Field facility avoidance control method and related device

Abstract

The embodiment of the invention provides a field facility avoidance control method and related device.The method comprises the steps that in the operation process of an agricultural machine, if it is determined that a first field facility laid on the ground exists in the advancing direction of the agricultural machine according to collected first detection data, the first field facility is a first field facility laid on the ground; if yes, determining the current minimum distance between the carrier of the agricultural machine and the first field facility according to the first detection data; taking a set time interval as a calculation period, and determining whether the agricultural machine arrives at a carrier lifting position or not according to the current minimum distance corresponding to the current calculation period, the running speed of the agricultural machine and set carrier lifting time consumption; under the condition that it is determined that the agricultural machine does not reach the carrier lifting position, according to the current minimum distance corresponding to the current calculation period, the running speed of the agricultural machine and the set time interval, the current minimum distance corresponding to the next period is obtained through calculation, and the next calculation period is entered; and under the condition that it is determined that the agricultural machine reaches the carrier lifting position, the carrier is controlled to be lifted.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and more specifically, to a method and related device for avoiding and controlling field facilities. Background Art

[0002] During the operation of agricultural machinery in the field, it usually traverses the entire farmland to complete the operation. However, in the farmland, a drip irrigation tape network or other field facilities are generally laid to meet the planting needs of crops. Taking cotton, peppers or other large-scale crops as an example, the field facilities to be laid in the field are more extensive, such as a drip irrigation tape network. Therefore, to avoid damage to the drip irrigation tape network by agricultural machinery during operation, the agricultural machinery needs to pay attention to avoiding the drip irrigation tape network during operation.

[0003] In the related art, for agricultural machinery to avoid field facilities, it usually relies on manual control. When the driver observes with the naked eye that the agricultural machinery is about to reach the field facilities during the process of driving the agricultural machinery, the driver manually controls the lifting of the vehicle towed by the tail of the agricultural machinery, and then manually controls the lowering of the vehicle after the vehicle has crossed the field facilities. However, this method highly depends on the driver's judgment. If the driver lacks experience or is negligent and fails to lift or even fails to lift the vehicle in time, it will cause the vehicle to damage the field facilities, resulting in certain economic losses and also affecting the planting effect of crops. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a method and related device for avoiding and controlling field facilities, so as to automatically control the lifting of the vehicle before the agricultural machinery reaches the field facilities, avoid damage to the field facilities, and effectively solve the problem of low avoidance reliability caused by relying on manual control of the vehicle lifting.

[0005] To achieve the above object, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect of an embodiment of the present invention, a method for avoiding and controlling field facilities is provided, which is applied to agricultural machinery, and a sensing module is installed at the head of the agricultural machinery; the method includes:

[0007] During the operation of the agricultural machinery, if it is determined according to the first detection data collected by the sensing module that there is a first field facility laid on the ground in the forward direction of the agricultural machinery, then determine the current minimum distance between the vehicle of the agricultural machinery and the first field facility according to the first detection data;

[0008] Taking a set time interval as a calculation period, determine whether the agricultural machinery reaches the vehicle lifting position according to the current minimum distance corresponding to the current calculation period, the driving speed of the agricultural machinery, and the set vehicle lifting time consumption;

[0009] In the case of determining that the agricultural machine has not reached the vehicle lifting position, according to the current minimum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set time interval, calculate the current minimum distance corresponding to the next cycle, and return to execute the step of determining whether the agricultural machine has reached the vehicle lifting position according to the current minimum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set vehicle lifting time consumption;

[0010] In the case of determining that the agricultural machine has reached the vehicle lifting position, control the vehicle to lift.

[0011] In an alternative embodiment, in the step of determining the current minimum distance between the vehicle of the agricultural machine and the first field facility according to the first detection data, the current maximum distance between the vehicle and the first field facility is also determined according to the first detection data;

[0012] The method further includes:

[0013] Determine whether the agricultural machine has reached the vehicle lowering position according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set time interval;

[0014] In the case of determining that the agricultural machine has not reached the vehicle lowering position, calculate the current maximum distance corresponding to the next cycle according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set time interval, and return to execute the step of determining whether the agricultural machine has reached the vehicle lowering position according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set time interval;

[0015] In the case of determining that the agricultural machine has reached the vehicle lowering position, control the vehicle to lower.

[0016] In an alternative embodiment, the method further includes:

[0017] When the vehicle is suspended, if it is determined according to the second detection data collected by the sensing module that there is a second field facility laid on the ground in the forward direction of the agricultural machine, determine the first target minimum distance between the vehicle and the second field facility according to the second detection data; wherein, the vehicle being suspended means that the vehicle is in the lifting process or in the hovering state after the lifting is completed;

[0018] Determine the first distance between the current position of the vehicle and the corresponding vehicle lowering completion position according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set vehicle lowering time consumption;

[0019] Determine a second distance between the current position of the vehicle and the vehicle lifting position corresponding to the second field facility according to the traveling speed of the agricultural machine corresponding to the current calculation period, the vehicle lifting time consumption, and the first target minimum distance;

[0020] Determine whether to control the vehicle to maintain suspension according to the first distance and the second distance.

[0021] In an alternative embodiment, in the step of determining the first target minimum distance between the vehicle and the second field facility according to the second detection data, the first target maximum distance between the vehicle and the second field facility is also determined according to the second detection data;

[0022] The step of determining whether to control the vehicle to maintain suspension according to the first distance and the second distance includes:

[0023] If the first distance is greater than the second distance, control the vehicle to maintain suspension, and determine the current maximum distance corresponding to the next calculation period according to the first target maximum distance and the current maximum distance.

