Configurable general development system and method of agricultural machine controller

Abstract

The invention provides a configurable general development system and method for an agricultural machine controller, and is applied to the field of agricultural machine controller development, and the system comprises a real-time control layer, a computing power decision-making layer and a task configuration layer. The task configuration layer comprises an upper computer, and the task configuration layer is used for configuring operation parameters of the agricultural machine controller through a user operation instruction received by the upper computer; the real-time state information of the agricultural machine controller is displayed; the computing power decision-making layer is in communication connection with the task configuration layer, the computing power decision-making layer comprises a bandwidth sensor, and the computing power decision-making layer is used for collecting scene environment data based on the bandwidth sensor and generating an intelligent control instruction for the agricultural machine controller based on the scene environment data and the operation parameters; the real-time control layer is in communication connection with the computing power decision-making layer, the real-time control layer comprises a real-time sensor and external equipment, and the real-time control layer is used for collecting equipment real-time data based on the real-time sensor; and driving control is performed on the external equipment based on the intelligent control instruction and the equipment real-time data.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery controller development, and particularly to a configurable general development system and method for an agricultural machinery controller. Background Art

[0002] An agricultural machinery controller is a core component in modern agricultural machinery, responsible for managing and controlling various electronic systems of agricultural machinery. Due to the diversity and complexity of the operating environment of agricultural machinery, the development of the controller also needs to consider adaptability under different regions, different types of agricultural machinery, different crops, and different operating conditions. At the same time, the safety, reliability, and durability of agricultural machinery need to be considered to ensure that no failures occur during long-term field operations.

[0003] Currently, it is difficult to effectively connect and cooperate different types of agricultural machinery equipment, and the generality and compatibility are poor. The degree of intelligence of intelligent agricultural machinery equipment is not high, unable to meet the agricultural needs for high efficiency and precise autonomous operation; and the design and development of each type of agricultural machinery controller is a complex and time-consuming development process.

[0004] It can be seen that the agricultural machinery controller in the related technology has the technical problems of low intelligence level and inability to operate autonomously. Summary of the Invention

[0005] The present invention provides a configurable general development system and method for an agricultural machinery controller, which is used to solve the defects of low intelligence level and inability to operate autonomously of the agricultural machinery controller in the prior art, and can realize rapid integration and iterative development through configuration according to different functional requirements, operation requirements, and environmental conditions, derive different functional or operation controllers, and can make intelligent decisions during operation in combination with advanced sensors and algorithms, improving the operation efficiency and accuracy of agricultural machinery.

[0006] The present invention provides a configurable general development system for an agricultural machinery controller, including: a real-time control layer, a computing power decision layer, and a task configuration layer; the task configuration layer includes a host computer, and the task configuration layer is used to configure the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and display the real-time status information of the agricultural machinery controller; the computing power decision layer is communicatively connected to the task configuration layer, and the computing power decision layer includes: a bandwidth sensor, and the computing power decision layer is used to collect scenario environment data based on the bandwidth sensor, and generate an intelligent control instruction for the agricultural machinery controller based on the scenario environment data and the operation parameters; the real-time control layer is communicatively connected to the computing power decision layer and the task configuration layer, and the real-time control layer includes: a real-time sensor and external devices, and the real-time control layer is used to collect device real-time data based on the real-time sensor; and drive and control the external devices based on the intelligent control instruction, the device real-time data, and the user operation instructions.

[0007] A configurable general development system for an agricultural machinery controller according to the present invention, the real-time control layer includes: a real-time control unit; the real-time control unit is used to generate and output control signals based on the device implementation data collected by the real-time sensor; the real-time control unit includes at least one of the following: a sensor module, a power supply module, a debugging and diagnostic interface, an analog-to-digital converter, a digital-to-analog converter, an Ethernet module, and a drive control module; the real-time sensor includes at least one of the following: a nine-axis acceleration sensor, a satellite navigation system receiver, a particulate matter sensor, and a gas sensor.

[0008] A configurable general development system for an agricultural machinery controller according to the present invention, the real-time control layer includes: a software real-time control system; the software real-time control system includes: a robot framework and a robot embedded system; the robot framework is used to provide sensor interfaces, motion control, and navigation algorithms; the robot embedded system is used to perform data transmission between the computing power decision layer and the task configuration layer.

[0009] A configurable general development system for an agricultural machinery controller according to the present invention, the computing power decision layer includes: a hardware computing power unit and a software computing power decision system; the hardware computing power unit is configured with a central processing unit and a graphics processing unit, and the hardware computing power unit includes at least one of the following: a computing module, a sensor module, a power supply module, and a connection module; the hardware computing power unit is used to perform task planning and task decomposition based on the scenario environment data and the operation parameters; the software computing power decision system is used to perform data exchange with the robot framework, the upper computer, and the real-time control layer through a network; and provide intelligent control instructions based on a preset artificial intelligence algorithm library.

[0010] A configurable general development system for an agricultural machinery controller according to the present invention, the task configuration layer further includes: a module task configuration system; the module task configuration system is used to receive configuration tasks sent by a user through a network or a target device; and convert the configuration tasks into communication instructions corresponding to the target hardware unit, and the communication instructions are sent to the lower computer through a network protocol or a serial port protocol.

[0011] A configurable general development system for an agricultural machinery controller according to the present invention, the task configuration layer further includes: a human-computer interaction interface; the human-computer interaction interface includes: an algorithm library module, a general function module, a configuration file, a compilation file, a burning module, and a monitoring module.

