Method and device for preventing collision between harvesting machinery and material receiving vehicle

Abstract

The invention provides a method and device for preventing collision between a harvesting machine and a material receiving trolley, and the method comprises the steps: determining a first target deflection angle between the current advancing direction of the harvesting machine and a ridge row where target grains are located if a received starting instruction is an automatic row alignment function starting instruction, adjusting a steering wheel steering angle according to the first target deflection angle to make the advancing direction consistent with the ridge row direction; if the received starting instruction is a vision aided driving function starting instruction, determining a second target deflection angle between the current advancing direction of the harvesting machine and the straight line where the target haystack is located, and adjusting the steering angle of the steering wheel based on the second target deflection angle to enable the advancing direction to be the same as the direction of the target haystack; in the process of adjusting the turning angle of the steering wheel to achieve alignment in the corresponding direction, the distance between the harvesting machine and the material receiving vehicle is obtained, and if the distance is smaller than the preset safety distance, the turning direction of the steering wheel is limited based on the discharging mode of the harvesting machine. By the adoption of the technical scheme, collision accidents of the harvesting machine are reduced, and the safety of operation of the harvesting machine is improved.

Description

Technical Field

[0001] The present application relates to the technical field of preventing lateral collisions, and in particular to a method and device for preventing collisions between a harvesting machine and a material receiving vehicle. Background Art

[0002] In the process of promoting modern agricultural production, the widespread use of harvesting machinery has significantly improved agricultural production efficiency and greatly reduced the burden of manpower. In actual harvesting operations, due to the large amount of harvesting machinery at a time and its lack of ability to store materials for a long time, a receiving vehicle is required to travel synchronously to cooperate with the operation. The receiving vehicle can promptly receive the materials collected and processed by the harvesting machinery's cutting table, such as grains and fodder, to ensure the continuity of the harvesting operation. At present, the distance between the harvesting machinery and the receiving vehicle is mainly controlled by the operator.

[0003] However, in order to achieve efficient harvesting, the harvester's header is designed to be relatively wide, which increases the probability of collisions between the harvester and the feeder during operation. Especially with the development of intelligent agricultural technology, assisted driving functions such as automatic line-of-sight assisted driving and visual assisted driving are gradually applied to harvesting operations. Although these assisted driving functions have reduced the workload of operators to a certain extent, the system has limitations in adjusting the distance between the harvester and the feeder. In complex field environments and changing operating conditions, if the distance between vehicles cannot be effectively controlled, the probability of collisions increases. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a method and device for preventing collisions between a harvester and a material receiving vehicle, thereby reducing the occurrence of collision accidents of the harvester and improving the safety of harvester operations.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for preventing a harvester from colliding with a material receiving vehicle, the method comprising:

[0007] confirming the received opening instruction;

[0008] When the received start-up instruction is an automatic row-alignment function start-up instruction, a first target deflection angle between the straight line where the current forward direction of the harvester is located and the ridge where the target grain is located is determined; based on the first target deflection angle, a steering angle of a steering wheel of the harvester is adjusted so that the current forward direction of the harvester is the same as the direction of the ridge where the target grain is located;

[0009] When the received activation instruction is a visual assisted driving function activation instruction, a second target deflection angle between a straight line where the harvester is currently heading and a straight line where the target haystack is located is determined; based on the second target deflection angle, a steering angle of a steering wheel of the harvester is adjusted so that the current heading of the harvester is the same as the direction where the target haystack is located;

[0010] When adjusting the steering angle of the steering wheel of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack, obtaining the distance between the harvester and the receiving vehicle;

[0011] If the distance is smaller than the preset safety distance, the rotation direction of the steering wheel of the harvester is restricted based on the unloading mode of the harvester.

[0012] Furthermore, when the received start instruction is an automatic row function start instruction, determining a first target deflection angle between a straight line where the current forward direction of the harvester is located and a ridge where the target grain is located includes:

[0013] When the received start-up instruction is an automatic row function start-up instruction, a first offset angle and a second offset angle are obtained; wherein the first offset angle is an angle generated after a collision between a current first target grain straw collected by a first pair of row sensors arranged on the harvester and the pull rod of the first pair of row sensors; the second offset angle is an angle generated after a collision between a current second target grain straw collected by a second pair of row sensors arranged on the harvester and the pull rod of the second pair of row sensors;

[0014] A first offset is determined based on the first offset angle, the length of the lever of the first pair of row sensors, and the offset distance of the end of the lever of the first pair of row sensors after the collision, and a second offset is determined based on the second offset angle, the length of the lever of the second pair of row sensors, and the offset distance of the end of the lever of the second pair of row sensors after the collision; wherein the first offset is the offset in the horizontal direction between the lever of the first pair of row sensors before the collision and the lever of the first pair of row sensors after the collision; and the second offset is the offset in the horizontal direction between the lever of the second pair of row sensors before the collision and the lever of the second pair of row sensors after the collision;

[0015] The difference between the first offset and the second offset is determined as the offset distance between the straight line where the harvester is currently heading and the ridge where the target grain is located;

[0016] Based on the offset distance between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located and the first preset target distance, the first target deviation angle between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located is determined.

[0017] Further, adjusting the steering angle of the steering wheel of the harvesting machinery based on the first target deflection angle includes:

[0018] Determining a first target turning angle of a steering wheel of the harvesting machine based on the first target deflection angle;

[0019] Determining a first steering control parameter of the steering wheel based on the first target turning angle, a preset proportional coefficient and a preset differential coefficient;

[0020] Converting the product of the first steering control parameter and the preset steering characteristic parameter into a duty cycle of a first pulse width modulation signal of a steering solenoid valve of the harvesting machine;

[0021] Based on the duty cycle of the first pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

[0022] Furthermore, when the received activation instruction is a visual assisted driving function activation instruction, determining a second target deflection angle between a straight line where the current forward direction of the harvesting machine is located and a straight line where the target haystack is located includes:

[0023] When the received start-up instruction is a visual assisted driving function start-up instruction, a left view and a right view within the current camera field of view acquired by a binocular camera arranged on the harvesting machine are obtained;