[0024] In an alternative embodiment, the method further includes:

[0025] During the lowering process of the vehicle, if it is determined according to the third detection data collected by the sensing module that there is a third field facility laid on the ground in the forward direction of the agricultural machine, determine the second target minimum distance and the second target maximum distance between the vehicle and the third field facility according to the third detection data;

[0026] Determine a third distance between the current position of the vehicle and the corresponding vehicle lowering completion position according to the traveling speed of the agricultural machine corresponding to the current calculation period and the remaining lowering time consumption of the vehicle;

[0027] Determine a fourth distance between the current position of the vehicle and the vehicle lifting position corresponding to the third field facility according to the traveling speed of the agricultural machine corresponding to the current calculation period, the second target minimum distance, and the vehicle lifting time consumption;

[0028] Determine whether to control the vehicle to stop descending according to the third distance and the fourth distance.

[0029] In an alternative embodiment, the step of determining whether to control the vehicle to stop descending according to the third distance and the fourth distance includes:

[0030] If the third distance is greater than the fourth distance, control the vehicle to stop descending, and update the current minimum distance and the current maximum distance to the second target minimum distance and the second target maximum distance respectively; or, control the vehicle to stop descending and ascend, and update the current maximum distance to the second target maximum distance.

[0031] In an alternative embodiment, the first detection data is image data; the step of determining the current minimum distance between the vehicle of the agricultural machine and the first field facility according to the first detection data includes:

[0032] Determine the central axis of the first field facility in the horizontal direction of the image according to the image data;

[0033] According to the pixel coordinates of the pixel points on the central axis and a pre-stored transformation matrix, calculate the first straight-line equation of the central axis in the vehicle coordinate system of the vehicle;

[0034] According to the first straight-line equation, and the pre-stored first vehicle straight-line equation and second vehicle straight-line equation, calculate a first intersection point and a second intersection point; wherein, the first intersection point is formed by the intersection of the straight line corresponding to the first vehicle straight-line equation and the straight line corresponding to the first straight-line equation, the second intersection point is formed by the intersection of the straight line corresponding to the second vehicle straight-line equation and the straight line corresponding to the first straight-line equation, and the straight lines corresponding to the first vehicle straight-line equation and the second vehicle straight-line equation are the straight lines on the relatively two sides in the operation width direction of the vehicle;

[0035] Calculate the first intersection distance and the second intersection distance between the first intersection point and the second intersection point and the vehicle respectively;

[0036] Take the smaller one of the median values of the first intersection distance and the second intersection distance as the current minimum distance.

[0037] In an alternative embodiment, the step of calculating the first straight-line equation of the central axis in the vehicle coordinate system of the vehicle according to the pixel coordinates of the pixel points on the central axis and a pre-stored transformation matrix includes:

[0038] Through the pre-stored transformation matrix, convert the pixel coordinates of the first pixel point and the second pixel point on the central axis into a first vehicle coordinate point and a second vehicle coordinate point located in the vehicle coordinate system respectively;

[0039] According to the first vehicle coordinate point and the second vehicle coordinate point, calculate the first straight-line equation for representing the central axis in the vehicle coordinate system.

[0040] In an alternative embodiment, before the agricultural machinery operation, the method further includes:

[0041] Displaying a parameter preset interface; in the parameter preset interface, there are input boxes for inputting the installation height of the sensing module on the agricultural machinery, input boxes for inputting the distance between the sensing module and the vehicle, input boxes for inputting the width dimension of the vehicle, input boxes for inputting the operation width of the vehicle, and a save control for saving the parameters input in all input boxes;

[0042] In the case of receiving an instruction generated by triggering the save control, determining the relative position of the sensing module with respect to the origin of the vehicle coordinate system of the vehicle according to the currently obtained installation height, the distance between the sensing module and the vehicle, the width dimension of the vehicle, and the operation width;

[0043] Determining a transformation matrix between the camera coordinate system of the sensing module and the vehicle coordinate system according to the relative position.

[0044] In a second aspect of the embodiments of the present invention, a field facility avoidance device is provided, including:

[0045] A sensing module, configured to be installed at the head of the frame of the agricultural machinery to detect field facilities;

[0046] A vehicle driving module, configured to be installed in the vehicle driving circuit of the agricultural machinery; and

[0047] A control module, when installed on the agricultural machinery, is respectively communicatively connected to the sensing module and the vehicle driving module, and based on the detection data collected by the sensing module, controls the vehicle driving module to drive the vehicle to lift or lower through the field facility avoidance control method provided in any one of the first aspects of the above embodiments of the present invention.

[0048] In a third aspect of the embodiments of the present invention, an agricultural machinery is provided, including the field facility avoidance device provided in the second aspect of the above embodiments of the present invention.

[0049] In a fourth aspect of the embodiments of the present invention, an electronic device is provided, including a processor and a memory, the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the field facility avoidance control method provided in any one of the first aspects of the above embodiments of the present invention.

[0050] In a fifth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, it implements the field facility avoidance control method provided in any one of the first aspects of the embodiments of the present invention.

[0051] The field facility avoidance control method and related devices provided by the embodiments of the present invention collect field data in the forward direction of an agricultural machine during the operation of the agricultural machine, and then determine whether there is a first field facility on the ground in front of the agricultural machine according to the collected first detection data, so as to realize the automatic detection of field facilities. When the first field facility is detected, the current minimum distance between the vehicle of the agricultural machine and the first field facility is further determined according to the first detection data, and then whether the agricultural machine reaches the vehicle lifting position is periodically determined according to the current minimum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set vehicle lifting time consumption and set time interval. The current minimum distance between the vehicle and the first field facility is updated during the periodic processing process, which can not only realize timely and accurate determination of whether the agricultural machine has reached the vehicle lifting position, but also realize timely control of vehicle lifting when it is determined that the agricultural machine has reached the vehicle lifting position, so as to realize accurate, reliable and timely autonomous avoidance of field facilities.