[0012] The present invention also provides a configurable general development method for an agricultural machinery controller, including the following steps: configuring the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and displaying the real-time status information of the agricultural machinery controller; collecting scene environment data based on a bandwidth sensor, and generating an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; collecting device real-time data based on a real-time sensor; and performing drive control on an external device based on the intelligent control instruction and the device real-time data.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the configurable general development method of the agricultural machinery controller as described in any one of the above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the configurable general development method of the agricultural machinery controller as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the configurable general development method of the agricultural machinery controller as described in any one of the above is implemented.

[0016] The configurable general development system and method for the agricultural machinery controller provided by the present invention, through the host computer in the task configuration layer, can conveniently receive and input operation instructions to configure various operation parameters of the agricultural machinery controller; the computing power decision layer integrates a bandwidth sensor, can collect scene environment data in real time, and combined with the operation parameters received from the task configuration layer, the computing power decision layer can generate intelligent control instructions. Thus, the intelligent decision-making process based on data ensures the accuracy and efficiency of agricultural machinery operations; the real-time control layer continuously collects device real-time data through real-time sensors, and combines the device real-time data with the intelligent control instructions generated by the computing power decision layer to jointly drive external devices to perform operations; ensuring the stability and reliability of the agricultural machinery operation process; and further realizing precise control of agricultural machinery operations in an intelligent and automated manner. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art one by one. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1It is a schematic diagram of the modules of the configurable general development system of the agricultural machinery controller provided by the present invention.

[0019] Figure 2 It is a research and development platform for a configurable general intelligent agricultural machinery controller provided by the present invention.

[0020] Figure 3 It is a schematic diagram of the overall process of the configurable general development method of the agricultural machinery controller provided by the present invention.

[0021] Figure 4 It is a schematic diagram of the process of the configurable general development method of the agricultural machinery controller provided by the present invention.

[0022] Figure 5 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed implementation manners

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0024] The agricultural machinery controller is the core component in agricultural machinery and is responsible for managing and controlling various electronic systems of agricultural machinery. However, the development of agricultural machinery controllers is a highly integrated and interdisciplinary complex systems engineering, involving knowledge in multiple fields. Due to the diversity and complexity of the agricultural machinery operation environment, the development of the controller also needs to consider the adaptability under different regions, different types of agricultural machinery, different crops and different operating conditions. At the same time, the safety, reliability and durability of agricultural machinery also need to be considered to ensure that no failures occur during long-term field operations. Therefore, the design and development of each type of agricultural machinery controller are complex and time-consuming development processes.

[0025] Currently, it is difficult to effectively connect and cooperate different types of agricultural machinery equipment, and the generality and compatibility are poor. In addition, the degree of intelligence of intelligent agricultural machinery equipment is not high, and it cannot meet the requirements of modern agriculture for high efficiency and precise autonomous operation.

[0026] To address the above problems, a configurable general intelligent agricultural machinery controller system (or development platform) is needed, which can be quickly integrated and iteratively developed through configuration according to different functional requirements, operation requirements and environmental conditions, and can derive different functional or operation controllers. Combining advanced sensors and algorithms, it can make intelligent decisions during operation to improve the operation efficiency and accuracy of agricultural machinery.

[0027] The present invention provides a configurable general development system for an agricultural machinery controller, which solves the problems of poor versatility, low intelligence, and cumbersome development process in the development and design of agricultural machinery controllers in the prior art.

[0028] Reference Figure 1 , Figure 1 FIG. is a schematic diagram of the modules of the configurable general development system for an agricultural machinery controller provided by the present invention, which includes: a real-time control layer 300, a computing power decision-making layer 200, and a task configuration layer 100.

[0029] The task configuration layer includes a host computer. The task configuration layer is used to configure the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and display the real-time status information of the agricultural machinery controller; The computing power decision-making layer is communicatively connected to the task configuration layer. The computing power decision-making layer includes: a bandwidth sensor. The computing power decision-making layer is used to collect scene environment data based on the bandwidth sensor, and generate an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; The real-time control layer is communicatively connected to the computing power decision-making layer and the task configuration layer. The real-time control layer includes: a real-time sensor and an external device. The real-time control layer is used to collect device real-time data based on the real-time sensor; and drive and control the external device based on the intelligent control instruction, the device real-time data, and the user operation instruction.

[0030] It should be noted that data exchange can be realized between the computing power decision-making layer, the real-time control layer, and the task configuration layer through communication connection or other connection methods according to the actual application scenario.

[0031] In an embodiment of the present invention, a configurable general development system for an agricultural machinery controller is provided. The system consists of three parts: a real-time control layer, a computing power decision-making layer, and a task configuration layer. The real-time control layer performs bottom-layer control, externally connects high-real-time sensors, and controls the external device to move. The computing power decision-making layer provides computing power, externally connects high-bandwidth sensors, and provides intelligent control strategies. The task configuration layer is mainly for human-computer interaction, flexibly configuring the specific functions of the controller according to requirements, and real-time displaying status information.

[0032] The task configuration layer includes a host computer. The user inputs operation instructions through the host computer interface to configure the operation parameters of the agricultural machinery controller; the host computer real-time displays the status information of the agricultural machinery controller, including the working mode, speed, position, etc. Thus, the user can conveniently configure and monitor the agricultural machinery.

