Farmland information acquisition method and harvester

Abstract

The invention provides a farmland information acquisition method and a harvester, and the method comprises the steps: obtaining a farmland map of a target farmland when the harvester is in an acquisition mode; for each farmland sub-region, controlling the harvester to run according to the collection navigation path corresponding to the sub-region map; when the current position coordinate of the harvester is consistent with the image acquisition coordinate of the farmland sub-region, sending a shooting instruction to a visual controller of the harvester so as to receive a farmland sub-region image of the farmland sub-region; when the current position coordinate of the harvester is consistent with the soil acquisition coordinate of the farmland subarea, controlling a hydraulic push rod of the harvester to extend into soil at the soil acquisition coordinate so as to receive soil information acquired by a soil information acquisition module arranged on the hydraulic push rod; and fusing the farmland sub-region image of the farmland sub-region and the soil information to generate a farmland information graph of the target farmland. According to the invention, more comprehensive collection of farmland information is realized.

Description

Technical Field

[0001] The present application relates to the technical field of information collection, and in particular to a method for collecting farmland information and a harvester. Background Art

[0002] Farmland information is an indispensable and important cornerstone of precision agriculture research and a key step in promoting precision agriculture practice. With the continuous acceleration of agricultural modernization, the status of farmland information in agricultural production has become increasingly prominent.

[0003] In traditional technology, harvesters plan their operation paths by pre-importing a plot prescription map, and adjust the operation parameters based on the information in the prescription map to achieve the best operation results. However, this method has an obvious limitation: it cannot provide real-time farmland information feedback for the operation plot, nor can it analyze the information that affects the crop yield of the plot. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a farmland information collection method and a harvester to achieve more comprehensive collection of farmland information.

[0005] In a first aspect, the present application provides a method for collecting farmland information, comprising: when a harvester is in a collection mode, obtaining a farmland map of a target farmland, the target farmland comprising a plurality of farmland sub-areas, the farmland map comprising a collection navigation path corresponding to each farmland sub-area, each collection navigation path comprising image collection coordinates and soil collection coordinates of the farmland sub-area; for each farmland sub-area, controlling the harvester to travel along the collection navigation path corresponding to the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the image collection coordinates of the farmland sub-area, sending a shooting instruction to a visual controller of the harvester to receive a farmland sub-area image of the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, controlling a hydraulic push rod of the harvester to penetrate into the soil at the soil collection coordinates to receive soil information collected by a soil information collection module arranged on the hydraulic push rod; for each farmland sub-area, fusing the farmland sub-area image and soil information of the farmland sub-area to generate a farmland information map of the target farmland.

[0006] In a possible implementation, the farmland map also includes an operation navigation path corresponding to each farmland sub-area, which further includes: when the harvester is in an operation mode, obtaining the operation navigation path corresponding to each farmland sub-area; for each farmland sub-area, controlling the harvester to travel according to the operation navigation path corresponding to the farmland sub-area; for each farmland sub-area, receiving a moisture signal from a moisture sensor and receiving a weight signal from a weighing sensor, so as to obtain crop yield information in the target farmland area according to the moisture signal and the weight signal, the moisture sensor being arranged on the side wall of the grain auger of the harvester, and the weighing sensor being arranged at the bottom of the grain tank of the harvester; for each farmland sub-area, generating a crop yield map of the farmland sub-area according to the moisture signal and the weight signal of the farmland sub-area, and splicing the crop yield maps of all farmland sub-areas to generate a crop yield map of the target farmland.

[0007] In a possible implementation, the farmland sub-region image includes a sequence identifier for indicating the order of the farmland sub-regions, and the soil information includes a location identifier for indicating the soil collection coordinates, wherein the farmland sub-region image and the soil information of the farmland sub-region are fused in the following manner to generate a farmland information map of the target farmland: for each piece of soil information, according to the location identifier of the soil information, the soil information is fused to the farmland sub-region image of the farmland sub-region; for each farmland sub-region image, the farmland sub-region image is sorted according to the sequence identifier of the farmland sub-region image, and all the farmland sub-region images are spliced ​​to generate a farmland information map of the target farmland.