[0052] To make the above objects, features and advantages of the present invention more obvious and understandable, the following specific embodiments are given in conjunction with the accompanying drawings and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0054] Figure 1 Shows a structural block diagram of an electronic device provided by an embodiment of the present invention;

[0055] Figure 2 Shows an application scenario diagram of a field facility avoidance device provided by an embodiment of the present invention;

[0056] Figure 3 Shows a flowchart of a field facility avoidance control method provided by an embodiment of the present invention;

[0057] Figure 4 Shows a top view of a drip irrigation tape in front of an agricultural machine provided by an embodiment of the present invention;

[0058] Figure 5 Shows a top - down schematic view of the presence of a first field facility and a second field facility in front of an agricultural machine provided by an embodiment of the present invention;

[0059] Figure 6 Shows a schematic diagram of a parameter preset interface provided by an embodiment of the present invention. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0061] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0062] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including the said element.

[0063] To solve the technical problem in the related art that the reliability of the vehicle avoiding field facilities is low due to relying on manual control of the vehicle to lift, the present invention provides a method for controlling the avoidance of field facilities. During the agricultural machinery operation, the data of the field in the forward direction of the agricultural machinery is collected, and then according to the first detection data collected, it is determined whether there is a first field facility on the ground in front of the agricultural machinery, realizing the automatic detection of the field facilities. In the case of detecting the first field facility, by further determining the current minimum distance between the vehicle of the agricultural machinery and the first field facility according to the first detection data, and then periodically determining whether the agricultural machinery reaches the vehicle lift position according to the current minimum distance corresponding to the current calculation period, the driving speed of the agricultural machinery, as well as the set vehicle lift time consumption and the set time interval. The periodic processing process also updates the current minimum distance between the vehicle and the first field facility, which can not only realize timely and accurate determination of whether the agricultural machinery has reached the vehicle lift position, but also realize timely control of the vehicle lift when it is determined that the agricultural machinery has reached the vehicle lift position, achieving accurate, reliable and timely autonomous avoidance of the field facilities.

[0064] The method for controlling the avoidance of field facilities provided by the present invention can be applied to an electronic device. Please refer to Figure 1 , which is a structural block diagram of the electronic device. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. Each element of the memory 110, the processor 120, and the communication module 130 is directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines.

[0065] Among them, the memory is used to store programs or data. The memory can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0066] The processor is used to read / write the data or programs stored in the memory and execute the corresponding functions.

[0067] The communication module is used to establish a communication connection between the electronic device and other communication terminals through the network and is used to send and receive data through the network.

[0068] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device, and the electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0069] In some embodiments, the electronic device can be configured in agricultural machinery as a part of the agricultural machinery control system. The field facility avoidance control method provided in the embodiment of the present invention can be executed to enable the vehicle to avoid field facilities. The field facilities can be agricultural facilities laid on the field, including but not limited to: drip irrigation tape or three-way valve.

[0070] In the above, the agricultural machinery may be various types of agricultural working machinery, for example, a tractor, or a cultivator, or a soil sealing machine, or an unmanned vehicle capable of towing a vehicle, or other working machinery capable of towing a vehicle.

[0071] In some embodiments, the electronic device can be sold as a product integrated with the agricultural machinery, or as a product sold separately from the agricultural machinery. In the case where the electronic device is sold separately from the agricultural machinery, the electronic device can be used as a control module, based on which the control module can be connected to the vehicle drive module and the perception module of the agricultural machinery, so that the electronic device can control the vehicle drive module to drive the vehicle to lift or lower according to the detection data collected by the perception module.

[0072] However, the agricultural machinery may not be equipped with a sensing module, or the control module may communicate with the vehicle drive module of the agricultural machinery, which may involve a lot of cumbersome wiring operations, and even require the line to be redesigned, which will obviously increase the difficulty for operators to use the control module, which is not conducive to the popularization of the control module. Therefore, in some embodiments, in order to solve this technical problem, the embodiments of the present invention also provide a field facility avoidance device, including:

[0073] The sensing module is installed on the frame head of the agricultural machinery to detect field facilities;

[0074] A vehicle drive module, for installation in a vehicle drive circuit of an agricultural machine; and

[0075] The control module is used to communicate with the perception module and the vehicle driving module respectively when installed on the agricultural machinery, and control the vehicle driving module to drive the vehicle to lift or lower based on the detection data collected by the perception module through the field facility avoidance method provided by any of the following embodiments of the present invention.

[0076] It is understandable that the field facility avoidance device provided by the embodiments of the present invention can be applicable to any type of agricultural operation machinery, so as to enable the agricultural operation machinery to autonomously avoid field facilities or field obstacles.

[0077] In some embodiments, the sensing module can be an image acquisition module, a lidar, or other detection modules capable of distinguishing field facilities. As some examples, when the sensing module is an image acquisition module, the image acquisition module can be a narrow-band camera, for example, a narrow-band camera with a wavelength range of 910nm to 970nm.