[0024] Based on the left view and the right view, determining that a pixel point on the left view and a pixel point on the right view correspond to each point of the same name in the three-dimensional space;

[0025] Determine a depth value corresponding to the same-name point based on a difference between a column coordinate of a pixel point on the left view corresponding to the same-name point and a column coordinate of a pixel point on the right view corresponding to the same-name point;

[0026] If the difference between the depth value corresponding to the point with the same name and the depth value corresponding to the point with the same name adjacent to the point with the same name is greater than the preset height difference threshold, the point with the same name is determined as a boundary point;

[0027] Average the column coordinates of the boundary points with the same row coordinates to obtain the coordinates of the middle point of the target haystack;

[0028] Fitting the coordinates of the middle point to the straight line where the target haystack is located, and determining the offset distance between the straight line where the harvester is currently heading and the straight line where the target haystack is located;

[0029] Based on the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located and the second preset target distance, a second target deflection angle between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located is determined.

[0030] Further, adjusting the steering wheel of the harvesting machinery based on the second target deflection angle includes:

[0031] Determining a second target turning angle of a steering wheel of the harvesting machine based on the second target deflection angle;

[0032] Determining a second steering control parameter of the steering wheel based on the second target turning angle, a preset proportional coefficient and a preset differential coefficient;

[0033] Converting the product of the second steering control parameter and the preset steering characteristic parameter into a duty cycle of a second pulse width modulation signal of a steering solenoid valve of the harvesting machine;

[0034] Based on the duty cycle of the second pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

[0035] Furthermore, if the distance is less than a preset safety distance, limiting the rotation direction of the steering wheel of the harvester based on the unloading mode of the harvester includes:

[0036] If the distance is less than the preset safety distance, determining the unloading mode of the harvesting machine;

[0037] If the unloading mode of the harvesting machine is the left unloading mode, the steering wheel of the harvesting machine is restricted from turning left;

[0038] If the unloading mode of the harvesting machine is the right-hand unloading mode, the steering wheel of the harvesting machine is restricted from turning rightward.

[0039] Furthermore, the prevention method also includes:

[0040] When a change in the angle of the steering wheel is detected, the harvesting machine switches from automatic control mode to manual control mode.

[0041] In a second aspect, an embodiment of the present application further provides a device for preventing a harvester from colliding with a material receiving vehicle, the device comprising:

[0042] Determine the instruction module, and determine the received start instruction;

[0043] The automatic row alignment function module determines a first target deviation angle between a straight line where the harvester is currently heading and a row where target grain is located, and adjusts a steering wheel angle of the harvester based on the first target deviation angle so that the current heading of the harvester is the same as the row direction where target grain is located.

[0044] The visual assisted driving function module determines a second target deflection angle between a straight line where the harvester is currently heading and a straight line where the target haystack is located, when the received activation instruction is a visual assisted driving function activation instruction; based on the second target deflection angle, adjusts the steering angle of the steering wheel of the harvester so that the current heading of the harvester is the same as the direction where the target haystack is located;

[0045] An acquisition module, when adjusting the steering wheel angle of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack, acquires the distance between the harvester and the receiving vehicle;

[0046] The limiting module limits the rotation direction of the steering wheel of the harvesting machine based on the unloading mode of the harvesting machine if the distance is smaller than the preset safety distance.

[0047] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for preventing collision between a harvesting machine and a material receiving vehicle as described in the first aspect or any possible implementation manner of the first aspect.

[0048] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps for preventing a collision between a harvesting machine and a material receiving vehicle as described in the first aspect or any possible implementation scheme of the first aspect are executed.

[0049] The embodiment of the present application provides a method and device for preventing a harvester from colliding with a material receiving vehicle. First, a received start command is determined. Then, if it is a start command for the automatic row alignment function, the first target deviation angle between the current forward direction of the harvester and the ridge where the target grain is located is determined, and the steering wheel angle is adjusted accordingly to make the forward direction consistent with the ridge direction; if it is a start command for the visual assisted driving function, the second target deviation angle between the current forward direction of the harvester and the straight line where the target haystack is located is determined, and the steering wheel angle is adjusted to make the forward direction consistent with the target haystack direction. Subsequently, in the process of adjusting the steering wheel angle to achieve alignment in the corresponding directions, the distance between the harvester and the material receiving vehicle is obtained. If the distance is less than the preset safety distance, the steering wheel rotation direction is limited according to the unloading mode of the harvester. In this way, the occurrence of harvester collision accidents is reduced and the safety of harvester operation is improved.

[0050] 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

[0051] 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.

[0052] Figure 1 One of the flow charts of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0053] Figure 2 An example diagram of the operating condition corresponding to the automatic row alignment function start instruction of the harvesting machine is shown;

[0054] Figure 3 An example diagram of an operating condition corresponding to an instruction to turn on the visual assisted driving function of a harvesting machine is shown;

[0055] Figure 4 A second flowchart of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0056] Figure 5 A block diagram showing an example structure of a system for preventing a collision between a harvesting machine and a receiving vehicle is shown;

[0057] Figure 6 A schematic diagram showing the calculation of the displacement of the shifting rod of the row sensor and the shifting rod of the row sensor after being collided in the horizontal direction;

[0058] Figure 7 A schematic diagram showing the calculation of the target deflection angle between the straight line where the harvester's forward direction is located and the ridge where the target grain is located;

[0059] Figure 8 A third flowchart of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0060] Fig. 9 A fourth flowchart of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0061] Fig.10 A fifth flowchart of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0062] Fig.11A sixth flowchart of a method for preventing a harvesting machine from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0063] Fig.12 One of the structural schematic diagrams of a device for preventing a harvester from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0064] Fig.13 A second structural schematic diagram of a device for preventing a harvester from colliding with a material receiving vehicle provided in an embodiment of the present application is shown;

[0065] Fig.14 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0066] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0067] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0068] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where side collision prevention is required. The embodiments of the present application are not limited to specific application scenarios. Any solution of the method and device for preventing collision between a harvesting machine and a material receiving vehicle using the embodiments of the present application is within the protection scope of the present application.