[0033] The computing power decision-making layer includes bandwidth sensors that can capture environmental information in the agricultural machinery operation scenario, such as soil humidity, crop height, etc.; based on the collected scenario environmental data and the operation parameters transmitted by the task configuration layer, the computing power decision-making layer generates intelligent control instructions through pre-matched algorithms. Thus, decisions can be made quickly based on real-time data, optimizing the operation efficiency and effect of agricultural machinery.

[0034] The real-time control layer includes real-time sensors and external devices. The real-time sensors continuously monitor various parameters of the agricultural machinery, such as engine speed, agricultural machinery position, etc.; based on the intelligent control instructions transmitted by the computing power decision-making layer and the device real-time data collected by the real-time sensors, the real-time control layer precisely controls the external devices.

[0035] In some embodiments, the real-time control layer responds to the received user operation instructions and drives and controls the external devices according to the user operation instructions.

[0036] Thus, through the modular design of the real-time control layer, the computing power decision-making layer, and the task configuration layer and the communication connection between each layer, different functional or operation controllers can be quickly integrated and iteratively developed through configuration according to different functional requirements, operation requirements, and environmental conditions. Combining advanced sensors and algorithms, intelligent decisions can be made during operation, improving the operation efficiency and accuracy of agricultural machinery.

[0037] Specifically, the computing power decision-making layer collects scenario environmental data through bandwidth sensors and generates intelligent control instructions in combination with the operation parameters configured by the user. This decision-making process based on real-time data and preset parameters reflects the intelligence of the system and can automatically adjust the behavior of the agricultural machinery controller according to environmental changes.

[0038] The real-time control layer collects device real-time data through real-time sensors and drives and controls the external devices in combination with intelligent control instructions, further enhancing the intelligence level of the system and ensuring that the agricultural machinery can operate efficiently under different working conditions.

[0039] The task configuration layer receives user operation instructions through the host computer, allowing the user to flexibly configure the operation parameters of the agricultural machinery controller. This configurability enables the system to adapt to different types of agricultural machinery and operation requirements, and the user can adjust the behavior of the controller according to specific tasks. The user can also view the real-time status information of the agricultural machinery controller through the host computer, further enhancing the configurability and user interactivity of the system.

[0040] The hierarchical architecture of the system (real-time control layer, computing power decision layer, task configuration layer) design makes it highly versatile. By adjusting the parameters of the task configuration layer and the algorithms of the computing power decision layer, the system can be applied to different types of agricultural machinery and equipment without the need to redesign the entire system. The interface design between the real-time control layer and external devices also enhances the versatility of the system, enabling it to adapt to a variety of external devices and be applicable to different agricultural machinery control scenarios. The modular design of the system (hierarchical architecture) allows each functional module to be developed and tested independently, facilitating the rapid integration of new sensors, algorithms, or devices. For example, developers can optimize or upgrade a specific layer without affecting the functions of other layers.

[0041] Through the embodiments of the present invention, through the host computer in the task configuration layer, operation instructions can be conveniently received and input to configure various operation parameters of the agricultural machinery controller; the computing power decision layer integrates a bandwidth sensor, which can collect scene environment data in real time. Combining the operation parameters received from the task configuration layer, the computing power decision layer can generate intelligent control instructions. Thus, the intelligent decision-making process based on data ensures the accuracy and efficiency of agricultural machinery operations; the real-time control layer continuously collects device real-time data through real-time sensors. By combining the device real-time data with the intelligent control instructions generated by the computing power decision layer, it jointly drives external devices to perform operations; ensuring the stability and reliability of the agricultural machinery operation process; and then realizing the precise control of agricultural machinery operations in an intelligent and automated manner.

[0042] According to a configurable general development system for an agricultural machinery controller provided by the present invention, the real-time control layer includes: a real-time control unit; The real-time control unit is used to generate and output control signals based on the device implementation data collected by the real-time sensors; The real-time control unit includes at least one of the following: a sensor module, a power supply module, a debugging and diagnostic interface, an analog-to-digital converter, a digital-to-analog converter, an Ethernet module, and a drive control module; The real-time sensors include at least one of the following: a nine-axis acceleration sensor, a satellite navigation system receiver, a particulate matter sensor, and a gas sensor.

[0043] In an embodiment of the present invention, the real-time control layer includes a hardware control unit and a software real-time control system, and is externally connected to sensors and drivers. The real-time control unit is an embedded hardware system designed with HPM6750 or a similar microcontroller unit (MCU) as the core, including a sensor module, a power module, a debugging and diagnostic interface, an ADC (Analog-to-Digital Converter), a DAC (Digital-to-Analog Converter), an Ethernet module, a drive control module, etc. It mainly performs low-dimensional perception and real-time control tasks. This includes extracting features, calculating data, generating control instructions, and outputting control signals by processing real-time data collected by high-real-time sensors such as nine-axis acceleration sensors, GNSS (Global Navigation Satellite System) receivers, i.e., global navigation satellite system receivers, particulate matter sensors, and gas sensors. It can directly drive the underlying chips or provide energy through drivers for the drive control of large equipment.

[0044] The real-time control layer is a system level responsible for generating and outputting control signals based on the device implementation data collected by real-time sensors. The real-time control unit is the core component of the real-time control layer, which generates and outputs control signals based on the data collected by real-time sensors.

