Crop harvester control method, device, equipment, storage medium and product

Abstract

The invention relates to a crop harvester control method, device and equipment, a storage medium and a product. The method comprises the following steps: acquiring a to-be-detected image of a current position of a target harvester; wherein the to-be-detected image comprises at least one of earth surface information and crop information; performing image recognition on the to-be-detected image to obtain a recognition result; under the condition that the identification result comprises a crop identification result, controlling the advancing parameters of the target harvester according to the crop identification result; and under the condition that the identification result comprises a ground surface identification result, header parameters of the target harvester are controlled according to the ground surface identification result. The method can assist in controlling the harvester so as to improve the crop harvesting quality and efficiency.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a crop harvester control method, device, equipment, storage medium and product. Background Art

[0002] With the development of artificial intelligence technology, various fields have been popularized by artificial intelligence technology, including agricultural harvesting.

[0003] At present, there is a method of harvesting crops using harvesters, which can save manpower and improve crop harvesting efficiency.

[0004] However, current harvesters are usually controlled by drivers when harvesting crops. In some scenarios, abnormal crop harvesting or poor crop harvesting results may occur due to the driver's lack of observation, which urgently needs to be solved. Summary of the invention

[0005] Based on this, it is necessary to provide a crop harvester control method, device, equipment, storage medium and product to address the above-mentioned technical problems, which can assist in controlling the harvester to improve the quality and efficiency of crop harvesting.

[0006] In a first aspect, the present application provides a crop harvester control method, comprising:

[0007] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0008] Perform image recognition on the image to be detected to obtain a recognition result;

[0009] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0010] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0011] In one embodiment, the travel parameter includes a travel speed; accordingly, the travel parameter of the target harvester is controlled according to the crop recognition result, including:

[0012] When the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, the travel speed of the target harvester is reduced.

[0013] In one embodiment, the travel parameter includes a travel direction; accordingly, the travel parameter of the target harvester is controlled according to the crop recognition result, including:

[0014] When the crop recognition result indicates that the crop position is not at the preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

[0015] In one embodiment, the header parameters include header inclination angle; accordingly, according to the surface recognition result, the header parameters of the target harvester are controlled, including:

[0016] When the surface recognition result indicates that the surface has a slope, the cutting table inclination angle of the target harvester is controlled according to the slope.

[0017] In one embodiment, the header parameters include header height; accordingly, according to the surface recognition result, the header parameters of the target harvester are controlled, including:

[0018] According to the crop height in the crop recognition result, the header height of the target harvester is controlled.

[0019] In one embodiment, according to the crop height in the crop recognition result, the header height of the target harvester is controlled, including:

[0020] When the height of the crop exceeds a first preset height threshold, raising the header of the target harvester;

[0021] When the height of the crop does not exceed a second preset height threshold, lowering a header of the target harvester;

[0022] Among them, the first preset height threshold is greater than the second preset height threshold.

[0023] In a second aspect, the present application also provides a crop harvester control device, comprising:

[0024] An image acquisition module, used to acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0025] An image recognition module is used to perform image recognition on the image to be detected and obtain a recognition result;

[0026] a first control module, configured to control a travel parameter of a target harvester according to the crop recognition result when the recognition result includes the crop recognition result; and

[0027] The second control module is used to control the harvesting table parameters of the target harvester according to the surface recognition result when the recognition result includes the surface recognition result.

[0028] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0030] Perform image recognition on the image to be detected to obtain a recognition result;

[0031] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0032] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0034] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0035] Perform image recognition on the image to be detected to obtain a recognition result;

[0036] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0037] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0038] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0039] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0040] Perform image recognition on the image to be detected to obtain a recognition result;

[0041] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0042] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0043] The above-mentioned crop harvester control method, device, equipment, storage medium and product, during the operation of the target harvester, obtains the image to be detected at the current position of the target harvester, and performs image recognition on the image to be detected to obtain a recognition result, and then controls the crop harvester according to the recognition result. Specifically, when the recognition result includes a crop recognition result, the travel parameters of the target harvester are controlled according to the crop recognition result; when the recognition result includes a surface recognition result, the header parameters of the target harvester are controlled according to the surface recognition result. The target harvester can be controlled according to different situations at the current position of the target harvester to improve the harvesting quality and efficiency of the target harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a flow chart of a crop harvester control method in one embodiment;