[0069] It is worth noting that in the process of promoting modern agricultural production, the widespread use of harvesting machinery has significantly improved agricultural production efficiency and greatly reduced the burden of manpower. In the actual harvesting operation scenario, due to the large single harvesting volume of the harvesting machinery and its lack of the ability to store materials for a long time, it is necessary for the receiving vehicle to travel synchronously to cooperate with the operation. The receiving vehicle can promptly receive the materials collected and processed by the harvesting machinery header, such as grains and fodder, to ensure the continuity of the harvesting operation. At present, the distance between the harvesting machinery and the receiving vehicle is mainly controlled by the operator. However, in order to achieve efficient harvesting, the harvesting machinery header is designed to be relatively wide. This feature increases the probability of collision accidents between the harvesting machinery and the receiving vehicle during the operation. In particular, with the development of agricultural intelligent technology, assisted driving functions such as automatic assisted driving and visual assisted driving are gradually applied to harvesting operations. Although these assisted driving functions have reduced the workload of operators to a certain extent, due to the limitations of the system in adjusting the distance between the harvesting machinery and the receiving vehicle, in complex field environments and changing operating conditions, if the vehicle distance cannot be effectively controlled, the probability of collision accidents increases.

[0070] In response to the above problems, the embodiments of the present application propose a method and device for preventing collisions between a harvester and a material receiving vehicle, thereby reducing the occurrence of collision accidents of the harvester and improving the safety of harvester operations.

[0071] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0072] See also Figure 1 , Figure 1 One of the flow charts of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0073] like Figure 1 As shown in the figure, the method for preventing the collision between the harvesting machine and the material receiving vehicle provided in the embodiment of the present application comprises the following steps:

[0074] Step S101, determining the received start instruction.

[0075] Here, the start instruction includes: an automatic row function start instruction and a visual assisted driving function start instruction. As an example, the corresponding working condition example of the automatic row function start instruction of the harvesting machine is as follows Figure 2 The example of the working condition corresponding to the visual assisted driving function activation instruction of the harvesting machinery is shown in Figure 3 shown.

[0076] Step S102, when the received start instruction is the automatic row function start instruction, determine the first target deviation angle between the straight line where the current forward direction of the harvester is located and the ridge where the target grain is located.

[0077] Before step S102, the method further includes the following steps:

[0078] First, when the driver issues an automatic lane-steering function activation command by operating the relevant buttons or switches on the vehicle or by other preset methods, the auxiliary driving controller reads the EEPROM variables after receiving the automatic lane-steering function activation command. The EEPROM variables include basic vehicle parameters (such as vehicle body length, width, wheelbase, etc.), sensor calibration coefficients, pre-set automatic lane-steering control strategy parameters and other information. Then, the auxiliary driving controller receives input signals from multiple different sensors, performs preliminary filtering, amplification, digital conversion and other operations on these input signals, removes noise interference, and adjusts the signals to a format and range suitable for subsequent processing. Secondly, the auxiliary driving controller also receives bus signals from multiple different components. The auxiliary driving controller needs to parse and process the relevant signals transmitted on the bus and extract information related to the automatic lane-steering function. By processing the bus signals, the auxiliary driving controller can fully understand the overall operating status of the vehicle and provide a richer and more accurate decision-making basis for automatic lane-steering control. Finally, after completing the processing of the input signals and bus signals, the auxiliary driving controller conducts a comprehensive inspection and judgment of the sensor signals. If the sensor signal is abnormal, the assisted driving controller may trigger the corresponding fault diagnosis program to prompt the driver to check the sensor equipment, and will not enter the automatic lane control logic to ensure the safety of vehicle driving. When the assisted driving controller confirms that the sensor signal is normal and has completed the reading and processing of various necessary information, the system enters the automatic lane control logic. When the assisted driving controller receives the automatic lane function shutdown command or the sensor signal is abnormal, the automatic lane control function is exited.

[0079] In the present application, after the assisted driving controller receives an automatic steering function activation command or a visual assisted driving function activation command, when the steering wheel angle changes, the harvesting machine switches from the automatic control mode to the manual control mode. Specifically, when the controller receives a manual override signal (steering wheel angle changes), the vehicle's forward direction is not automatically controlled.

[0080] Next, combine Figure 4 To illustrate how to determine the first target deviation angle between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located.

[0081] See also Figure 4 , Figure 4This is the second flow chart of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0082] like Figure 4 As shown in FIG. 1 , regarding step S102, in a specific implementation, as an example, the following steps may be included:

[0083] Step S1021, when the received start instruction is an automatic line alignment function start instruction, a first offset angle and a second offset angle are obtained.

[0084] Here, the first offset angle is the angle generated by the collision between the current first target grain straw collected by the first pair of row sensors arranged on the harvester and the pull rod of the first pair of row sensors; the second offset angle is the angle generated by the collision between the current second target grain straw collected by the second pair of row sensors arranged on the harvester and the pull rod of the second pair of row sensors.

[0085] Step S1022, determining a first offset based on the first offset angle, the pull rod length of the first pair of row sensors, and the offset distance of the lever end of the first pair of row sensors after a collision, and determining a second offset based on the second offset angle, the pull rod length of the second pair of row sensors, and the offset distance of the lever end of the second pair of row sensors after a collision.

[0086] Here, the first offset is the horizontal offset between the levers of the first pair of row sensors before the collision and the levers of the first pair of row sensors after the collision; the second offset is the horizontal offset between the levers of the second pair of row sensors before the collision and the levers of the second pair of row sensors after the collision.

[0087] Here, a left row sensor and a right row sensor are respectively arranged on both sides of the middle splitter of the harvester; the left row sensor is used to collect the left offset angle generated after the left target grain straw collides with the pull rod of the left row sensor; the right row sensor collects the right offset angle generated after the right target grain straw collides with the pull rod of the right row sensor. That is, the first row sensor is the left row sensor, and the second row sensor is the right row sensor. As an example, the relationship between the pull rod length of the row sensor, the offset distance of the pull rod end of the row sensor after the collision, and the offset distance between the straight line where the current forward direction of the harvester is located and the ridge where the target grain is located can be expressed by formula (1).