[0008] In a possible implementation, the soil information collection module includes a soil moisture sensor, a soil temperature sensor, and a soil pH value collection sensor, wherein the soil moisture sensor is used to detect soil moisture information, the soil temperature sensor is used to detect soil temperature information, and the soil pH value collection sensor is used to detect soil pH value.

[0009] In a possible embodiment, the hydraulic push rod of the harvester is controlled to penetrate into the soil at the soil collection coordinates to receive soil information collected by a soil information collection module arranged on the hydraulic push rod in the following manner: the harvester is controlled to stop driving, and a start command is sent to the solenoid valve of the hydraulic push rod to make the hydraulic push rod penetrate into the soil; a displacement signal of a displacement sensor is received to determine the depth to which the hydraulic push rod penetrates into the soil according to the displacement signal; when the hydraulic push rod penetrates to a preset depth in the soil, a soil collection command is sent to the soil information collection module to receive the soil information.

[0010] In a possible implementation, the current position coordinates of the harvester are determined in the following manner: the longitude and latitude information of the entire vehicle TBOX of the harvester is received in real time to determine the current position coordinates of the harvester according to the longitude and latitude information.

[0011] In a possible implementation, the method further includes: generating a farming path corresponding to each farmland sub-area according to the farmland information map, so that a harvester in a farming mode performs farming operations along the farming path.

[0012] In a second aspect, the present application provides a harvester, the harvester comprising: a visual controller for collecting images of each farmland sub-region; a soil information collection module, arranged on a hydraulic push rod of the harvester, for collecting soil information of each farmland sub-region; a vehicle controller, configured to: when the harvester is in a collection mode, obtain a farmland map of a target farmland, the target farmland comprising a plurality of farmland sub-regions, the farmland map comprising a collection navigation path corresponding to each farmland sub-region, each collection navigation path comprising image collection coordinates and soil collection coordinates of the farmland sub-region; for each farmland sub-region, control the harvester to collect soil information according to the collection navigation path corresponding to the farmland sub-region path travel; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the image acquisition coordinates of the farmland sub-area, a shooting instruction is sent to the visual controller of the harvester to receive the farmland sub-area image of the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil acquisition coordinates of the farmland sub-area, the hydraulic push rod of the harvester is controlled to penetrate into the soil at the soil acquisition coordinates to receive the soil information collected by the soil information acquisition module arranged on the hydraulic push rod; for each farmland sub-area, the farmland sub-area image and soil information of the farmland sub-area are fused to generate a farmland information map of the target farmland.

[0013] In a third aspect, the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above method are performed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program executes the steps of the above-mentioned method when executed by a processor.

[0015] The present application provides a method for collecting farmland information and a harvester, wherein the method comprises: when the harvester is in a collection mode, obtaining a farmland map of a target farmland; for each farmland sub-area, controlling the harvester to travel according to the collection navigation path corresponding to the sub-area map; when the current position coordinates of the harvester are consistent with the image collection coordinates of the farmland sub-area, sending a shooting instruction to the visual controller of the harvester to receive the farmland sub-area image of the farmland sub-area; when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, controlling the hydraulic push rod of the harvester to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module set on the hydraulic push rod; fusing the farmland sub-area image and soil information of the farmland sub-area to generate a farmland information map of the target farmland. Through the present application, a more comprehensive collection of farmland information is achieved.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flow chart of a method for collecting farmland information provided in an embodiment of the present application;

[0019] Figure 2 A flowchart for generating a farmland information map provided in an embodiment of the present application;

[0020] Figure 3 A flow chart for generating a crop yield map provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0023] First, the application scenarios to which this application is applicable are introduced. This application can be applied to information collection.

[0024] Research has found that farmland information is not only a valuable cornerstone in the field of precision agriculture research, but also a key factor in promoting the in-depth development of precision agriculture practice. Today, as agricultural modernization continues to accelerate, the collection, analysis and use of farmland information plays an increasingly important role in agricultural production decision-making. In traditional agricultural operations, harvesters often rely on pre-imported plot prescription maps to plan operation paths, and adjust operation parameters based on detailed information provided by the prescription map, striving to achieve the best operation results. However, this model has a significant flaw: it lacks a mechanism to provide real-time feedback on specific farmland information of the operation plot, and thus cannot deeply analyze the relationship between the prescription map and the plot crop yield, making it difficult to accurately evaluate the operation effect and optimization space.