[0046] Figure 2 It is a schematic flow chart of the process parameter control step in one embodiment;

[0047] Figure 3 A schematic flow chart of a process parameter control step in another embodiment;

[0048] Figure 4 It is a flow chart of the control steps of the header parameters in one embodiment;

[0049] Figure 5 A schematic flow chart of a control step of header parameters in another embodiment;

[0050] Figure 6 is a flow chart of a crop harvester control method in another embodiment;

[0051] Figure 7 is a structural block diagram of a crop harvester control device in one embodiment;

[0052] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] In one embodiment, Figure 1 As shown, a crop harvester control method is provided. This embodiment takes the method applied to a terminal as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0055] S110, obtaining an image to be detected at the current position of the target harvester.

[0056] The target harvester may be a harvester that is harvesting crops. The present application does not impose any restrictions on the type and model of the target harvester. For example, the target harvester may be a high-horsepower combine harvester. An image acquisition device is installed at a preset position of the target harvester to acquire an image to be detected at the current position of the target harvester. The image to be detected includes at least one of surface information and crop information.

[0057] Exemplarily, in this embodiment, the target harvester is provided with an image recognition device, which can obtain the image to be detected at the current position of the target harvester and perform subsequent processing.

[0058] S120, performing image recognition on the image to be detected to obtain a recognition result.

[0059] Exemplarily, in this embodiment, the image recognition device is equipped with an image recognition model, which can perform image recognition on the image to be detected.

[0060] For example, the image to be detected is input into the image recognition model to obtain the recognition result corresponding to the image to be detected. Among them, the image recognition model can be constructed based on a common neural network, which is not described in detail here. Furthermore, in the process of training the image recognition model, the sample image can be input into the image recognition model to obtain the prediction result corresponding to the sample image, and then the model parameters of the image recognition model are adjusted according to the prediction result and the result label corresponding to the sample image to improve the model accuracy of the image recognition model.

[0061] S130: When the recognition result includes a crop recognition result, the travel parameters of the target harvester are controlled according to the crop recognition result.

[0062] The crop recognition result is used to characterize the condition of the crop in the image to be detected, including at least one of the existence condition, crop type, crop height, crop density, crop moisture and crop maturity. The travel parameter can affect the travel state of the target harvester during operation.

[0063] Optionally, in this embodiment, the correspondence between the reference crop identification result and the reference control strategy can be predetermined, and the reference control strategy corresponding to the crop identification result in the correspondence can be used as a strategy for controlling the travel parameters of the target harvester.

[0064] Optionally, in this embodiment, the crop recognition result can be input into the travel parameter determination model to obtain the target travel parameters corresponding to the target harvester, and the target harvester can be controlled based on the target travel parameters. Among them, the travel parameter determination model can be constructed based on a common neural network, which will not be described in detail here. Furthermore, in the process of training the travel parameter determination model, the sample recognition result can be input into the travel parameter determination model to obtain the prediction parameters corresponding to the sample recognition result, and then according to the prediction parameters and the parameter labels corresponding to the sample recognition results, the model parameters of the travel parameter determination model are adjusted to improve the model accuracy of the travel parameter determination model.

[0065] S140: When the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0066] The ground surface recognition result is used to characterize the ground surface in the image to be detected, including the ground surface state, for example, at least one of the undulation state and the slope state. The header parameter can affect the header state of the target harvester during the crop harvesting process.

[0067] Optionally, in this embodiment, the correspondence between the reference surface identification result and the reference control strategy can be predetermined, and the reference control strategy corresponding to the surface identification result in the correspondence can be used as a strategy for controlling the harvesting table parameters of the target harvester.

[0068] Optionally, in this embodiment, the surface recognition results can be input into the header parameter determination model to obtain the target header parameters corresponding to the target harvester, and the target harvester can be controlled based on the target header parameters. Among them, the header parameter determination model can be constructed based on a common neural network, which will not be described in detail here. Furthermore, in the process of training the header parameter determination model, the sample recognition results can be input into the header parameter determination model to obtain the prediction parameters corresponding to the sample recognition results, and then the model parameters of the header parameter determination model can be adjusted according to the parameter labels corresponding to the prediction parameters and the sample recognition results to improve the model accuracy of the header parameter determination model.