[0088] (rx) 2 +m 2 =r 2 (1)

[0089] Where r is the pull rod length of the row sensor, m is the offset distance of the end of the pull rod of the row sensor after being hit, and x is the offset distance between the straight line where the forward direction of the harvester is located and the ridge where the target grain is located. As an example, the relationship between the pull rod length of the row sensor, the offset distance of the end of the pull rod of the row sensor after being hit, and the offset angle generated by the collision between the grain straw and the pull rod of the row sensor can be expressed by formula (2).

[0090] m=r×sinθ (2)

[0091] Where θ is the offset angle caused by the collision between the grain straw and the pull rod of the opposite row sensor. Combining formula (1) and formula (2), the offset distance between the straight line in the forward direction of the harvester and the ridge where the target grain is located can be solved. The offset distance between the straight line in the forward direction of the harvester and the ridge where the target grain is located can be expressed by formula (3).

[0092] x=r+r×(-(sinθ-1)×(sinθ+1)) 1 / 2 (3)

[0093] Here, the left offset angle is substituted into formula (3) to obtain the left offset x1 of the harvester. The right offset angle is substituted into formula (3) to obtain the right offset x2 of the harvester.

[0094] In this application, the structural example block diagram of the prevention system for the collision between the harvesting machine and the receiving vehicle is as follows: Figure 5 The devices involved include: radar, line-of-sight sensor, steering wheel angle sensor, binocular camera, vision controller, assisted driving controller, vehicle controller, wheel angle sensor, steering solenoid valve, relay, steering actuator, display screen, and horn. Among them, the steering wheel angle sensor is used to detect the steering wheel angle, the visual controller is used to process the visual signal sent by the binocular camera; the assisted driving controller is used to receive the signal sent by the sensor and make a judgment; the vehicle controller is used to control various actions of the vehicle, communicate with the display screen to send prompt signals and calibration, and control related devices; the steering actuator can be a steering cylinder or a wheel-side motor, which is used to perform steering actions; the steering solenoid valve is used to control the steering actuator to perform steering actions, and the steering solenoid valve can also be replaced by an electric steering wheel; the display screen is used to set the safety distance, wheel angle sensor calibration, steering actuator calibration, unloading mode selection, and warning signal display and buzzer; the relay is used to drive the horn to work. If the controller has the ability to directly drive the horn, the relay may not be required; the horn is used to sound the horn to warn the person driving the receiving vehicle to keep a distance; the binocular camera is used to capture the left and right views within the camera's field of view; multiple radars are arranged on the side of the harvester; the radar is used to collect the distance between the harvester and the receiving vehicle.

[0095] Here, the radar can be an ultrasonic radar, a millimeter wave radar, or a laser radar, etc., and there is no restriction here. As an example, two radars are placed on each side of the harvester, and the minimum distance between the two radars is taken as the distance between the harvester and the receiving vehicle. The row sensor can be an angle sensor type, an electromagnetic type, etc., and there is no restriction here. The steering wheel angle sensor can be an analog type, a gyroscope, etc., and there is no restriction here. The display screen can be an LCD, a combination instrument, etc., and there is no restriction here. The horn can be an electric horn, an air horn, an alarm, etc., and there is no restriction here.

[0096] Step S1023: determine the difference between the first offset and the second offset as the offset distance between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located.

[0097] Here, the first offset is the above-mentioned left offset, and the second offset is the above-mentioned right offset.

[0098] Here, the offset distance between the straight line where the harvester is currently heading and the row where the target grain is located is x2-x1. If the difference between the left offset and the right offset is zero, the current heading of the harvester is the same as the row where the target grain is located, and the harvester is not offset.

[0099] As an example, the offset calculation diagram of a harvesting machine is as follows: Figure 6 As shown in , x1 is the horizontal offset of the lever of the left row sensor before the collision and the lever of the left row sensor after the collision, r1 is the lever length of the left row sensor, m1 is the offset distance of the end of the lever of the left row sensor after the collision, θ1 is the left offset angle caused by the collision between the left target grain straw and the lever of the left row sensor, x2 is the right offset of the horizontal offset of the lever of the right row sensor before the collision and the lever of the right row sensor after the collision, r2 is the lever length of the left row sensor, m2 is the offset distance of the end of the lever of the right row sensor after the collision, θ2 is the right offset angle caused by the collision between the right target grain straw and the lever of the right row sensor.

[0100] Step S1024, based on the offset distance between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located and the first preset target distance, determine the first target deviation angle between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located.

[0101] Here, the preset target distance is set according to actual experience. Specifically, the preset target distance is related to the vehicle speed. When the vehicle speed is fast, the inertia and dynamic characteristics of the vehicle make it more difficult to change direction quickly. In order to ensure that the vehicle can smoothly adjust to the target direction, a larger target distance is required. As an example, the target deflection angle can be obtained by formula (4).

[0102]

[0103] Wherein, φ is the target deflection angle, n is the preset target distance, and z is the offset distance. Substituting the offset distance between the straight line where the harvester is currently heading and the ridge where the target grain is located and the first preset target distance into formula (4), the first target deflection angle between the straight line where the harvester is currently heading and the ridge where the target grain is located can be obtained. As an example, a schematic diagram of calculating the horizontal offset of the lever of the row sensor and the lever of the row sensor after being collided is shown in FIG7.

[0104] return Figure 1 , step S103, based on the first target deviation angle, adjust the steering wheel angle of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row.

[0105] Next, combine Figure 8 To illustrate how to determine the first target deviation angle between the straight line where the harvesting machine's forward direction is located and the ridge where the target grain is located based on the left offset angle and the right offset angle.

[0106] See also Figure 8 , Figure 8 This is a third flow chart of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0107] like Figure 8 As shown in FIG. 1 , regarding step 103, in a specific implementation, as an example, the following steps may be included:

[0108] Step S1031: Determine a first target turning angle of a steering wheel of the harvester based on the first target deflection angle.