[0025] Based on this, the embodiments of the present application provide a farmland information collection method and a harvester, aiming to achieve more comprehensive collection of farmland information.

[0026] See also Figure 1 , Figure 1 This is a flow chart of a method for collecting farmland information provided by an embodiment of the present application. Figure 1 As shown in , the farmland information collection method provided by the embodiment of the present application includes:

[0027] S101. When the harvester is in a collection mode, a farmland map of a target farmland is obtained.

[0028] In an embodiment of the present application, the target farmland includes multiple farmland sub-areas, and the farmland map includes a collection navigation path corresponding to each farmland sub-area, and each collection navigation path includes the image collection coordinates and soil collection coordinates of the farmland sub-area.

[0029] Specifically, the harvester can be a wheeled harvester or a crawler harvester. The collection mode is a specific working mode of the harvester, which is specifically used for collecting farmland information. In this mode, the harvester will automatically or manually control its equipment (such as cameras, soil sensors, etc.) to collect images and soil information according to preset instructions and algorithms. The target farmland refers to the farmland area where information collection is required. The target farmland is divided into multiple smaller farmland sub-areas to facilitate more accurate collection and analysis of farmland information. The farmland sub-areas are smaller areas into which the target farmland is subdivided, and information collection and analysis can be performed separately. The farmland map is a digital representation of the farmland, which usually includes information such as the geographical boundaries, internal roads, and terrain of the farmland. The farmland map specifically refers to a map containing the collection navigation paths corresponding to each farmland sub-area. These paths guide the harvester to accurately drive in the farmland to complete the information collection task. The collection navigation path is a driving path preset for each farmland sub-area on the farmland map. These paths are to ensure that the harvester can collect image and soil information according to the predetermined coordinate position. The path includes image acquisition coordinates and soil acquisition coordinates, which are used to guide the precise operation of the camera and soil sensor respectively. Image acquisition coordinates refer to the positions specified on the acquisition navigation path, which are used to guide the harvester's camera to collect images here. These coordinates ensure the accuracy of image information and position correspondence. Soil acquisition coordinates are also specified in the acquisition navigation path, but are used to guide the harvester's soil sensor to collect soil information here. These coordinates ensure the accurate acquisition of soil samples, which is helpful for the subsequent analysis of soil characteristics.

[0030] As an example, the area of ​​the farmland sub-region can be set as the unit block area calculated based on the real-time speed of the harvester. Specifically, during the harvesting operation, the harvester accumulates the real-time speed value every 1 second and takes the average value every 5 seconds. The vehicle controller then uses the harvester's cutting width multiplied by the average speed within these 5 seconds to accurately calculate the unit block area of ​​different areas in the entire plot within 5 seconds, which helps to achieve accurate division and collection management of the farmland sub-region area.

[0031] As another example, before the harvester starts working, the input pins of the vehicle controller can be fully initialized. When the harvester enters the working state, the vehicle controller will receive the current position information in real time, and based on this information, combined with the matching information calculated by the host computer for the current working unit block, pre-adjust the current of the travel pump to the preset ideal value. In this way, the vehicle speed can be effectively and accurately adjusted, thereby controlling the density of soil information collection and ensuring the accuracy and efficiency of information collection.

[0032] In the embodiment of the present application, the vehicle controller is a PLC series controller or an STM32 series controller.

[0033] S102: For each farmland sub-area, control the harvester to travel according to the collection navigation path corresponding to the sub-area map.

[0034] S103. For each farmland sub-region, when the current position coordinates of the harvester are consistent with the image acquisition coordinates of the farmland sub-region, a shooting instruction is sent to the visual controller of the harvester to receive the farmland sub-region image of the farmland sub-region.

[0035] Here, the vision controller is a device mounted on the harvester, which is used to receive shooting instructions and take images of farmland. By carrying the vision controller, it can collect real-time information on crop diseases, insect pests, weeds, crop density, crop growth, lodging, etc. in different sub-areas of the farmland.