[0045] The real-time control unit includes at least one of the following key modules: The sensor module is used to collect real-time data of the device, such as temperature, humidity, acceleration, etc. The power module is used to provide a stable power supply for the entire real-time control unit. The debugging and diagnostic interface is used to facilitate debugging and fault diagnosis during the system development, testing, and maintenance phases. The analog-to-digital converter (ADC) is used to convert analog signals into digital signals for processing by a microcontroller or processor. The digital-to-analog converter (DAC) is used to convert digital signals into analog signals for driving external devices or sensors. The Ethernet module is used to implement network communication functions for easy remote monitoring and control. The drive control module is used to drive external devices or actuators according to control signals.

[0046] Real-time sensors are used to collect real-time data of the device, and their types include but are not limited to: The nine-axis acceleration sensor is used to simultaneously measure the acceleration on three axes, the angular velocity (gyroscope) on three axes, and the direction (magnetometer), and is commonly used for motion tracking and attitude control.

[0047] Satellite navigation system receivers (such as GNSS receivers) receive signals from global navigation satellite systems and are used to determine the device's position, speed, and direction.

[0048] Particle sensors are used to detect the concentration of particulate matter in the air and are often used for air quality monitoring.

[0049] Gas sensors are used to detect the concentration of specific gases, such as oxygen, carbon dioxide, carbon monoxide, etc., and are often used in environmental monitoring and industrial safety.

[0050] Through the embodiments of the present invention, the real-time sensor collects the real-time data of the device, and the real-time control unit can respond quickly and generate corresponding control signals to ensure accurate control of the device, which helps to reduce delays and improve the response speed and stability of the system.

[0051] According to a configurable universal development system for an agricultural machinery controller provided by the present invention, the real-time control layer comprises: a software real-time control system; The software real-time control system includes: robot frame and robot embedded system; The robot framework is used to provide sensor interfaces, motion control, and navigation algorithms; The robot embedded system is used to transmit data between the computing power decision layer and the task configuration layer.

[0052] In an embodiment of the present invention, the software real-time control system transplants a real-time operating system with RT-Thread as the kernel, builds an RT-Robot framework based on RT-Thread, and uses the real-time and multi-tasking capabilities of RT-Thread to provide a series of modules required for robot development, such as sensor interface, motion control, navigation algorithm, etc. At the same time, the Micro-ROS module and the corresponding protocol are embedded to achieve data interconnection and interoperability with the computing power layer and the task configuration layer. The decoupling between hardware and software is completed by using the underlying driver design and hardware layer abstraction. Complex data is interactively implemented by subscription and publishing of Micro-ROS; real-time control data can be sent and uploaded using communication modules such as USB-encapsulated serial port protocols.

[0053] Among them, RT-Thread is an embedded real-time operating system (RTOS). RT-Thread supports multi-task parallelism and can quickly switch between tasks through a highly optimized task scheduling mechanism. RT-Robot is part of the RT-Thread software package repository, which brings together a series of functional modules related to robot control, perception, decision-making, etc. These modules can be integrated into the RT-Thread system to build a feature-rich robot platform. RT-Robot adopts a modular design, and each module focuses on specific functions, such as sensor interface, motion control, navigation algorithm, etc.

[0054] Micro-ROS is a component of the ROS (Robot Operating System) ecosystem and a lightweight version of ROS designed specifically for microcontrollers. Micro-ROS enables the high-level features of ROS 2 to run at the microcontroller level, thus achieving seamless integration and interoperability from robot systems to low-power edge devices. Micro-ROS supports the DDS (Data Distribution Service) security standard to ensure the security and reliability of data transmission.

[0055] Through the underlying driver design and hardware layer abstraction, the decoupling between hardware and software is achieved, enabling the upper-layer applications to focus more on the implementation of business logic.

[0056] RT-Thread provides an I / O device model framework to manage different I / O devices, reducing the coupling and complexity of the code and improving the stability of the system. Complex data is interacted through the subscription and publication mechanisms of Micro-ROS, which helps to achieve loose-coupling communication between different components within the robot system. Real-time control data can be transmitted and uploaded through communication modules such as the serial port protocol encapsulated by USB to ensure the timely transmission of control instructions and the accurate reception of feedback data.

[0057] Through the embodiments of the present invention, through the underlying driver design and hardware layer abstraction, the system achieves the decoupling between hardware and software. This helps to reduce the system's dependence on specific hardware and improve the portability and compatibility of the system. The system supports multiple communication methods, including the subscription and publication mechanisms of Micro-ROS and the serial port protocol encapsulated by USB, which helps to achieve flexible communication and data interaction between different components within the robot system.

[0058] According to a configurable general development system for an agricultural machinery controller provided by the present invention, the computing power decision-making layer includes: a hardware computing power unit and a software computing power decision-making system; The hardware computing power unit is configured with a central processing unit and a graphics processing unit, and the hardware computing power unit includes at least one of the following: a computing module, a sensor module, a power supply module, and a connection module; The hardware computing power unit is used to perform task planning and task decomposition based on scenario environment data and operation parameters; The software computing power decision-making system is used to exchange data with the robot framework, the upper computer, and the real-time control layer through a network; and provide intelligent control instructions based on a preset artificial intelligence algorithm library.

[0059] In the embodiments of the present invention, the computing power decision-making layer includes a hardware computing power unit and a software computing power decision-making system. The computing power unit provides appropriate resources externally to execute and process various high-computation tasks, including perceiving the scene through data collected by high-bandwidth sensors such as cameras and lidar scanners, making decisions in massive data, planning and task decomposition under high-dimensional information conditions, etc. The computing power unit is a hardware system with an AI computing chip as the core, mainly including a computing module, a sensor module, a power supply module, and a connection module, etc. It has a central processing unit and a GPU computing unit on it.