[0109] Here, the first target turning angle of the steering wheel of the harvester can be determined by the first target deflection angle between the straight line where the forward direction of the harvester is located and the ridge where the target grain is located and the steering characteristic parameter. Among them, the steering characteristic parameter is used to describe the comprehensive parameter steering characteristic parameter of the steering system of the harvester that affects the steering. The steering characteristic parameter includes: steering system transmission ratio, wheelbase and wheelbase, etc.

[0110] Step S1032: determining a first steering control parameter of the steering wheel based on the first target steering angle, a preset proportional coefficient and a preset differential coefficient.

[0111] Here, in order to quickly eliminate the integral error and respond quickly to sudden changes, discrete proportional differential (PD) is used for calculation. As an example, the steering angle control amount of the steering wheel of the harvesting machine can be obtained by formula (5).

[0112] U(k)=k p e(k)+k d [e(k)-e(k-1)] (5)

[0113] Among them, U(k) is the steering control parameter of the steering wheel at time k, p is the preset proportionality factor, k d is the preset differential coefficient, e(k) is the difference between the current steering wheel angle at time k and the target steering angle, and e(k-1) is the difference between the current steering wheel angle at time k-1 and the target steering angle.

[0114] Here, the adjustment angle of the steering wheel is limited according to the vehicle speed. The faster the vehicle speed, the smaller the angle at which the wheel is allowed to turn. As an example, assuming that the vehicle speed of the harvesting machine is 5 kilometers per hour, the adjustment angle is less than 3 degrees.

[0115] Step S1033: converting the product of the first steering control parameter and the preset steering characteristic parameter into a duty cycle of a first pulse width modulation signal of a steering solenoid valve of the harvesting machinery.

[0116] Step S1034: Based on the duty cycle of the first pulse width modulation signal, control the steering solenoid valve of the harvesting machinery to adjust the steering angle of the steering wheel of the harvesting machinery.

[0117] Here, the vehicle controller controls the harvesting machine steering solenoid valve according to the first pulse width modulation signal to drive the vehicle to steer.

[0118] return Figure 1 , step S104, when the received start instruction is a visual assisted driving function start instruction, determine a second target deflection angle between the straight line where the harvesting machine's current forward direction is located and the straight line where the target haystack is located.

[0119] Before step S104, the method further includes the following steps:

[0120] First, when the assisted driving controller receives the visual assisted driving function start command, it initializes the visual controller to ensure that it can work normally and cooperate with other components. Then, the collected original image is preliminarily processed, such as denoising, contrast enhancement and other operations to improve the image quality. After the image acquisition and preprocessing are completed, the system needs to detect whether the image signal is normal. Abnormal conditions include blurred images, missing parts of the picture, signal interruption, etc. Secondly, when the image signal is abnormal, in order to ensure driving safety, the system exits the visual assisted driving function and informs the driver through a warning signal (such as a sound alarm, etc.); when the image signal is normal, the depth information is identified. The image backbone network features are extracted to extract key feature information from the image. Exit the visual assisted driving function when the assisted driving function shutdown command is received or the image signal is abnormal.

[0121] When the automatic steering or vision-assisted driving functions are turned on, they enter their respective control logics, and the two systems cannot be compatible and operate at the same time.

[0122] Next, combine Fig. 9 The following describes how to determine the second target deviation angle between the straight line where the harvester is currently heading and the straight line where the target haystack is located.

[0123] See also Fig. 9 , Fig. 9 This is a fourth flow chart of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0124] like Fig. 9 As shown in FIG. 1 , regarding step 104, in a specific implementation, as an example, the following steps may be included:

[0125] Step S1041, when the received start instruction is a visual assisted driving function start instruction, a left view and a right view within the current camera field of view captured by a binocular camera arranged on the harvesting machine are obtained.

[0126] Here, the left camera of the binocular camera can obtain the left grayscale image in real time, that is, the left view, and the right camera can obtain the grayscale image in real time, that is, the right view. Due to the distance between the left and right cameras, there is a position parallax between the left and right views. As an example, the position parallax d = x c -x r , where x c is the column coordinate of the pixel point on the left view, x r is the column coordinate of the pixel point on the right view.

[0127] Step S1042: Based on the left view and the right view, determine whether a pixel point on the left view and a pixel point on the right view correspond to each point of the same name in the three-dimensional space.

[0128] Step S1043: Determine a depth value corresponding to the same-name point based on a difference between a column coordinate of a pixel on the left view corresponding to the same-name point and a column coordinate of a pixel on the right view corresponding to the same-name point.

[0129] Here, the depth value corresponding to the same-name point is related to the following parameters: the difference between the column coordinates of the pixel point on the left view and the column coordinates of the pixel point on the right view, the focal length of the binocular camera, and the distance between the left camera and the right camera. As an example, the depth value corresponding to the same-name point can be obtained by formula (6).

[0130]

[0131] Among them, D is the depth value corresponding to the same-name point, B is the distance between the left camera and the right camera, f is the focal length of the binocular camera, and d is the position parallax of the binocular camera.

[0132] Here, according to the coordinates of the pixel points on the left view in the two-dimensional coordinate system and the coordinates of the pixel points on the right view in the two-dimensional coordinate system, the column coordinates and row coordinates of the corresponding same-name points can be obtained, and then according to the depth values ​​of the same-name points, the coordinates of the same-name points in the three-dimensional coordinate system can be determined, that is, the coordinates of the same-name points in the camera coordinate system.

[0133] Step S1044: If the difference between the depth value corresponding to the same-name point and the depth value corresponding to the same-name point adjacent to the same-name point is greater than a preset height difference threshold, the same-name point is determined as a boundary point.

[0134] Here, the preset height difference threshold is the height of the haystack. If the difference between the depth value corresponding to the same-name point and the depth value corresponding to the same-name point adjacent to the same-name point is greater than the preset height difference threshold, it means that the same-name point is on the boundary of the target haystack.

[0135] Step S1045, averaging the column coordinates of the boundary points with the same row coordinates to obtain the coordinates of the middle point of the target haystack.

[0136] Here, the average value of the column coordinates of each left boundary point and the right boundary point with the same row coordinates is calculated, and the column coordinates of the middle point of the target haystack are the same as the column coordinates of the corresponding left boundary point and the corresponding right boundary point.