[0069] In the above-mentioned crop harvester control method, during the operation of the target harvester, the image to be detected at the current position of the target harvester is obtained, and image recognition is performed on the image to be detected to obtain a recognition result, and then the crop harvester is controlled according to the recognition result. Specifically, when the recognition result includes a crop recognition result, the travel parameters of the target harvester are controlled according to the crop recognition result; when the recognition result includes a surface recognition result, the header parameters of the target harvester are controlled according to the surface recognition result. The target harvester can be controlled according to different situations at the current position of the target harvester to improve the harvesting quality and efficiency of the target harvester.

[0070] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the travel parameter includes a travel speed. In this case, the process of controlling the travel parameter of the target harvester according to the crop recognition result is introduced.

[0071] See also Figure 2 The travel parameter control steps shown include:

[0072] S210, when the crop identification result indicates that the crop humidity exceeds a preset humidity threshold, reducing the travel speed of the target harvester.

[0073] The preset humidity threshold value can assist in determining the travel speed of the target harvester. The preset humidity threshold value can be determined based on manual experience or through a large number of experiments, and this application does not impose any limitation on this.

[0074] Specifically, in this embodiment, when the crop identification result indicates that the crop humidity exceeds the preset humidity threshold, it is determined that the crop is not mature enough and the difficulty of harvesting increases. Therefore, the travel speed of the target harvester can be reduced so that the travel speed of the target harvester is more matched with the crop status, thereby improving the harvesting effect.

[0075] In the above embodiment, a travel parameter control method is provided, in which the travel speed of the target harvester is adjusted based on the crop moisture, so that the target harvester can harvest crops at a more reasonable speed.

[0076] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the travel parameter includes the travel direction. In this case, the process of controlling the travel parameter of the target harvester according to the crop recognition result is introduced.

[0077] See also Figure 3 The travel parameter control steps shown include:

[0078] S310: When the crop recognition result indicates that the crop position is not at a preset position of the target harvester, the moving direction of the target harvester is adjusted according to the crop position.

[0079] The preset position can assist in determining the direction of travel of the target harvester. The preset position can be determined according to the position of the header of the target harvester. For example, the preset position can be directly in front of the target harvester.

[0080] Specifically, in this embodiment, when the crop recognition result indicates that the crop position is not directly in front of the target harvester, the moving direction of the target harvester can be adjusted according to the position of the crop. For example, if the crop is on the left side of the target harvester, the target harvester is controlled to move to the left; if the crop is on the right side of the target harvester, the target harvester is controlled to move to the right.

[0081] In the above embodiment, another travel parameter control method is provided. Based on the crop position, the travel direction of the target harvester is adjusted to avoid the target harvester from harvesting crops in an open space, thereby improving the crop harvesting efficiency.

[0082] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the header parameters include header inclination angle. In this case, the process of controlling the header parameters of the target harvester according to the surface recognition result is introduced.

[0083] See also Figure 4 The steps for controlling the header parameters shown include:

[0084] S410, when the surface recognition result indicates that the surface has a slope, the cutting table inclination angle of the target harvester is controlled according to the slope.

[0085] Specifically, in this embodiment, when the surface recognition result indicates that the surface is uneven, the cutting table inclination angle of the target harvester is controlled according to the surface slope. For example, when the slope is 30 degrees (uphill), the cutting table inclination angle of the target harvester is adjusted to 30 degrees (uphill); when the slope is 30 degrees (downhill), the cutting table inclination angle of the target harvester is adjusted to 30 degrees (downhill).

[0086] Furthermore, while adjusting the inclination of the header, the inclination of the cleaning system can also be adjusted to better filter out the crops.

[0087] It can be understood that when there is a slope on the ground, the travel speed and gear of the target harvester can also be adjusted according to the slope.

[0088] In the above embodiment, a method for controlling the parameters of a harvesting table is provided. Based on the slope condition, the harvesting table inclination angle of the target harvester is adjusted, so that the harvesting table angle of the target harvester can match the slope, thereby achieving a better crop harvesting effect.

[0089] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the header parameters include header height. In this case, the process of controlling the header parameters of the target harvester according to the surface recognition result is introduced.

[0090] See also Figure 5 The steps for controlling the header parameters shown include:

[0091] S510, controlling the header height of the target harvester according to the crop height in the crop recognition result.

