the agricultural machinery control device, wherein the planned path includes a straight working section and a turning non-working section;

[0104] Determining the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery control device, the length of the straight working section, and the preset path point generation cycle;

[0105] Determining the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery control device, the turning radius of the turning non-operating section, and the preset path point generation cycle;

[0106] According to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, position index points in the planned path of the agricultural machinery control equipment are generated, and according to the position index points in the planned path, the agricultural machinery control equipment is controlled to perform path tracking in the working area.

[0107] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the agricultural machinery control equipment embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0108] The embodiments of the present specification provide an agricultural machinery control device, which can determine the planned path of the agricultural machinery in the working area according to the area information of the working area of ​​the agricultural machinery, wherein the planned path may include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section according to the working speed of the agricultural machinery, the length of the straight working section and the preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section according to the turning speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle. Finally, according to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, the position index points in the planned path of the agricultural machinery are generated, and according to the position index points in the planned path, the agricultural machinery is controlled to perform path tracking in the working area. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0109] Furthermore, based on the above Figures 1 to 9 In one embodiment, the present specification further provides a storage medium for storing computer executable instruction information. In a specific embodiment, the storage medium may be a USB flash drive, an optical disk, a hard disk, etc. When the computer executable instruction information stored in the storage medium is executed by the processor, the following process can be implemented:

[0110] Determining a planned path of the agricultural machinery in the working area according to the area information of the working area of ​​the agricultural machinery, wherein the planned path includes a straight working section and a turning non-working section;

[0111] Determining the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery, the length of the straight working section, and a preset path point generation cycle;

[0112] Determining the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating section, and the preset path point generation cycle;

[0113] According to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, position index points in the planned path of the agricultural machinery are generated, and according to the position index points in the planned path, the agricultural machinery is controlled to perform path tracking in the working area.

[0114] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0115] An embodiment of the present specification provides a storage medium that can determine a planned path of the agricultural machinery equipment in a working area based on area information of the working area of ​​the agricultural machinery equipment, wherein the planned path may include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section based on the working driving speed of the agricultural machinery equipment, the length of the straight working section, and a preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section based on the turning driving speed of the agricultural machinery equipment, the turning radius of the turning non-working section, and a preset path point generation cycle. Finally, according to a preset model predictive control algorithm, position index points in the planned path of the agricultural machinery equipment can be generated based on the first number of path points and the second number of path points, and the agricultural machinery equipment can be controlled to perform path tracking in the working area based on the position index points in the planned path. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0116] Furthermore, based on the above Figures 1 to 9 In one or more embodiments of the present specification, a computer program product is provided, including a computer program. When the computer program in the computer program product is executed by a processor, the following process can be implemented:

[0117] Determining a planned path of the agricultural machinery in the working area according to the area information of the working area of ​​the agricultural machinery, wherein the planned path includes a straight working section and a turning non-working section;

[0118] Determining the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery, the length of the straight working section, and a preset path point generation cycle;

[0119] Determining the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating section, and the preset path point generation cycle;

[0120] According to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, position index points in the planned path of the agricultural machinery are generated, and according to the position index points in the planned path, the agricultural machinery is controlled to perform path tracking in the working area.

[0121] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned computer program product embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0122] The embodiments of the present specification provide a computer program product that can determine a planned path for agricultural machinery in a working area based on area information of the working area of ​​the agricultural machinery, wherein the planned path can include a straight working section and a turning non-working section, and then determine the number of first path points corresponding to the straight working section based on the working driving speed of the agricultural machinery, the length of the straight working section, and a preset path point generation cycle, and determine the number of second path points corresponding to the turning non-working section based on the turning driving speed of the agricultural machinery, the turning radius of the turning non-working section, and a preset path point generation cycle. Finally, according to a preset model predictive control algorithm, position index points in the planned path of the agricultural machinery can be generated based on the first number of path points and the second number of path points, and the agricultural machinery can be controlled to perform path tracking in the working area based on the position index points in the planned path. When the working state of the agricultural machinery includes a straight working state and a turning non-working state, the planned path including the straight working section and the turning non-working section can be determined according to the area information of the working area of ​​the agricultural machinery, and then the number of path points corresponding to the different sections (i.e., the number of first path points and the number of second path points) can be accurately determined according to the path parameters corresponding to the different sections and the equipment parameters of the agricultural machinery. In this way, the path tracking effect of the agricultural machinery can be improved by generating position index points based on the number of path points corresponding to the different sections, thereby improving the working efficiency of the agricultural machinery.

[0123] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0124] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0125] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0126] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0127] For the convenience of description, the above devices are described in terms of functions and are divided into various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0128] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0129] The embodiments of this specification are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable fraud case serial and parallel device to produce a machine, so that the instructions executed by the processor of the computer or other programmable fraud case serial and parallel device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable fraud case serial and parallel device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0136] It should be understood by those skilled in the art that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0137] One or more embodiments of the present specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. One or more embodiments of the present specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0138] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0139] The above description is only an embodiment of this specification and is not intended to limit this document. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this specification.