[0036] S104. For each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, control the hydraulic push rod of the harvester to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module arranged on the hydraulic push rod.

[0037] Here, the longitude and latitude information of the harvester's entire vehicle TBOX is received in real time to determine the current position coordinates of the harvester based on the longitude and latitude information.

[0038] Control the harvester to stop driving and send a start command to the solenoid valve of the hydraulic push rod to make the hydraulic push rod penetrate into the soil; receive the displacement signal of the displacement sensor to determine the depth of the hydraulic push rod penetrating into the soil according to the displacement signal; when the hydraulic push rod penetrates to the preset depth of the soil, send a soil collection command to the soil information collection module to receive soil information.

[0039] Among them, the soil information collection module includes soil information including soil moisture sensor, soil temperature sensor and soil pH value collection sensor. The soil moisture sensor is used to detect soil moisture information, the soil temperature sensor is used to detect soil temperature information, and the soil pH value collection sensor is used to detect soil pH value.

[0040] S105. For each farmland sub-region, the farmland sub-region image and soil information of the farmland sub-region are fused to generate a farmland information map of the target farmland.

[0041] Here, each farmland sub-area image includes a sequence identifier for characterizing the farmland sub-area, which is used to distinguish different farmland sub-areas. Each soil information includes a location identifier for characterizing the soil collection coordinates. The soil information will be associated with the location identifier of the soil collection coordinates so as to locate the specific information to a specific position of the farmland sub-area.

[0042] Below through Figure 2 The specific process of generating farmland information map is introduced in detail.

[0043] See also Figure 2 , Figure 2 This is a flowchart of generating a farmland information map provided by another embodiment of the present application. Figure 2 As shown in , the method for generating a farmland information map provided in an embodiment of the present application includes:

[0044] S201. For each piece of soil information, according to the location identifier of the soil information, fuse the soil information onto the farmland sub-region image of the farmland sub-region.

[0045] Here, the system first reads the soil information and its location identification, then finds the corresponding farmland sub-area image (matched by sequence identification), then marks the specific location of the soil information on the image, and displays the value or category of the soil information in a visual way on the image (for example, using color coding, charts, or text annotations).

[0046] S202 , sorting each farmland sub-region image according to its sequence identifier, and splicing all farmland sub-region images to generate a farmland information map of the target farmland.

[0047] Here, after the images of all farmland sub-areas are fused with soil information, the system will sort them according to the sequence identifiers of the images. The purpose of sorting is to ensure that adjacent farmland sub-areas can be correctly connected together when splicing the images. Finally, the system will splice all the sorted images into a complete farmland information map, which can intuitively display the soil information and image information of the entire farmland.

[0048] After completing the collection of farmland information, the information will be immediately transmitted to the vehicle controller in real time through the CAN bus. After receiving the information, the vehicle controller will quickly process and generate a farmland information map of the operation site in real time. Subsequently, the vehicle controller will use TBOX to upload the generated farmland information map to the cloud platform for further analysis and management.

[0049] See also Figure 3 , Figure 3 A flowchart of generating a crop yield map is provided for another embodiment of the present application. Figure 3 As shown in , the method for generating a crop yield map provided in an embodiment of the present application includes:

[0050] S301. When the harvester is in operation mode, obtain an operation navigation path corresponding to each farmland sub-area.

[0051] The farmland map also includes the operation navigation path corresponding to each farmland sub-area. The operation navigation path is a path specially planned for each farmland sub-area on the farmland map, which aims to optimize the operation efficiency of the harvester and ensure that the crops can be harvested efficiently and accurately. These paths can be customized based on the farmland information map.

[0052] S302: For each farmland sub-area, control the harvester to travel along the operation navigation path corresponding to the farmland sub-area.

[0053] S303: For each farmland sub-area, a moisture signal from a moisture sensor is received, and a weight signal from a weighing sensor is received, so as to obtain crop yield information in the target farmland area according to the moisture signal and the weight signal.