[0078] In some embodiments, the vehicle drive module is of the same type as the drive module in the vehicle drive circuit of the agricultural machinery. For example, if the vehicle drive of the agricultural machinery is an electric drive mode, the vehicle drive module can be an electric drive module; or if the vehicle drive of the agricultural machinery is a hydraulic drive mode, the vehicle drive module can be a hydraulic module.

[0079] The following takes the vehicle drive circuit of the agricultural machinery being in a hydraulic drive mode as an example to illustrate the relevant structure of the vehicle drive module and its installation method on the agricultural machinery:

[0080] In this case, the vehicle drive module can be an electromagnetic hydraulic valve. The oil inlet of the electromagnetic hydraulic valve is used to communicate and connect with the outlet of the hydraulic pump of the agricultural machinery, the oil outlet of the electromagnetic hydraulic valve is used to communicate and connect with the inlet of the hydraulic pump of the agricultural machinery, and the two working ports of the electromagnetic hydraulic valve are used to respectively communicate and connect with the two input ports of the vehicle hydraulic rod of the agricultural machinery.

[0081] The following describes the operation process of the agricultural machinery applying the field facility avoidance device provided by the embodiments of the present invention:

[0082] Please refer to Figure 2 , Figure 2 which is a schematic diagram of an application scenario of a field facility avoidance device provided by the embodiments of the present invention. Before the agricultural machinery operates, if the field facility avoidance device provided by the embodiments of the present invention is not installed on the agricultural machinery, the installation of the field facility avoidance device provided by the embodiments of the present invention can be completed first according to the following steps:

[0083] Orient the sensing end of the sensing module 0110 towards the ground and install it at the head of the frame of the agricultural machinery, so that during the subsequent operation process, the sensing module 0110 can obtain the ground conditions in the field in real time and transmit them to the control module 0130. Install the control module 0130 in the cab of the agricultural machinery or other installable positions. Install the vehicle drive module 0120 in the vehicle drive circuit of the agricultural machinery, so that the vehicle drive module 0120 can drive the lifting and lowering of the vehicle through this vehicle drive circuit.

[0084] In the above, if wireless communication modules are configured in the sensing module 0110, the vehicle driving module 0120, and the control module 0130, then before or after the above installation is completed, the sensing module 0110 and the vehicle driving module 0120 can be paired with the control module 0130 respectively to establish a communication connection. It can be seen that this communication connection achieved wirelessly does not require wiring operations, which can make the installation and use of the field facility avoidance device more convenient.

[0085] If in some scenarios, for example, it is desired that the sensing module 0110, the vehicle driving module 0120, and the control module 0130 communicate without relying on a wireless communication network to avoid the instability of the wireless communication network affecting communication reliability, then in some embodiments, the control module 0130 can communicate with the sensing module 0110 and the vehicle driving module 0120 respectively in a wired manner. Based on this, after the above installation is completed, a communication bus can be used to connect the control module 0130 with the sensing module 0110, and the control module 0130 with the vehicle driving module 0120.

[0086] Thus, the installation of the field facility avoidance device on the agricultural machine is completed. In this way, during the operation of the agricultural machine, the sensing module 0110 can transmit the collected detection data to the control module 0130. The control module 0130 processes the detection data collected by the sensing module 0110 to determine whether there are field facilities in front of the agricultural machine. If there are, the control module 0130 controls the vehicle driving module 0120 to drive the vehicle to lift, and after avoiding the field facilities, then controls the vehicle driving module 0120 to drive the vehicle to lower, so as to achieve the autonomous avoidance of field facilities by the agricultural machine. If not, the control module 0130 can control the vehicle driving module 0120 to keep the vehicle in the lowered state.

[0087] Thus, the field facility avoidance device provided by the embodiment of the present invention modularizes the function of autonomously avoiding field facilities into a product - encapsulates it into an independent control module, and on this basis, additionally configures a sensing module and a vehicle driving module respectively used to communicate with the control module. Thus, when the control module, the sensing module, and the vehicle driving module are installed on the corresponding parts of the agricultural machine, the control module can control the vehicle driving module to drive the vehicle of the agricultural machine to lift or lower according to the detection data collected by the sensing module. It can be seen that there is no need to configure the function of autonomously avoiding field facilities for the agricultural machine before leaving the factory. For agricultural machines that are not configured with the function of autonomously avoiding field facilities before leaving the factory, as long as the field facility avoidance device provided by the embodiment of the present invention is applied, they can also have the function of autonomously avoiding field facilities. The operator does not need to purchase a new agricultural machine, which greatly improves the utilization rate of existing agricultural machines and saves operation costs.

[0088] Among the above, the control method involved in the field facility avoidance device is the field facility avoidance control method provided by the embodiments of the present invention, and thus also has the beneficial technical effects produced by the field facility avoidance control method provided by the embodiments of the present invention.

[0089] The following will be combined with Figure 3 to illustrate the field facility avoidance control method provided by the embodiments of the present invention. Figure 3 It is a flowchart of a field facility avoidance control method provided by the embodiments of the present invention. The field facility avoidance control method includes:

[0090] In step S100, during the operation of the agricultural machine, if it is determined according to the first detection data collected by the sensing module that there is a first field facility laid on the ground in the forward direction of the agricultural machine, then the current minimum distance between the vehicle of the agricultural machine and the first field facility is determined according to the first detection data.

[0091] In step S200, with a set time interval as a calculation period, according to the current minimum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set vehicle lifting time, it is determined whether the agricultural machine reaches the vehicle lifting position.

[0092] In step S300, in the case where it is determined that the agricultural machine has not reached the vehicle lifting position, according to the current minimum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set time interval, the current minimum distance corresponding to the next period is calculated, and the step of determining whether the agricultural machine reaches the vehicle lifting position according to the current minimum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set vehicle lifting time is returned for execution.