[0137] Step S1046, fitting the coordinates of the middle point to the straight line where the target haystack is located, and determining the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located.

[0138] Step S1047, determining a second target deflection angle between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located based on the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located and the second preset target distance.

[0139] Here, the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located and the second preset target distance are substituted into formula (4), and the second target deviation angle between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located can be obtained.

[0140] Step S105: adjusting the steering wheel of the harvester based on the second target deviation angle.

[0141] Next, combine Fig.10 How to adjust the steering wheel of the harvesting machine based on the second target deflection angle is described below.

[0142] See also Fig.10 , Fig.10 This is a fifth flow chart of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0143] like Fig.10 As shown in FIG. 1 , regarding step 105, in a specific implementation, as an example, the following steps may be included:

[0144] Step S1051, determining a second target turning angle of the steering wheel of the harvester based on the second target deflection angle

[0145] Step S1052: determining a second steering control parameter of the steering wheel based on the second target steering angle, a preset proportional coefficient and a preset differential coefficient.

[0146] Step S1053: converting the product of the second steering control parameter and the preset steering characteristic parameter into a duty cycle of a second pulse width modulation signal of a steering solenoid valve of the harvesting machine.

[0147] Step S1054: Based on the duty cycle of the second pulse width modulation signal, control the steering solenoid valve of the harvesting machinery to adjust the steering angle of the steering wheel of the harvesting machinery.

[0148] return Figure 1 , step S106, when adjusting the steering wheel angle of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack, obtain the distance between the harvester and the receiving vehicle.

[0149] Step S107: if the distance is smaller than the preset safety distance, the rotation direction of the steering wheel of the harvester is limited based on the unloading mode of the harvester.

[0150] Next, combine Fig.11 To illustrate how to limit the rotation direction of the steering wheels of the harvester based on the unloading mode of the harvester.

[0151] See also Fig.11 , Fig.11 This is flow chart six of a method for preventing collision between a harvesting machine and a material receiving vehicle provided in an embodiment of the present application.

[0152] like Fig.11 As shown in FIG. 1 , regarding step 107, in a specific implementation, as an example, the following steps may be included:

[0153] Step S1071, if the distance is smaller than the preset safety distance, the unloading mode of the harvester is determined; wherein the unloading mode includes: a left unloading mode and a right unloading mode.

[0154] Here, the side unloading mode is set to prevent false alarms from the radar, because one side is the receiving vehicle and the other side is the grain, which is usually closer to the grain. If the harvesting mode is not set, a false alarm will occur. When the vehicle controller receives a radar ranging signal that is less than the safe distance, it determines the unloading mode of the harvesting machinery.

[0155] Step S1072: If the unloading mode of the harvester is the left unloading mode, the steering wheel of the harvester is restricted from turning left.

[0156] Here, the steering wheel of the harvester can be turned to the right.

[0157] Step S1073: if the unloading mode of the harvester is the right unloading mode, the steering wheel of the harvester is restricted from turning right.

[0158] Here, if the unloading mode of the harvester is the right unloading mode, the steering wheel of the harvester can turn left. And a warning signal can be sent to the display screen to inform the driver of the current unloading status; at the same time, the output signal drives the speaker to emit a warning sound to remind the nearby receiving vehicle to move away as soon as possible.

[0159] This application not only integrates the automatic lane-steering assisted driving function suitable for grain harvesting scenarios and the visual assisted driving function suitable for forage harvesting scenarios, making it compatible with a wider range of harvesting scenarios, but can also be used in conjunction with manual driving, automatic lane-steering assisted driving, visual assisted driving and other driving modes.

[0160] An embodiment of the present application provides a method for preventing collisions between a harvester and a material receiving vehicle. Through the method, the occurrence of harvester collision accidents is reduced and the safety of harvester operation is improved.

[0161] Based on the same application concept, the embodiments of the present application also provide a device for preventing collisions between a harvester and a material receiving vehicle corresponding to the method for preventing collisions between a harvester and a material receiving vehicle provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the method for preventing collisions between a harvester and a material receiving vehicle in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0162] like Figure 12 to Figure 13 As shown, Fig.12 This is one of the structural schematic diagrams of a device for preventing a harvester from colliding with a material receiving vehicle provided in an embodiment of the present application. Fig.13 FIG2 is a second structural schematic diagram of a device for preventing a harvester from colliding with a material receiving vehicle provided in an embodiment of the present application.

[0163] like Fig.12 As shown in the figure, the device 210 for preventing the harvester from colliding with the material receiving vehicle provided in the embodiment of the present application comprises:

[0164] The instruction determination module 211 determines the received start instruction;

[0165] The automatic row alignment function module 212, when the received start instruction is the automatic row alignment function start instruction, determines a first target deflection angle between the straight line where the current forward direction of the harvester is located and the ridge where the target grain is located; based on the first target deflection angle, adjusts the steering angle of the steering wheel of the harvester so that the current forward direction of the harvester is the same as the direction of the ridge where the target grain is located;

[0166] The visual assisted driving function module 213 determines a second target deflection angle between a straight line where the harvester is currently heading and a straight line where the target haystack is located, when the received activation instruction is a visual assisted driving function activation instruction; based on the second target deflection angle, adjusts the steering angle of the steering wheel of the harvester so that the current heading of the harvester is the same as the direction where the target haystack is located;

[0167] The acquisition module 214 acquires the distance between the harvester and the receiving vehicle when adjusting the steering wheel angle of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack;

[0168] The limiting module 215 limits the rotation direction of the steering wheel of the harvesting machine based on the unloading mode of the harvesting machine if the distance is smaller than the preset safety distance.