[0054] Here, the moisture sensor is installed on the side wall of the harvester's grain auger barrel to monitor the moisture content of the harvested crops in real time. The weighing sensor installed at the bottom of the harvester's grain tank is used to measure the total weight of the harvested crops. By continuously monitoring the changes in the grain tank weight, the crop yield can be estimated in real time.

[0055] As an example, during the harvesting process of the harvester, the moisture sensor will accumulate the real-time moisture value every 1 second, and calculate the average value of these values ​​every 5 seconds, so as to accurately obtain the moisture content of crops in different unit blocks of the entire plot. The weighing sensor will calculate the weight change of the granary every 5 seconds. The specific method is to subtract the initial weight value of the granary at the beginning of 5 seconds from the final weight value of the granary at the end of 5 seconds, so as to accurately obtain the crop yield in different unit blocks of the entire plot.

[0056] S304. For each farmland sub-region, a crop yield map of the farmland sub-region is generated according to the moisture signal and weight signal of the farmland sub-region, and the crop yield maps of all the farmland sub-regions are spliced ​​to generate a crop yield map of the target farmland.

[0057] Here, the crop yield map is generated for each farmland sub-area based on the moisture signal and weight signal of the area. The crop yield map is usually displayed in the form of a map, in which different colors or patterns can be used to represent different yield levels. Yield map stitching refers to stitching the crop yield maps of all farmland sub-areas together after they are generated to form a complete crop yield map of the target farmland. This overall map provides an intuitive view of the yield distribution of the farmland, helps to identify high-yield and low-yield areas, and provides an important basis for farmland management and optimization.

[0058] Compared with other technologies, this application can efficiently complete the diversified farmland information collection of the current plot, significantly improving work efficiency. In addition, it can also conduct in-depth matching analysis with soil information and moisture content based on the crop density, growth, yield and other information of each unit block in the operating area, providing powerful guidance for the subsequent precise fertilization operation of the harvester and the improvement of soil conditions. Secondly, the present invention can simultaneously collect soil information data of soil layers at different depths, thereby drawing a more accurate farmland information map.

[0059] The present application also provides a harvester, which includes:

[0060] a visual controller for acquiring a farmland sub-region image of each farmland sub-region;

[0061] Soil information collection module, used to collect soil information of each farmland sub-area;

[0062] The vehicle controller is configured to: when the harvester is in a collection mode, obtain a farmland map of the target farmland, the target farmland includes multiple farmland sub-areas, the farmland map includes a collection navigation path corresponding to each farmland sub-area, and each collection navigation path includes the image collection coordinates and soil collection coordinates of the farmland sub-area; for each farmland sub-area, control the harvester to travel according to the collection navigation path corresponding to the sub-area map; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the image collection coordinates of the farmland sub-area, send a shooting instruction to the visual controller of the harvester to receive the farmland sub-area image of the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, control the hydraulic push rod of the harvester to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module set on the hydraulic push rod; for each farmland sub-area, fuse the farmland sub-area image and soil information of the farmland sub-area to generate a farmland information map of the target farmland.

[0063] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0064] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 to Figure 3The steps of the method for collecting farmland information in the method embodiment shown and the specific implementation methods can be found in the method embodiment, which will not be repeated here.

[0065] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 to Figure 3 The steps of the method for collecting farmland information in the method embodiment shown and the specific implementation methods can be found in the method embodiment, which will not be repeated here.

[0066] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0067] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0068] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0070] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0071] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for collecting farmland information, characterized in that: include: When the harvester is in a collection mode, a farmland map of a target farmland is obtained, wherein the target farmland includes a plurality of farmland sub-areas, and the farmland map includes a collection navigation path corresponding to each farmland sub-area, and each collection navigation path includes image collection coordinates and soil collection coordinates of the farmland sub-area; For each farmland sub-area, controlling the harvester to travel according to the collection navigation path corresponding to the farmland sub-area; For each farmland sub-region, when the current position coordinates of the harvester are consistent with the image acquisition coordinates of the farmland sub-region, sending a shooting instruction to the visual controller of the harvester to receive the farmland sub-region image of the farmland sub-region; For each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, the hydraulic push rod of the harvester is controlled to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module arranged on the hydraulic push rod; For each farmland sub-region, the farmland sub-region image and soil information of the farmland sub-region are fused to generate a farmland information map of the target farmland.