Claims

1. A method for controlling an agricultural machine, the method comprising: Determining a planned path of the agricultural machinery in the working area according to the area information of the working area of ​​the agricultural machinery, wherein the planned path includes a straight working section and a turning non-working section; Determining the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery, the length of the straight working section, and a preset path point generation cycle; Determining the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating section, and the preset path point generation cycle; According to the preset model predictive control algorithm, based on the first number of path points and the second number of path points, position index points in the planned path of the agricultural machinery are generated, and according to the position index points in the planned path, the agricultural machinery is controlled to perform path tracking in the working area.

2. The method according to claim 1, wherein the turning non-operating road section comprises a turning road section and a straight road section, The determining the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating section, and the preset path point generation cycle includes: Determining the number of first sub-path points corresponding to the turning path according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating road section, and the preset path point generation cycle; Determine the number of second sub-path points corresponding to the straight section according to the working row spacing of the agricultural machinery in the working area, the turning speed of the agricultural machinery, the turning radius of the turning non-working section, and the preset path point generation cycle; The number of second path points corresponding to the turning non-operating section is determined according to the number of the first sub-path points and the number of the second sub-path points.

3. The method according to claim 1, wherein determining the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery, the length of the straight working section and a preset path point generation cycle comprises: According to the operating speed of the agricultural machinery, the length of the straight working section and the preset path point generation cycle, the following formula is used Straight=floor(H / ((V×1000 / 3600) / (1 / T))), Determine the number of first path points corresponding to the straight working section, where Straight is the number of the first path points, H is the length of the straight working section, V is the operating speed of the agricultural machinery, T is the preset path point generation period, and floor() is a rounding operation.

4. The method according to claim 2, wherein the determining the number of first sub-path points corresponding to the turning path according to the turning speed of the agricultural machinery, the turning radius of the turning non-operating road section, and the preset path point generation cycle comprises: According to the turning speed of the agricultural machinery, the turning radius of the turning non-operating road section and the preset path point generation cycle, the following formula is used: Quadrant=floor((2×pi×R / 4) / ((V w ×1000 / 3600) / (1 / T))), Determine the number of first sub-path points corresponding to the turning path, where Quadrant is the number of the first sub-path points, R is the turning radius of the turning non-operating section, and V w is the turning speed of the agricultural machinery, T is the preset path point generation cycle, and floor() is a rounding operation.

5. The method according to claim 4, wherein the determining the number of second sub-path points corresponding to the straight section according to the working row spacing of the agricultural machinery in the working area, the turning speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle comprises: According to the working row spacing of the agricultural machinery in the working area, the turning speed of the agricultural machinery, the turning radius of the turning non-working section and the preset path point generation cycle, the following formula is used: Turn=floor((D-2×R) / ((V w ×1000 / 3600) / (1 / T))), The number of second sub-path points corresponding to the straight road segment is determined, wherein Turn is the number of second sub-path points corresponding to the straight road segment, and D is the working row spacing of the agricultural machinery in the working area.

6. According to the method of claim 1, the length of the straight working section is a path distance between the starting point and the ending point determined according to the position coordinates of the starting point and the ending point of the straight working section.

7. The method according to claim 6, further comprising: Determining a target position of the agricultural machinery when the agricultural machinery reaches a coordinated working state in the working area according to the working efficiency of the agricultural machinery, the working driving speed and the turning driving speed; The target position index point corresponding to the target position in the planned path is sent to the cooperative working agricultural machinery equipment of the agricultural machinery equipment, and the target position index point is used to trigger the cooperative working agricultural machinery equipment to travel to the target position, and trigger the cooperative working agricultural machinery equipment to work cooperatively with the agricultural machinery equipment when reaching the target position.

8. An agricultural machinery control device, comprising: A path planning module, used to determine a planned path of the agricultural machinery control device in the working area according to the area information of the working area of ​​the agricultural machinery control device, wherein the planned path includes a straight working section and a turning non-working section; A first determination module, configured to determine the number of first path points corresponding to the straight working section according to the operating driving speed of the agricultural machinery control device, the length of the straight working section, and a preset path point generation cycle; A second determination module is used to determine the number of second path points corresponding to the turning non-operating section according to the turning speed of the agricultural machinery control device, the turning radius of the turning non-operating section and the preset path point generation cycle; A path tracking module is used to generate position index points in the planned path of the agricultural machinery control device based on the first number of path points and the second number of path points according to a preset model prediction control algorithm, and control the agricultural machinery control device to perform path tracking in the working area according to the position index points in the planned path.

9. An agricultural machinery control device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the agricultural machinery control method as claimed in any one of claims 1 to 7.

10. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the steps of the agricultural machinery control method according to any one of claims 1 to 7.

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