[0093] In step S400, in the case where it is determined that the agricultural machine has reached the vehicle lifting position, the vehicle is controlled to lift.

[0094] During the operation of the agricultural machine, the control module configured on the agricultural machine can execute the above steps S100 - S400 to timely control the vehicle to lift and avoid field facilities such as drip irrigation tapes. The following takes the drip irrigation tape as an example to illustrate the working process of the agricultural machine avoiding field facilities.

[0095] During the operation of agricultural machinery, through known target recognition technologies, it is possible to determine whether there is a first field facility laid on the ground, such as a drip irrigation tape, in the forward direction of the agricultural machinery based on the first detection data collected by the sensing module. For example, on the premise that the sensing module is a lidar, the constructed target detection model can be used to process the lidar data collected by the lidar to determine whether there is a drip irrigation tape in front of the agricultural machinery. Another example is that on the premise that the sensing module is an image acquisition module, the constructed target detection model can also be used to process the image data collected by the image acquisition module to determine whether there is a drip irrigation tape in front of the agricultural machinery.

[0096] If it is determined that there is no drip irrigation tape in the forward direction of the agricultural machinery, the vehicle lowering state can be maintained, and the vehicle can continue to operate.

[0097] Conversely, please refer to Figure 4 , Figure 4 FIG. 10 is a top view schematic diagram of the presence of a drip irrigation tape in front of an agricultural machinery provided by an embodiment of the present invention. If it is determined that there is a drip irrigation tape in the forward direction of the agricultural machinery, step S100 can be executed to determine the current minimum distance L1 between the vehicle A1 of the agricultural machinery A and the drip irrigation tape D1 according to the first detection data. Among them, the current minimum distance L1 can be calculated through related technologies.

[0098] However, to balance the calculation accuracy and calculation efficiency of L1, in some embodiments, the field facility avoidance method provided by the embodiments of the present invention also provides a determination scheme for the current minimum distance L1 different from the related technologies. Taking the image acquisition module as the sensing module as an example, the first detection data at this time is image data. Based on this, in the above step S100, the step of determining the current minimum distance between the vehicle of the agricultural machinery and the first field facility according to the first detection data may include:

[0099] In step S110, determine the central axis of the first field facility in the horizontal direction of the image according to the image data;

[0100] In step S120, calculate the first straight-line equation of the central axis in the vehicle coordinate system of the vehicle according to the pixel coordinates of the pixel points on the central axis and the pre-stored transformation matrix;

[0101] In step S130, a first intersection point and a second intersection point are calculated according to the first straight-line equation, and the pre-stored first vehicle straight-line equation and second vehicle straight-line equation; wherein, the first intersection point is formed by the intersection of the straight line corresponding to the first vehicle straight-line equation and the straight line corresponding to the first straight-line equation, the second intersection point is formed by the intersection of the straight line corresponding to the second vehicle straight-line equation and the straight line corresponding to the first straight-line equation, and the straight lines corresponding to the first vehicle straight-line equation and the second vehicle straight-line equation are the straight lines on the relatively two sides in the operation width direction of the vehicle;

[0102] In step S140, the first intersection distance and the second intersection distance between the first intersection point and the second intersection point and the vehicle are calculated respectively;

[0103] In step S150, the smaller one of the first intersection distance and the second intersection distance is used as the current minimum distance.

[0104] It should be understood that the current minimum distance in step S100 refers to the current minimum distance calculated according to the first detection data when it is first determined that there is a first field facility in the forward direction of the agricultural machine based on the first detection data. In step S200, the current minimum distances corresponding to other calculation cycles except the first calculation cycle are calculated through the calculation method in step S300. This can reduce the processing amount of the detection data and ensure the timeliness and accuracy of the update of the current minimum distance.

[0105] In the process of executing step S100, the acquisition of L1 can be realized by executing steps S110 to S150. Please continue to refer to Figure 4 , step S110 can be executed first to determine the central axis Line of the first field facility in the horizontal direction of the image according to the image data. The identification principle of the central axis of the target object can be referred to the related technology.

[0106] After obtaining the central axis of the first field facility through step S110, in order to obtain the straight-line equation of the central axis in the vehicle coordinate system to realize the calculation of L1. Step S120 can be executed to obtain the pixel coordinates of the pixel points on the central axis, and then use the transformation matrix between the image coordinate system and the vehicle coordinate system to calculate the vehicle coordinates of these pixel coordinates in the vehicle coordinate system. Then, based on these vehicle coordinates, a corresponding straight line can be generated using the known mathematical principle, and the first straight-line equation can be obtained. The construction principle of the image coordinate system, the construction principle of the vehicle coordinate system, and the acquisition of the transformation matrix can all be referred to the related technology and will not be elaborated here.

[0107] To reduce the computational complexity of the first linear equation to a certain extent and thus improve the acquisition efficiency of the current minimum distance L1, in some embodiments, the field facility avoidance control method provided by the embodiments of the present invention further provides another implementation manner of step S120, that is, the step of calculating the first linear equation of the central axis in the vehicle coordinate system of the vehicle according to the pixel coordinates of the pixel points on the central axis and a pre-stored transformation matrix may include:

[0108] In step S121, the pixel coordinates of the first pixel point and the second pixel point on the central axis are respectively converted into a first vehicle coordinate point and a second vehicle coordinate point located in the vehicle coordinate system through the pre-stored transformation matrix;

[0109] In step S122, according to the first vehicle coordinate point and the second vehicle coordinate point, a first linear equation for characterizing the central axis in the vehicle coordinate system is calculated.