2. The method according to claim 1, characterized in that The farmland map also includes an operation navigation path corresponding to each farmland sub-area. Among them, it also includes: When the harvester is in operation mode, obtaining an operation navigation path corresponding to each farmland sub-area; For each farmland sub-area, controlling the harvester to travel according to the operation navigation path corresponding to the farmland sub-area; For each farmland sub-area, a moisture signal from a moisture sensor is received, and a weight signal from a weighing sensor is received, so as to obtain crop yield information in the target farmland area according to the moisture signal and the weight signal, wherein the moisture sensor is arranged on a side wall of a grain auger of the harvester, and the weighing sensor is arranged at the bottom of a grain tank of the harvester; For each farmland sub-region, a crop yield map of the farmland sub-region is generated according to the moisture signal and weight signal of the farmland sub-region, and the crop yield maps of all the farmland sub-regions are spliced ​​to generate a crop yield map of the target farmland.

3. The method according to claim 1, characterized in that The farmland sub-region image includes a sequence identifier for indicating the order of the farmland sub-regions, and the soil information includes a position identifier for indicating the soil collection coordinates. The farmland sub-region image and soil information of the farmland sub-region are fused in the following manner to generate a farmland information map of the target farmland: For each piece of soil information, according to the position identifier of the soil information, the soil information is fused onto the farmland sub-region image of the farmland sub-region; Each farmland sub-region image is sorted according to its sequence identifier, and all farmland sub-region images are spliced ​​to generate a farmland information map of the target farmland.

4. The method according to claim 1, characterized in that: The soil information collection module includes a soil moisture sensor, a soil temperature sensor and a soil pH value collection sensor. The soil moisture sensor is used to detect soil moisture information, the soil temperature sensor is used to detect soil temperature information, and the soil pH value collection sensor is used to detect soil pH value.

5. The method according to claim 1, characterized in that The hydraulic push rod of the harvester is controlled to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module arranged on the hydraulic push rod in the following manner: Controlling the harvester to stop running, and sending a start command to the solenoid valve of the hydraulic push rod, so that the hydraulic push rod can be inserted into the soil; receiving a displacement signal from a displacement sensor to determine the depth of the hydraulic push rod penetrating into the soil according to the displacement signal; When the hydraulic push rod penetrates into the soil to a preset depth, a soil collection instruction is sent to the soil information collection module to receive the soil information.

6. The method according to claim 1, characterized in that The current position coordinates of the harvester are determined by: The longitude and latitude information of the whole vehicle TBOX of the harvester is received in real time to determine the current position coordinates of the harvester according to the longitude and latitude information.

7. The method according to claim 6, characterized in that Also includes: According to the farmland information map, a farming path corresponding to each farmland sub-area is generated, so that the harvester in the farming mode can perform farming operations along the farming path.

8. A harvester, characterized in that: The harvester comprises: a visual controller for acquiring a farmland sub-region image of each farmland sub-region; A soil information collection module is arranged on the hydraulic push rod of the harvester and is used to collect soil information of each farmland sub-area; The vehicle controller is configured to: when the harvester is in a collection mode, obtain a farmland map of a target farmland, the target farmland includes a plurality of farmland sub-areas, the farmland map includes a collection navigation path corresponding to each farmland sub-area, and each collection navigation path includes image collection coordinates and soil collection coordinates of the farmland sub-area; for each farmland sub-area, control the harvester to travel along the collection navigation path corresponding to the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the image collection coordinates of the farmland sub-area, send a shooting instruction to the visual controller of the harvester to receive the farmland sub-area image of the farmland sub-area; for each farmland sub-area, when the current position coordinates of the harvester are consistent with the soil collection coordinates of the farmland sub-area, control the hydraulic push rod of the harvester to penetrate into the soil at the soil collection coordinates to receive the soil information collected by the soil information collection module arranged on the hydraulic push rod; for each farmland sub-area, fuse the farmland sub-area image and soil information of the farmland sub-area to generate a farmland information map of the target farmland.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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