[0060] The software computing power decision-making system runs an open-source Linux system (such as Ubuntu 22.04 LTS). ROS / ROS2 is introduced as a communication middleware in the open-source Linux system to conduct large-capacity data exchange with the upper computer (through the network) and the control unit (network). At the same time, in the computing power system, the serial port, CAN bus, and LIN bus need to be encapsulated, and the USB protocol needs to be encapsulated and converted to complete the exchange of underlying control information. At the same time, a general artificial intelligence algorithm library is established to provide intelligent control strategies for the agricultural machinery controller.

[0061] The hardware computing power unit includes the following key modules: Computing module: That is, the AI computing chip, which integrates a central processing unit and a GPU computing unit. The computing module is responsible for executing complex computing and graphics processing tasks and is the main source of computing power output.

[0062] Sensor module: Includes high-bandwidth sensors such as cameras and lidar scanners. It is used to collect environmental data such as images, videos, and lidar scan information, providing basic data for tasks such as scene perception and decision-making.

[0063] Power supply module: It is used to provide a stable power supply for the entire hardware system to ensure the continuous operation and high efficiency of the system.

[0064] Connection module: It is used for the communication connection between the hardware system and other components or external devices to ensure data transmission and the collaborative work of the system.

[0065] The hardware computing power unit provides appropriate resources externally to execute and process various high-computation tasks. For example, through the data collected by the sensor module, it perceives and understands the surrounding environment, such as identifying objects and detecting movements. It conducts analysis and processing in massive data and makes decisions according to preset rules or algorithms, such as path planning and device control in autonomous driving. Under high-dimensional information conditions, it plans and decomposes complex tasks to ensure that the tasks can be completed efficiently and accurately.

[0066] ROS (Robot Operating System) is an open-source operating system that provides various functions for robots, such as hardware abstraction, device drivers, function libraries, visualization tools, message communication, and software package management. As a communication middleware, ROS / ROS2 is responsible for data exchange and communication between various components within the system and provides rich tools and libraries to support distributed computing and modular design.

[0067] Through the embodiments of the present invention, by introducing ROS / ROS2 as the communication middleware based on the open-source Linux system, encapsulating and converting the serial port, CAN bus, LIN bus, and USB protocol, and establishing a general artificial intelligence algorithm library, an efficient and scalable software computing power decision-making system can be constructed. It can meet the requirements of the agricultural machinery controller for intelligent control strategies and has good scalability and flexibility.

[0068] According to a configurable general development system for an agricultural machinery controller provided by the present invention, the task configuration layer further includes: a module task configuration system; The module task configuration system is used to receive the configuration tasks sent by the user through the network or the target device; and convert the configuration tasks into communication instructions corresponding to the target hardware unit, and the communication instructions are sent to the lower computer through the network protocol or the serial port protocol.

[0069] In the embodiments of the present invention, the task configuration layer includes an upper computer (or a PC) and a module task configuration system. The module task configuration system can use cross-platform languages such as QT to develop a general interface program (or use the application development of matlab or the scripting language of labview to implement the interface). Translate the configuration of modules and tasks into communication instructions corresponding to the corresponding hardware unit, and the instructions are sent to the lower computer through the network protocol or the serial port protocol to complete the configuration. At the same time, the data of the lower computer is also uploaded to the upper computer through the network and the serial port, etc., for real-time status display and information interaction. The module task configuration system running on the PC upper computer is responsible for module configuration of the unit devices connected through the network / USB port.

[0070] The task configuration layer is mainly composed of an upper computer and a module task configuration system. The upper computer serves as the main interface for user interaction and configures and manages the lower computer hardware unit through the module task configuration system. The module task configuration system is responsible for translating the module and task configurations set by the user into instructions for communicating with the corresponding hardware unit and sending them to the lower computer through the network protocol or the serial port protocol. At the same time, the data of the lower computer is also uploaded to the upper computer through the network or the serial port, etc., for real-time status display and information interaction.

[0071] The host computer is usually a PC with powerful computing capabilities and a rich user interface. The user configures and manages the slave computer through the module task configuration system on the host computer.

[0072] The module task configuration system is the core component of the task configuration layer and is responsible for translating the configurations set by the user into communication instructions. This system can use cross-platform languages such as QT to develop a general interface program, providing an intuitive and easy-to-use user interface. It can also use Matlab's application development or LabVIEW's scripting language to implement the interface to meet the needs and preferences of different users.

[0073] The module task configuration system translates the configurations set by the user into instructions for communicating with the corresponding hardware units; these instructions are sent to the slave computer through network protocols (such as TCP / IP, UDP, etc.) or serial port protocols; after receiving the instructions, the slave computer performs corresponding operations according to the instruction content.

[0074] During the execution of tasks, the slave computer generates various data (such as sensor data, status information, etc.); this data is uploaded to the host computer through networks or serial ports; after receiving the data, the host computer displays the real-time status and conducts information interaction for the user to view and analyze.

[0075] The network protocol is one of the main ways for data transmission between the host computer and the slave computer. Commonly used network protocols include TCP / IP, UDP, etc., which have advantages such as fast transmission speed and long transmission distance.

[0076] A stable network connection needs to be established between the host computer and the slave computer to ensure accurate data transmission; the serial port protocol is another commonly used data transmission method, which is suitable for short-distance and low-rate data transmission scenarios. For example, the host computer and the slave computer are connected through a serial cable to achieve data transmission and interaction.