[0110] In the process of obtaining the first linear equation through the embodiments shown in steps S121 to S122, two points, the first pixel point and the second pixel point, can be arbitrarily selected on the central axis first. Since two points can determine a straight line, there is no need to select too many pixel points, which is beneficial to reducing the computational complexity. Then, through the transformation matrix, the first pixel point and the second pixel point are respectively converted into a first vehicle coordinate point and a second vehicle coordinate point in the vehicle coordinate system. Subsequently, based on the calculation principle of the linear equation, a first linear equation of the straight line where the first vehicle coordinate point and the second vehicle coordinate point are located can be calculated according to the first vehicle coordinate point and the second vehicle coordinate point. This first linear equation is the expression equation of the central axis in the vehicle coordinate system.

[0111] After obtaining the first linear equation through any of the above embodiments, the intersection points of both sides of the vehicle and the central axis of the drip irrigation belt can be calculated, and there are two, as shown by P1 and P2 in Figure 4 It can be seen that the intersection point P1 is the closest to the vehicle A1, and the intersection point P2 is the farthest from the vehicle A1. Since the vehicle coordinate system is constructed based on the vehicle A1, for example, taking a certain corner point of the vehicle as the coordinate origin, taking the width direction of the vehicle as the X axis, and taking the length direction of the vehicle as the Y axis to establish the vehicle coordinate system, and the positions of all sides of the vehicle in the vehicle coordinate system can be obtained according to the pre-measured dimensions and the vehicle coordinate system. Therefore, the corresponding first vehicle linear equation and second vehicle linear equation can be pre-constructed based on the positions of the relative two sides of the vehicle in the working width direction in the vehicle coordinate system. In this way, the first intersection point of the straight line corresponding to the first linear equation and the straight line corresponding to the first vehicle linear equation, and the second intersection point of the straight line corresponding to the first linear equation and the straight line corresponding to the second vehicle linear equation can be calculated by using the first linear equation, the first vehicle linear equation, and the second vehicle linear equation.

[0112] After obtaining the first intersection point and the second intersection point, to determine which intersection point is the intersection point P1 closest to the vehicle A1 and further obtain the current minimum distance L1, step S140 can be executed to calculate the first intersection distance between the first intersection point and the vehicle and the second intersection distance between the second intersection point and the vehicle, respectively. Then, step S150 can be continuously executed to use the smaller one of the first intersection distance and the second intersection distance as the current minimum distance.

[0113] In addition to the above scheme for obtaining the current minimum distance, the field facility avoidance method provided by the embodiments of the present invention also provides another scheme for determining the current minimum distance L1. That is, in the above step S100, the step of determining the current minimum distance between the vehicle of the agricultural machine and the first field facility according to the first detection data may include:

[0114] In step S110', determine the first edge line and the second edge line of the field facility in the horizontal direction of the image according to the image data;

[0115] In step S120', according to the pixel coordinates of the pixel points on the first edge line and the pre-stored transformation matrix, calculate the first straight line equation of the first edge line in the vehicle coordinate system of the vehicle;

[0116] In step S130', according to the pixel coordinates of the pixel points on the second edge line and the transformation matrix, calculate the second straight line equation of the second edge line in the vehicle coordinate system of the vehicle;

[0117] In step S140', according to the first straight line equation, and the pre-stored first vehicle straight line equation and second vehicle straight line equation, calculate the first intersection point and the second intersection point; wherein, the first intersection point is formed by the intersection of the straight line corresponding to the first vehicle straight line equation and the straight line corresponding to the first straight line equation, the second intersection point is formed by the intersection of the straight line corresponding to the second vehicle straight line equation and the straight line corresponding to the first straight line equation, and the straight lines corresponding to the first vehicle straight line equation and the second vehicle straight line equation are the straight lines on the relatively two sides in the operation width direction of the vehicle;

[0118] In step S150', according to the second straight line equation, the first vehicle straight line equation and the second vehicle straight line equation, calculate the third intersection point and the fourth intersection point; wherein, the third intersection point is formed by the intersection of the straight line corresponding to the first vehicle straight line equation and the straight line corresponding to the second straight line equation, and the second intersection point is formed by the intersection of the straight line corresponding to the second vehicle straight line equation and the straight line corresponding to the second straight line equation;

[0119] In step S160’, calculate the distances between the first intersection point, the second intersection point, the third intersection point, and the fourth intersection point and the vehicle respectively to obtain the first intersection point distance, the second intersection point distance, the third intersection point distance, and the fourth intersection point distance;

[0120] In step S170’, take the one with the minimum value among the first intersection point distance, the second intersection point distance, the third intersection point distance, and the fourth intersection point distance as the current minimum distance.

[0121] The embodiments shown in steps S110’ to S170’ are similar in basic principle to steps S110 to S150. The difference is that in the embodiments shown in steps S110’ to S170’, the current minimum distance is not obtained based on the central axis of the drip irrigation tape, but based on the edge line of the drip irrigation tape, which can improve the accuracy of the current minimum distance to a certain extent.

[0122] After obtaining the current minimum distance through any of the embodiments in step S100, since the traveling speed of the agricultural machine is not constant, in order to accurately determine whether the agricultural machine has reached the vehicle lifting position and avoid field facilities in a timely manner, it is necessary to periodically measure the traveling speed of the agricultural machine and update the current minimum distance. Therefore, step S200 will be executed, with a set time interval as a calculation period, and based on the current minimum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, the set vehicle lifting time, and the above set time interval, determine whether the agricultural machine has reached the vehicle lifting position. The set time interval can be configured according to experience or experiments. For example, the set time interval △t = 1ms, but it is not limited to this. The set vehicle lifting time can be set by the user of the agricultural machine or configured according to experience or experiments. The vehicle lifting time represents the time required for the vehicle to lift from the lowered state to the set height, and the set height can also be configured according to experience or experiments.