[0092] Optionally, in this embodiment, when the crop height exceeds a first preset height threshold, the cutting table of the target harvester is raised; when the crop height does not exceed a second preset height threshold, the cutting table of the target harvester is lowered; wherein the first preset height threshold is greater than the second preset height threshold, and both the first preset height threshold and the second preset height threshold can be determined based on manual experience or through a large number of experiments, and this application does not impose any limitations on this.

[0093] In the above embodiment, another method of controlling header parameters is provided. Based on the crop height, the header height of the target harvester is controlled, so that the header height of the target harvester is more matched with the crop height, thereby improving the harvesting effect.

[0094] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the crop harvester control method provided by the present application is introduced in detail.

[0095] See also Figure 6 The crop harvester control method shown includes:

[0096] S610, obtaining an image to be detected at the current position of the target harvester;

[0097] Wherein, the image to be detected includes at least one of surface information and crop information;

[0098] S620, performing image recognition on the image to be detected to obtain a recognition result;

[0099] S630A, when the recognition result includes a crop recognition result, determining the content of the crop recognition result;

[0100] S640A, if the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, reducing the travel speed of the target harvester;

[0101] S640B: If the crop recognition result indicates that the crop position is not at the preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

[0102] S630B, when the recognition result includes a surface recognition result, determining the content of the surface recognition result;

[0103] S640C, if the surface recognition result indicates that the surface has a slope, the inclination angle of the header of the target harvester is controlled according to the slope;

[0104] S640D, if the ground recognition result indicates that the crop height is abnormal, the header inclination angle of the target harvester is controlled according to the crop height;

[0105] Exemplarily, if the crop height exceeds a first preset height threshold, the header of the target harvester is raised; if the crop height does not exceed a second preset height threshold, the header of the target harvester is lowered;

[0106] Among them, the first preset height threshold is greater than the second preset height threshold.

[0107] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0108] Based on the same inventive concept, the embodiment of the present application also provides a crop harvester control device for implementing the crop harvester control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more crop harvester control device embodiments provided below can refer to the limitations of the crop harvester control method above, and will not be repeated here.

[0109] In an exemplary embodiment, Figure 7As shown, a crop harvester control device is provided, including: an image acquisition module 710, an image recognition module 720, a first control module 730 and a second control module 740, wherein:

[0110] The image acquisition module 710 is used to acquire the image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0111] An image recognition module 720 is used to perform image recognition on the image to be detected and obtain a recognition result;

[0112] The first control module 730 is used to control the travel parameters of the target harvester according to the crop recognition result when the recognition result includes the crop recognition result; and

[0113] The second control module 740 is used to control the harvesting table parameters of the target harvester according to the surface recognition result when the recognition result includes the surface recognition result.

[0114] In one embodiment, the travel parameter includes a travel speed; accordingly, the first control module 730 is configured to reduce the travel speed of the target harvester when the crop identification result indicates that the crop moisture exceeds a preset moisture threshold.

[0115] In one embodiment, the travel parameters include a travel direction; accordingly, the first control module 730 is used to adjust the travel direction of the target harvester according to the crop position when the crop identification result indicates that the crop position is not at the preset position of the target harvester.

[0116] In one embodiment, the header parameters include a header inclination angle; accordingly, the second control module 740 is used to control the header inclination angle of the target harvester according to the slope when the surface recognition result indicates that the surface has a slope.

[0117] In one embodiment, the header parameters include header height; accordingly, the second control module 740 is used to control the header height of the target harvester according to the crop height in the crop identification result.

[0118] In one embodiment, the second control module 740 includes a first control unit for raising the header of the target harvester when the crop height exceeds a first preset height threshold; and a second control unit for lowering the header of the target harvester when the crop height does not exceed a second preset height threshold; wherein the first preset height threshold is greater than the second preset height threshold.

[0119] Each module in the above-mentioned crop harvester control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0120] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a crop harvester control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0121] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0122] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0123] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0124] Perform image recognition on the image to be detected to obtain a recognition result;

[0125] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0126] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] When the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, the travel speed of the target harvester is reduced.

[0129] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0130] When the crop recognition result indicates that the crop position is not at the preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] When the surface recognition result indicates that the surface has a slope, the cutting table inclination angle of the target harvester is controlled according to the slope.