[0077] Through the embodiments of the present invention, the host computer can display the status information of the slave computer in real time, such as sensor data, task progress, etc., to help the user timely understand the working conditions of the system. At the same time, two-way information interaction can be carried out between the host computer and the slave computer, realizing data synchronization and instruction feedback, and enhancing the interactivity of the system.

[0078] According to a configurable general development system for an agricultural machinery controller provided by the present invention, the task configuration layer further includes: a human-machine interaction interface; The human-machine interaction interface includes: an algorithm library module, a general function module, a configuration file, a compilation file, a burning module, and a monitoring module.

[0079] In the embodiments of the present invention, the platform adopts a modular hierarchical design. The general basic software is subdivided into many small modules. From specific functions, work processes to interfaces. During development, only according to actual needs, select the corresponding basic software modules at the task configuration layer, and then perform configuration and integration. The development of the controller basic software has changed from implementation to configuration, reducing the threshold for developers, thus greatly increasing development efficiency and reducing the error probability. Multiple high-computing power intelligent decision-making algorithms are assembled into a general artificial intelligence advanced algorithm library. During development, only according to actual needs, select the corresponding algorithms at the task configuration layer, and then perform optimization and integration, so as to improve the intelligence level of the controller and realize the intelligent control strategy of agricultural machinery.

[0080] Through the embodiments of the present invention, according to different functional requirements, operation requirements and environmental conditions, by selecting the corresponding modules and setting parameters through the task configuration layer, rapid integration and iterative development can be carried out, and different functional or operation controllers can be derived. Combined with advanced sensors and algorithms, intelligent decisions can be made during operation, improving the operation efficiency and accuracy of agricultural machinery.

[0081] The following describes an example of the configurable general development system of an agricultural machinery controller provided by the present invention in an actual application scenario.

[0082] Refer to Figure 2 , Figure 2 which is a configurable general intelligent agricultural machinery controller R & D platform provided by the present invention. Among them, it includes a task configuration layer, a computing power decision layer and a real-time control layer.

[0083] The task configuration layer 100 includes: a human-machine interaction interface; an algorithm library module, a general function module, a configuration file, a compilation file, a burning module and a monitoring module.

[0084] The computing power decision layer 200 includes a computing power decision system 201 (including a general artificial intelligence algorithm library, ROS and a Linux operating system) and a hardware computing power unit 202 (including a computing module, a power module, a sensor module and a connection module).

[0085] The real-time control layer 300 includes: a real-time control system 301 (including a communication module, Micro-ROS, RT-Robot and RT-Thread) and a hardware control unit 302 (including a computing module, a power module, a sensor module, an AD module, an Ethernet module and a drive control module).

[0086] Such as Figure 2As shown in the figure, the platform consists of three parts: the real-time control layer 300, the computing power decision-making layer 200, and the task configuration layer 100. The real-time control layer 300 performs underlying control, externally connects high-real-time sensors, and controls external devices to move. The computing power decision-making layer 200 provides computing power, externally connects high-bandwidth sensors, and provides intelligent control strategies. The task configuration layer 100 is mainly for human-computer interaction, flexibly configuring the specific functions of the controller according to requirements, and displaying status information in real time.

[0087] The real-time control layer 300 includes a hardware control unit 302 and a (software) real-time control system 301, externally connecting sensors and drivers. The hardware control unit 302 is an embedded hardware system designed with HPM6750 or a similar MCU as the core, including a sensor module, a power supply module, a debugging and diagnostic interface, an ADC DAC module, an Ethernet module, and a drive control module, etc. It mainly performs low-dimensional perception and real-time control tasks. This includes feature extraction, data calculation, control instruction generation, and control signal output by processing real-time data collected by high-real-time sensors such as nine-axis acceleration sensors, GNSS receivers, particulate matter sensors, and gas sensors, etc. It can directly perform underlying chip driving or provide energy through a driver for the driving control of large equipment.

[0088] The (software) real-time control system 301 migrates the real-time operating system with RT-Thread as the kernel, constructs the RT-Robot framework on the basis of RT-Thread, and uses the real-time performance and multi-task processing ability of RT-Thread to provide a series of modules required for robot development, such as sensor interfaces, motion control, navigation algorithms, etc. At the same time, it embeds the Micro-ROS module and the corresponding protocol to achieve data interconnection and interoperability with the computing power layer and the task configuration layer. It completes the decoupling between hardware and software through underlying driver design and hardware layer abstraction. Complex data is interacted using the subscription and publication of Micro-ROS; real-time control data can be achieved for data transfer and upload using communication modules such as the serial port protocol encapsulated by USB.

[0089] The computing power decision-making layer 200 includes a hardware computing power unit 202 and a (software) computing power decision-making system 201. The hardware computing power unit 202 externally provides appropriate resources to execute and process various high-computation tasks, including perceiving the scene through data collected by high-bandwidth sensors such as cameras, laser scanners, etc., making decisions in massive data, planning and task decomposition under high-dimensional information conditions, etc. The computing power unit is a hardware system with an AI computing chip as the core, mainly including a computing module, a sensor module, a power supply module, and a connection module, etc. It has a central processor and a GPU computing unit on it.

[0090] The computing power decision-making system 201 (software) runs an open-source Linux operating system (such as Ubuntu 22.04 LTS). ROS / ROS2 is introduced as a communication middleware in the open-source Linux operating system for large-capacity data exchange with the host computer (via the network) and the control unit (network). At the same time, in the computing power system, the serial port, CAN bus, and LIN bus need to be encapsulated, and the USB protocol also needs to be encapsulated and converted to complete the control information exchange at the bottom layer. Meanwhile, a general artificial intelligence algorithm library is established to provide intelligent control strategies for the agricultural machinery controller.