[0123] In some examples, assume that the current minimum distance corresponding to the current calculation period is L1, the traveling speed detected in the current calculation period is v1, and the vehicle lifting time is t1. Based on this, in the current calculation period, it can be determined whether the agricultural machine has reached the vehicle lifting position through the formula S1 = L1 - v1t1. Among them, v1t1 represents the distance traveled by the agricultural machine during the process from the start of vehicle lifting to the lifting in place.

[0124] If S1 > 0, it indicates that the vehicle has not reached the vehicle lifting position. At this time, the vehicle may not be lifted to ensure the operation coverage rate. In this case, step S300 will be executed to update the current minimum distance in the next cycle, thereby ensuring the accuracy of determining whether the agricultural machine has reached the vehicle lifting position in the next cycle. In step S300, the current minimum distance can be updated by the formula L1 = L1 - v1Δt to obtain the current minimum distance corresponding to the next calculation cycle. That is, L1 on the left side of the formula represents the updated current minimum distance, L1 on the right side represents the current minimum distance corresponding to the current calculation cycle, and Δt represents the time corresponding to one cycle, that is, the above-set time interval. Subsequently, step S200 can be returned to and executed until it is determined that the agricultural machine has reached the vehicle lifting position.

[0125] If S1 ≤ 0, it indicates that the vehicle has reached the vehicle lifting position. Therefore, the vehicle needs to be controlled to lift to achieve safe avoidance of the first field facility. At this time, step S400 will be executed to control the vehicle to lift.

[0126] In some embodiments, to ensure that the vehicle has more sufficient time to complete the lifting, better avoid rolling over the drip irrigation tape, and improve the reliability of the vehicle to avoid field facilities, a safety distance can be reserved between the vehicle lifting position and the field facilities. That is, the above step S200 can be adaptively adjusted to: determine whether the agricultural machine has reached the vehicle lifting position according to the current minimum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, the set vehicle lifting time, and the set first safety distance. Based on this, the formula S1 = L1 - v1t1 - d1 can be used to determine whether the agricultural machine has reached the vehicle lifting position, where d1 represents the first safety distance, and the meanings of other letters can be referred to the relevant records above. The value of the first safety distance can be configured according to experience or tests, or can be user-defined. Similarly, if S1 > 0, it indicates that the vehicle has not reached the vehicle lifting position; if S1 ≤ 0, it indicates that the vehicle has reached the vehicle lifting position.

[0127] In some embodiments, to ensure that the vehicle can fully avoid field facilities and be lowered in time to continue the operation, improve the operation coverage rate and planting quality, the field facility avoidance control method provided by the embodiments of the present invention also provides a solution to control the vehicle to be lowered in time after avoiding the field facilities to continue the operation. Based on this, in the above step S100, the current maximum distance between the vehicle and the first field facility is also determined according to the first detection data. The principle of obtaining the current maximum distance is similar to the principle of obtaining the current minimum distance. Taking the embodiments shown in the above steps S110 to S150 as an example, the current maximum distance is the larger one of the median values of the first distance and the second distance.

[0128] Correspondingly, the field facility avoidance control method provided by the embodiments of the present invention may further include:

[0129] In step S500, based on the current maximum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set time interval, it is determined whether the agricultural machine has reached the vehicle lowering position;

[0130] In step S600, when it is determined that the agricultural machine has not reached the vehicle lowering position, based on the current maximum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set time interval, the current maximum distance corresponding to the next period is calculated, and then the step of determining whether the agricultural machine has reached the vehicle lowering position based on the current maximum distance corresponding to the current calculation period, the traveling speed of the agricultural machine, and the set time interval is returned for execution;

[0131] In step S700, when it is determined that the agricultural machine has reached the vehicle lowering position, the vehicle is controlled to lower.

[0132] For step S500, the formula S2 = L2 - v1△t can be used to determine whether the agricultural machine has reached the vehicle lowering position, where L2 represents the current maximum distance corresponding to the current calculation period, as Figure 4 shown, v1 represents the detected traveling speed in the current calculation period, and △t represents the set time interval. Similarly, if S2 > 0, it means that the agricultural machine has not reached the vehicle lowering position, and then step S600 can be executed; if S2 ≤ 0, it means that the agricultural machine has reached the vehicle lowering position, and then step S700 can be executed to control the vehicle to lower.

[0133] During the execution of step S600, the formula L2 = L2 - v1△t can be used to calculate the current maximum distance corresponding to the next period. Similarly, L2 on the left side of the formula represents the current maximum distance corresponding to the next calculation period, while L2 on the right side of the formula represents the current maximum distance corresponding to the current calculation period. Then, step S500 can be returned for execution until it is determined that the agricultural machine has reached the vehicle lowering position.