[0169] Furthermore, the automatic row alignment function module 212 is used to determine the first target deflection angle between the straight line where the current forward direction of the harvesting machine is located and the ridge where the target grain is located after the received start instruction is the automatic row alignment function start instruction, and is also specifically used to:

[0170] When the received start-up instruction is an automatic row function start-up instruction, a first offset angle and a second offset angle are obtained; wherein the first offset angle is an angle generated after a collision between a current first target grain straw collected by a first pair of row sensors arranged on the harvester and the pull rod of the first pair of row sensors; the second offset angle is an angle generated after a collision between a current second target grain straw collected by a second pair of row sensors arranged on the harvester and the pull rod of the second pair of row sensors;

[0171] A first offset is determined based on the first offset angle, the length of the lever of the first pair of row sensors, and the offset distance of the end of the lever of the first pair of row sensors after the collision, and a second offset is determined based on the second offset angle, the length of the lever of the second pair of row sensors, and the offset distance of the end of the lever of the second pair of row sensors after the collision; wherein the first offset is the offset in the horizontal direction between the lever of the first pair of row sensors before the collision and the lever of the first pair of row sensors after the collision; and the second offset is the offset in the horizontal direction between the lever of the second pair of row sensors before the collision and the lever of the second pair of row sensors after the collision;

[0172] The difference between the first offset and the second offset is determined as the offset distance between the straight line where the harvester is currently heading and the ridge where the target grain is located;

[0173] Based on the offset distance between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located and the first preset target distance, the first target deviation angle between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located is determined.

[0174] Furthermore, the automatic row alignment function module 212 is used to adjust the steering angle of the steering wheel of the harvesting machinery based on the first target deflection angle, and is also specifically used to:

[0175] Determining a first target turning angle of a steering wheel of the harvesting machine based on the first target deflection angle;

[0176] Determining a first steering control parameter of the steering wheel based on the first target turning angle, a preset proportional coefficient and a preset differential coefficient;

[0177] Converting the product of the first steering control parameter and the preset steering characteristic parameter into a duty cycle of a first pulse width modulation signal of a steering solenoid valve of the harvesting machine;

[0178] Based on the duty cycle of the first pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

[0179] Furthermore, the visual assisted driving function module 213 is used to determine a second target deflection angle between a straight line where the current forward direction of the harvesting machine is located and a straight line where the target haystack is located after the received activation instruction is a visual assisted driving function activation instruction, and is also specifically used to:

[0180] When the received start-up instruction is a visual assisted driving function start-up instruction, a left view and a right view within the current camera field of view acquired by a binocular camera arranged on the harvesting machine are obtained;

[0181] Based on the left view and the right view, determining that a pixel point on the left view and a pixel point on the right view correspond to each point of the same name in the three-dimensional space;

[0182] Determine a depth value corresponding to the same-name point based on a difference between a column coordinate of a pixel point on the left view corresponding to the same-name point and a column coordinate of a pixel point on the right view corresponding to the same-name point;

[0183] If the difference between the depth value corresponding to the point with the same name and the depth value corresponding to the point with the same name adjacent to the point with the same name is greater than the preset height difference threshold, the point with the same name is determined as a boundary point;

[0184] Average the column coordinates of the boundary points with the same row coordinates to obtain the coordinates of the middle point of the target haystack;

[0185] Fitting the coordinates of the middle point to the straight line where the target haystack is located, and determining the offset distance between the straight line where the harvester is currently heading and the straight line where the target haystack is located;

[0186] Based on the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located and the second preset target distance, a second target deflection angle between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located is determined.

[0187] Furthermore, when the visual assisted driving function module 213 is used to adjust the steering wheel angle of the harvesting machinery based on the second target deflection angle, it is also specifically used to:

[0188] Determining a second target turning angle of a steering wheel of the harvesting machine based on the second target deflection angle;

[0189] Determining a second steering control parameter of the steering wheel based on the second target turning angle, a preset proportional coefficient and a preset differential coefficient;

[0190] Converting the product of the second steering control parameter and the preset steering characteristic parameter into a duty cycle of a second pulse width modulation signal of a steering solenoid valve of the harvesting machine;

[0191] Based on the duty cycle of the second pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

[0192] Furthermore, the restriction module 215 is specifically used for:

[0193] If the distance is less than the preset safety distance, determining the unloading mode of the harvesting machine;

[0194] If the unloading mode of the harvesting machine is the left unloading mode, the steering wheel of the harvesting machine is restricted from turning left;

[0195] If the unloading mode of the harvesting machine is the right-hand unloading mode, the steering wheel of the harvesting machine is restricted from turning rightward.

[0196] Furthermore, the prevention device also includes:

[0197] The limiting module 216 switches the harvesting machine from the automatic control mode to the manual control mode when a change in the angle of the steering wheel is detected.

[0198] An embodiment of the present application provides a device for preventing collisions between a harvester and a material receiving vehicle. Through the device, the occurrence of collision accidents of the harvester is reduced and the safety of the operation of the harvester is improved.

[0199] See also Fig.14 , Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0200] like Fig.14 As shown in , the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .

[0201] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the above-mentioned Figure 1 , Figure 4 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 The steps of the method for preventing the harvester from colliding with the material receiving vehicle in the method embodiment shown, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0202] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 , Figure 4 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 The steps of the method for preventing the harvester from colliding with the material receiving vehicle in the method embodiment shown, and the specific implementation method thereof can be referred to the method embodiment, which will not be described in detail here.

[0203] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0204] 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.

[0205] 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.

[0206] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0207] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for preventing a harvester from colliding with a material receiving vehicle, characterized in that: The prevention methods include: confirming the received opening instruction; When the received start-up instruction is an automatic row-alignment function start-up instruction, a first target deflection angle between the straight line where the current forward direction of the harvester is located and the ridge where the target grain is located is determined; based on the first target deflection angle, a steering angle of a steering wheel of the harvester is adjusted so that the current forward direction of the harvester is the same as the direction of the ridge where the target grain is located; When the received activation instruction is a visual assisted driving function activation instruction, a second target deflection angle between a straight line where the harvester is currently heading and a straight line where the target haystack is located is determined; based on the second target deflection angle, a steering angle of a steering wheel of the harvester is adjusted so that the current heading of the harvester is the same as the direction where the target haystack is located; When adjusting the steering angle of the steering wheel of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack, obtaining the distance between the harvester and the receiving vehicle; If the distance is smaller than the preset safety distance, the rotation direction of the steering wheel of the harvester is restricted based on the unloading mode of the harvester.