[0091] The task configuration layer 100 includes a host computer (or PC) and a module task configuration system. The module task configuration system can develop a general interface program using cross-platform languages such as QT (it can also use the application development of Matlab or the scripting language of LabVIEW to implement the interface). The configuration of modules and tasks is translated into communication instructions corresponding to the hardware units, and the instructions are sent to the lower computer through network protocols or serial port protocols to complete the configuration. At the same time, the data of the lower computer is also uploaded to the host computer through the network and serial port, etc., for real-time status display and information interaction. The module task configuration system running on the PC host computer is responsible for module configuration of the unit devices connected through the network / USB port. The human-computer interaction interface mainly includes an algorithm library module, a general function module, a configuration file, a compilation file, a burning module, and a monitoring module.

[0092] The platform adopts a modular hierarchical design. The general basic software is divided into many small modules, from specific functions, work processes to interfaces. During development, only according to actual needs, select the corresponding basic software modules in the task configuration layer, and then perform configuration and integration. The development of the controller's basic software has changed from implementation to configuration, reducing the threshold for developers, thereby greatly increasing development efficiency and also reducing the error probability. Multiple high-computing-power intelligent decision-making algorithms are assembled into a general artificial intelligence advanced algorithm library. During development, only according to actual needs, select the corresponding algorithms in the task configuration layer, and then perform optimization and integration, so as to improve the intelligent level of the controller and realize the intelligent control strategy of agricultural machinery.

[0093] According to different functional requirements, operation requirements, and environmental conditions, the platform can quickly integrate and iteratively develop by selecting the corresponding modules and setting parameters through the task configuration layer, deriving different functional or operation controllers. Combined with advanced sensors and algorithms, it can make intelligent decisions during operation, improving the operation efficiency and accuracy of agricultural machinery.

[0094] The present invention also provides a design method for a configurable general intelligent agricultural machinery controller. By means of configuration, integration, and iterative development, various intelligent agricultural machinery controllers can be derived, and each agricultural machinery controller has different control strategies.

[0095] For example, for an intelligent driving controller, the intelligent agricultural machinery driving system mainly includes: positioning, perception, planning, and control. The positioning module mainly includes high-precision positioning modules such as GPS and Beidou, which provide all-weather, high-precision, and real-time position, speed, and time information for agricultural machinery. The perception module uses sensors such as millimeter-wave radar, lidar, and cameras, and through multi-source data fusion, accurately identifies dynamic obstacles. The planning module plans the optimal path for agricultural machinery operation according to the farmland boundary and obstacle distribution. The control module mainly includes lateral deviation control, engine start-stop control, longitudinal speed control, braking control, and transmission ratio control, etc. Select the corresponding task configuration module according to the function module at the task configuration layer. Function modules such as positioning, multi-source data fusion, and path planning are implemented at the computing power decision layer. Through selecting the corresponding algorithm models for optimization and integration, intelligent decision control instructions are generated and transmitted to the real-time control layer through the communication module. The control module is implemented at the real-time control layer. Select the corresponding control module at the task configuration layer, configure, compile, and burn it to the control unit. The computing power decision layer and the real-time control layer communicate with each other to implement the control strategy of the intelligent driving controller.

[0096] Reference Figure 3 , Figure 3 is the overall process schematic diagram of a configurable general development method for an agricultural machinery controller provided by the present invention. Among them, it includes S1: task configuration layer; S2 select function configuration layer; S3 select function module configuration parameters; S4 function optimization and integration; S5 import hardware unit, corresponding to the following steps respectively.

[0097] Step 1: Enter the task configuration layer interface through the upper computer (or PC).

[0098] Step 2: Select the function configuration layer according to specific function requirements. The function configuration layer includes the computing power decision layer and the real-time control layer.

[0099] Step 3: Select specific function modules in the function configuration layer and perform parameter configuration.

[0100] Step 4: Optimize and iteratively develop the function modules, and finally integrate all function modules.

[0101] Step 5: Transmit the high-computing-power intelligent decision program to the computing power decision layer through the communication module, and burn the underlying control program to the control layer after compilation, so as to implement the intelligent agricultural machinery controller.

[0102] The research and development platform of the configurable general intelligent agricultural machinery controller provided by the present invention adopts a modular hierarchical design. The general module is subdivided into many small modules. From the specific functions, work processes to interfaces. When developing, only need to select the corresponding function modules in the task configuration layer according to the actual needs, and perform configuration and integration. The development of the controller has changed from implementation to configuration, reducing the threshold for developers, thereby greatly increasing the development efficiency and reducing the error probability. By building a general artificial intelligence advanced algorithm library, the intelligent level of the controller is improved.

[0103] The configurable general development method of the agricultural machinery controller provided by the present invention will be described below. The configurable general development method of the agricultural machinery controller described below can be correspondingly referred to the configurable general development system of the agricultural machinery controller described above.

[0104] Reference Figure 4 , Figure 4 is a schematic flow chart of the configurable general development method of the agricultural machinery controller provided by the present invention.

[0105] Step 401, configure the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and display the real-time status information of the agricultural machinery controller; Step 402, collect the scene environment data based on the bandwidth sensor, and generate an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; Step 403, collect the real-time data of the device based on the real-time sensor; and perform drive control on the external device based on the intelligent control instruction and the real-time data of the device.