[0133] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0134] According to the crop height in the crop recognition result, the header height of the target harvester is controlled.

[0135] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0136] When the height of the crop exceeds a first preset height threshold, raising the header of the target harvester;

[0137] When the height of the crop does not exceed a second preset height threshold, lowering a header of the target harvester;

[0138] Among them, the first preset height threshold is greater than the second preset height threshold.

[0139] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0140] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0141] Perform image recognition on the image to be detected to obtain a recognition result;

[0142] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0143] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0145] When the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, the travel speed of the target harvester is reduced.

[0146] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0147] When the crop recognition result indicates that the crop position is not at the preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

[0148] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0149] When the surface recognition result indicates that the surface has a slope, the cutting table inclination angle of the target harvester is controlled according to the slope.

[0150] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0151] According to the crop height in the crop recognition result, the header height of the target harvester is controlled.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0153] When the height of the crop exceeds a first preset height threshold, raising the header of the target harvester;

[0154] When the height of the crop does not exceed a second preset height threshold, lowering a header of the target harvester;

[0155] Among them, the first preset height threshold is greater than the second preset height threshold.

[0156] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0157] Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information;

[0158] Perform image recognition on the image to be detected to obtain a recognition result;

[0159] When the recognition result includes a crop recognition result, controlling a travel parameter of the target harvester according to the crop recognition result; and

[0160] In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

[0161] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0162] When the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, the travel speed of the target harvester is reduced.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] When the crop recognition result indicates that the crop position is not at the preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

[0165] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0166] When the surface recognition result indicates that the surface has a slope, the cutting table inclination angle of the target harvester is controlled according to the slope.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] According to the crop height in the crop recognition result, the header height of the target harvester is controlled.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] When the height of the crop exceeds a first preset height threshold, raising the header of the target harvester;

[0171] When the height of the crop does not exceed a second preset height threshold, lowering a header of the target harvester;

[0172] Among them, the first preset height threshold is greater than the second preset height threshold.

[0173] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0174] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0175] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A crop harvester control method, characterized in that: The method comprises: Acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information; Performing image recognition on the image to be detected to obtain a recognition result; In the case where the recognition result includes a crop recognition result, controlling the travel parameters of the target harvester according to the crop recognition result; and In the case where the recognition result includes a ground surface recognition result, the harvesting table parameters of the target harvester are controlled according to the ground surface recognition result.

2. The method according to claim 1, characterized in that The traveling parameters include a traveling speed; accordingly, controlling the traveling parameters of the target harvester according to the crop recognition result includes: When the crop identification result indicates that the crop moisture exceeds a preset moisture threshold, the travel speed of the target harvester is reduced.

3. The method according to claim 1, characterized in that The traveling parameters include a traveling direction; accordingly, controlling the traveling parameters of the target harvester according to the crop recognition result includes: When the crop identification result indicates that the crop position is not at a preset position of the target harvester, the travel direction of the target harvester is adjusted according to the crop position.

4. The method according to claim 1, characterized in that: The header parameters include header inclination angles; accordingly, the header parameters of the target harvester are controlled according to the surface recognition result, including: When the surface recognition result indicates that the surface has a slope, the inclination angle of the harvester's header is controlled according to the slope.

5. The method according to claim 1, characterized in that The header parameters include header height; accordingly, the header parameters of the target harvester are controlled according to the ground surface recognition result, including: The height of the harvesting platform of the target harvester is controlled according to the crop height in the crop identification result.

6. The method according to claim 5, characterized in that The step of controlling the header height of the target harvester according to the crop height in the crop identification result includes: When the height of the crop exceeds a first preset height threshold, raising the header of the target harvester; When the height of the crop does not exceed a second preset height threshold, lowering the header of the target harvester; Wherein, the first preset height threshold is greater than the second preset height threshold.

7. A crop harvester control device, characterized in that: The device comprises: An image acquisition module, used to acquire an image to be detected at the current position of the target harvester; wherein the image to be detected includes at least one of surface information and crop information; An image recognition module is used to perform image recognition on the image to be detected to obtain a recognition result; A first control module is used for controlling the travel parameters of the target harvester according to the crop recognition result when the recognition result includes the crop recognition result; and The second control module is used to control the harvesting table parameters of the target harvester according to the surface recognition result when the recognition result includes the surface recognition result.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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