2. The prevention method according to claim 1, characterized in that: When the received start instruction is an automatic row alignment function start instruction, determining a first target deflection angle between a straight line where the current forward direction of the harvester is located and a ridge where the target grain is located includes: When the received start-up instruction is an automatic row function start-up instruction, a first offset angle and a second offset angle are obtained; wherein the first offset angle is an angle generated after a collision between a current first target grain straw collected by a first pair of row sensors arranged on the harvester and the pull rod of the first pair of row sensors; the second offset angle is an angle generated after a collision between a current second target grain straw collected by a second pair of row sensors arranged on the harvester and the pull rod of the second pair of row sensors; A first offset is determined based on the first offset angle, the length of the lever of the first pair of row sensors, and the offset distance of the end of the lever of the first pair of row sensors after the collision, and a second offset is determined based on the second offset angle, the length of the lever of the second pair of row sensors, and the offset distance of the end of the lever of the second pair of row sensors after the collision; wherein the first offset is the offset in the horizontal direction between the lever of the first pair of row sensors before the collision and the lever of the first pair of row sensors after the collision; and the second offset is the offset in the horizontal direction between the lever of the second pair of row sensors before the collision and the lever of the second pair of row sensors after the collision; The difference between the first offset and the second offset is determined as the offset distance between the straight line where the current forward direction of the harvesting machine is located and the ridge where the target grain is located; Based on the offset distance between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located and the first preset target distance, the first target deviation angle between the straight line where the harvester's current forward direction is located and the ridge where the target grain is located is determined.

3. The prevention method according to claim 1, characterized in that: The adjusting the turning angle of the steering wheel of the harvesting machinery based on the first target deflection angle comprises: Determining a first target turning angle of a steering wheel of the harvesting machine based on the first target deflection angle; Determining a first steering control parameter of the steering wheel based on the first target turning angle, a preset proportional coefficient and a preset differential coefficient; Converting the product of the first steering control parameter and the preset steering characteristic parameter into a duty cycle of a first pulse width modulation signal of a steering solenoid valve of the harvesting machine; Based on the duty cycle of the first pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

4. The prevention method according to claim 1, characterized in that: When the received start instruction is a visual assisted driving function start instruction, determining a second target deflection angle between a straight line where the current forward direction of the harvesting machine is located and a straight line where the target haystack is located includes: When the received start-up instruction is a visual assisted driving function start-up instruction, a left view and a right view within the current camera field of view acquired by a binocular camera arranged on the harvesting machine are obtained; Based on the left view and the right view, determining that a pixel point on the left view and a pixel point on the right view correspond to each point of the same name in the three-dimensional space; Determine the depth value corresponding to the same-name point based on the difference between the column coordinates of the pixel point on the left view corresponding to the same-name point and the column coordinates of the pixel point on the right view corresponding to the same-name point; If the difference between the depth value corresponding to the point with the same name and the depth value corresponding to the point with the same name adjacent to the point with the same name is greater than the preset height difference threshold, the point with the same name is determined as a boundary point; Average the column coordinates of the boundary points with the same row coordinates to obtain the coordinates of the middle point of the target haystack; Fitting the coordinates of the middle point to the straight line where the target haystack is located, and determining the offset distance between the straight line where the harvester is currently heading and the straight line where the target haystack is located; Based on the offset distance between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located and the second preset target distance, a second target deflection angle between the straight line where the harvester's current forward direction is located and the straight line where the target haystack is located is determined.

5. The prevention method according to claim 1, characterized in that: The step of adjusting the steering wheel of the harvesting machine based on the second target deflection angle comprises: Determining a second target turning angle of a steering wheel of the harvesting machine based on the second target deflection angle; Determining a second steering control parameter of the steering wheel based on the second target turning angle, a preset proportional coefficient and a preset differential coefficient; Converting the product of the second steering control parameter and the preset steering characteristic parameter into a duty cycle of a second pulse width modulation signal of a steering solenoid valve of the harvesting machine; Based on the duty cycle of the second pulse width modulation signal, the steering solenoid valve of the harvesting machine is controlled to adjust the steering angle of the steering wheel of the harvesting machine.

6. The prevention method according to claim 1, characterized in that: If the distance is less than the preset safety distance, limiting the rotation direction of the steering wheel of the harvester based on the unloading mode of the harvester includes: If the distance is less than the preset safety distance, determining the unloading mode of the harvesting machine; If the unloading mode of the harvesting machine is the left unloading mode, the steering wheel of the harvesting machine is restricted from turning left; If the unloading mode of the harvesting machine is the right-hand unloading mode, the steering wheel of the harvesting machine is restricted from turning rightward.

7. The prevention method according to claim 1, characterized in that: The prevention method also includes: When a change in the angle of the steering wheel is detected, the harvesting machine switches from automatic control mode to manual control mode.

8. A device for preventing a harvester from colliding with a material receiving vehicle, characterized in that: The preventive device comprises: Determine the instruction module, and determine the received start instruction; The automatic row alignment function module determines a first target deviation angle between a straight line where the harvester is currently heading and a row where target grain is located, and adjusts a steering wheel angle of the harvester based on the first target deviation angle so that the current heading of the harvester is the same as the row direction where target grain is located. The visual assisted driving function module determines a second target deflection angle between a straight line where the harvester is currently heading and a straight line where the target haystack is located, when the received activation instruction is a visual assisted driving function activation instruction; based on the second target deflection angle, adjusts the steering angle of the steering wheel of the harvester so that the current heading of the harvester is the same as the direction where the target haystack is located; An acquisition module, when adjusting the steering wheel angle of the harvester so that the current forward direction of the harvester is the same as the direction of the target grain row or the current forward direction of the harvester is the same as the direction of the target haystack, acquires the distance between the harvester and the receiving vehicle; The limiting module limits the rotation direction of the steering wheel of the harvesting machine based on the unloading mode of the harvesting machine if the distance is smaller than the preset safety distance.

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 through the bus, and when the machine-readable instructions are run by the processor, the steps of the method for preventing collision between a harvesting machine and a receiving vehicle as described in any one of claims 1 to 7 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for preventing collision between a harvester and a material receiving vehicle as described in any one of claims 1 to 7 are executed.

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