[0106] Specifically, the configurable general development method of the agricultural machinery controller provided by the present invention can implement all system modules implemented by the configurable general development system embodiment of the above agricultural machinery controller, and can achieve the same technical effects. The same parts and beneficial effects as those in the system embodiment will not be specifically described in this embodiment.

[0107] Figure 5 is a schematic physical structure diagram of the electronic device provided by the present invention, as Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 complete mutual communication through the communication bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the configurable general development method of the agricultural machinery controller. The method includes: configuring the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and displaying the real-time status information of the agricultural machinery controller; collecting scene environment data based on the bandwidth sensor, and generating an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; collecting device real-time data based on the real-time sensor; and performing drive control on the external device based on the intelligent control instruction and the device real-time data.

[0108] In addition, when the logical instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0109] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the configurable general development method of the agricultural machinery controller provided by the above-mentioned various methods. The method includes: configuring the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and displaying the real-time status information of the agricultural machinery controller; collecting scene environment data based on the bandwidth sensor, and generating an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; collecting device real-time data based on the real-time sensor; and performing drive control on the external device based on the intelligent control instruction and the device real-time data.

[0110] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a configurable general development method for an agricultural machinery controller provided by the above-mentioned various methods. The method includes: configuring the operation parameters of the agricultural machinery controller according to the user operation instructions received by the host computer; and displaying the real-time status information of the agricultural machinery controller; collecting scene environment data based on a bandwidth sensor, and generating an intelligent control instruction for the agricultural machinery controller based on the scene environment data and the operation parameters; collecting device real-time data based on a real-time sensor; and performing drive control on external devices based on the intelligent control instruction and the device real-time data.

[0111] The device embodiments described above are merely illustrative. 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 may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0112] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A configurable general development system for agricultural machinery controllers, characterized in that: include: Real-time control layer, computing power decision layer, and task configuration layer; The task configuration layer includes a host computer, and the task configuration layer is used to configure the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and displaying real-time status information of the agricultural machinery controller; The computing power decision layer is in communication connection with the task configuration layer, and the computing power decision layer includes: a bandwidth sensor, and the computing power decision layer is used to collect scene environment data based on the bandwidth sensor, and generate intelligent control instructions for the agricultural machinery controller based on the scene environment data and the operating parameters; The real-time control layer is communicatively connected with the computing power decision layer and the task configuration layer. The real-time control layer includes: real-time sensors and external devices. The real-time control layer is used to collect real-time data of the device based on the real-time sensors; and to drive and control the external device based on the intelligent control instructions, the real-time data of the device and the user operation instructions.

2. The configurable universal development system for agricultural machinery controller according to claim 1, characterized in that: The real-time control layer includes: a real-time control unit; The real-time control unit is used to generate and output control signals based on the equipment implementation data collected by the real-time sensor; The real-time control unit includes at least one of the following: a sensor module, a power module, a debugging and diagnostic interface, an analog-to-digital converter, a digital-to-analog converter, an Ethernet module, and a drive control module; The real-time sensor includes at least one of the following: a nine-axis acceleration sensor, a satellite navigation system receiver, a particle sensor, and a gas sensor.

3. The configurable universal development system for agricultural machinery controller according to claim 1, characterized in that: The real-time control layer includes: a software real-time control system; The software real-time control system includes: a robot frame and a robot embedded system; The robot framework is used to provide sensor interface, motion control and navigation algorithms; The robot embedded system is used for data transmission between the computing power decision layer and the task configuration layer.

4. The configurable universal development system for agricultural machinery controller according to claim 1, characterized in that: The computing power decision layer includes: a hardware computing power unit and a software computing power decision system; The hardware computing unit is configured with a central processing unit and a graphics processing unit, and the hardware computing unit includes at least one of the following: a computing module, a sensor module, a power module, and a connection module; The hardware computing unit is used to perform task planning and task decomposition based on the scene environment data and the operation parameters; The software computing power decision system is used to exchange data with the host computer and the real-time control layer through the network based on the robot framework; and provide intelligent control instructions based on a preset artificial intelligence algorithm library.

5. The configurable universal development system for agricultural machinery controller according to claim 1, characterized in that: The task configuration layer also includes: a module task configuration system; The module task configuration system is used to receive configuration tasks sent by users through the network or target equipment; and convert the configuration tasks into communication instructions corresponding to the target hardware unit, and the communication instructions are sent to the lower computer through the network protocol or serial port protocol.

6. The configurable universal development system for agricultural machinery controller according to claim 5, characterized in that: The task configuration layer also includes: a human-computer interaction interface; The human-computer interaction interface includes: an algorithm library module, a general function module, a configuration file, a compilation file, a burning module and a monitoring module.

7. A configurable general development method for agricultural machinery controller, characterized in that: include: Configure the operation parameters of the agricultural machinery controller through the user operation instructions received by the host computer; and displaying real-time status information of the agricultural machinery controller; Collecting scene environment data based on the bandwidth sensor, and generating intelligent control instructions for the agricultural machinery controller based on the scene environment data and the operating parameters; The real-time data of the equipment is collected based on the real-time sensor; and the external equipment is driven and controlled based on the intelligent control instruction and the real-time data of the equipment.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the configurable general development method of the agricultural machinery controller as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the configurable general development method of the agricultural machinery controller as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the configurable general development method of the agricultural machinery controller as claimed in any one of claims 1 to 6 is implemented.

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