[0134] In some embodiments, to ensure that the vehicle is lowered after completely avoiding the field facilities and further improve the reliability of the vehicle in avoiding the field facilities, a safety distance can be reserved between the vehicle lowering position and the field facilities. That is, the above step S500 can be adaptively adjusted as follows: Determine whether the agricultural machine reaches the vehicle lowering position according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, the set time interval, and the set second safety distance. Based on this, the formula S2 = L2 - v1Δt - d2 can be used to determine whether the agricultural machine reaches the vehicle lowering position, where d2 represents the second safety distance, and the meanings of other letters can be referred to the relevant records above. The value of the second safety distance can be configured according to experience or tests, or can be user-defined. Based on this, if S2 > -d2, it means that the vehicle has not crossed the second safety distance after the first field facility and has not reached the vehicle lowering position; if S2 ≤ -d2, it means that the vehicle has crossed the second safety distance and reached the vehicle lowering position.

[0135] In some cases, there may be multiple field facilities laid at intervals in the field. For example, when the vehicle is in a suspended state such as during the lifting process or the hovering process after the lifting is in place, there may be a second field facility other than the first field facility in the forward direction of the agricultural machine. Among them, the second field facility can be before the first field facility or after the first field facility; in the case where the second field facility is before the first field facility, it is possible that the second field facility is blocked and recognized later than the first field facility. Therefore, to ensure that the vehicle can avoid the second field facility in time while avoiding the first field facility in time, in some embodiments, the field facility avoidance control method provided by the embodiments of the present invention may further include:

[0136] In step S810, when the vehicle is suspended, if it is determined according to the second detection data collected by the sensing module that there is a second field facility laid on the ground in the forward direction of the agricultural machine, determine the first target minimum distance between the vehicle and the second field facility according to the second detection data; where the vehicle being suspended means that the vehicle is in the lifting process or in the hovering state after the lifting is completed;

[0137] In step S820, determine the first distance between the current position of the vehicle and the corresponding vehicle lowering completion position according to the current maximum distance corresponding to the current calculation cycle, the traveling speed of the agricultural machine, and the set vehicle lowering time consumption;

[0138] In step S830, determine the second distance between the current position of the vehicle and the vehicle lifting position corresponding to the second field facility according to the traveling speed of the agricultural machine corresponding to the current calculation cycle, the vehicle lifting time consumption, and the first target minimum distance;

[0139] In step S840, based on the first distance and the second distance, it is determined whether to control the vehicle to maintain suspension.

[0140] When the vehicle is in a suspended state, since the sensing module collects the field data in the forward direction of the agricultural machine in real time, if it is determined according to the currently collected second detection data that there is still a second field facility in the forward direction of the agricultural machine, then step S810 will be executed to determine the first target minimum distance between the vehicle and the second field facility according to the second detection data. The first target minimum distance represents the minimum distance between the vehicle and the second field facility, and its acquisition principle can be referred to the relevant records above and will not be elaborated here.

[0141] Next, step S820 and step S830 can be executed in parallel or serially without a specific order. During the execution of step S820, the first distance can be calculated by the formula p1 = L2 + v1t2, where p1 represents the first distance, L2 represents the current maximum distance corresponding to the current calculation period, v1 represents the traveling speed detected in the current calculation period, and t2 represents the vehicle lowering time. The vehicle lowering time represents the time required for the vehicle to be lowered from the above-set height to the in-place state, which can be configured according to experience or experiments, or can be user-defined.

[0142] In some embodiments, to improve the avoidance reliability, a third safety distance can also be considered in step S820. Based on this, the formula involved in step S820 can be adaptively adjusted to: p1 = L2 + v1t2 + L3, where L3 represents the third safety distance, and the meanings of other letters can be referred to the relevant records above.

[0143] During the execution of step S830, the second distance can be calculated by the formula p2 = L1' - v1t1, where p2 represents the second distance, L1' represents the first target minimum distance, v1 represents the traveling speed detected in the current calculation period, and t1 represents the vehicle lifting time.

[0144] In some embodiments, to improve the avoidance reliability, a fourth safety distance can also be considered in step S830. Based on this, the formula involved in step S830 can be adaptively adjusted to: p2 = L1' - v1t1 - L4, where L4 represents the fourth safety distance, and the meanings of other letters can be referred to the relevant records above.

[0145] After obtaining the first distance and the second distance, step S840 can be executed to determine whether to control the vehicle to maintain suspension according to the first distance and the second distance.

[0146] In some embodiments, the embodiments of the present invention further provide an implementation manner of step S840, that is, in step S810, the first target maximum distance between the vehicle and the second field facility may also be determined according to the second detection data. This first target maximum distance represents the maximum distance between the vehicle and the second field facility, and the acquisition principle thereof may also refer to the relevant records above and will not be elaborated here.

[0147] Correspondingly, in the above step S840, the step of determining whether to control the vehicle to maintain suspension according to the first distance and the second distance may include:

[0148] In step S841, if the first distance is greater than the second distance, control the vehicle to maintain suspension, and determine the current maximum distance corresponding to the next calculation period according to the first target maximum distance and the current maximum distance.

[0149] The first distance being greater than the second distance indicates that the first field facility and the second field facility are relatively close. If the vehicle makes a lowering operation from the suspended state and then a lifting operation, it may not have enough time to avoid the second field facility. To ensure that the vehicle can also avoid the second field facility in time, the vehicle lowering operation can be omitted, and the vehicle can be controlled to maintain suspension.

[0150] Please refer to Figure 5 , Figure 5 is a top view schematic diagram of a first field facility and a second field facility existing in front of an agricultural machine provided by the embodiments of the present invention. In the case where the first distance is greater than the second distance, to ensure that the vehicle lowering can be correctly controlled in the subsequent calculation period, the current maximum distance corresponding to the next calculation period may be determined according to the first target maximum distance and the current maximum distance. For example, the larger one of the first target maximum distance and the current maximum distance is used as the current maximum distance of the next calculation period, which is equivalent to combining the first field facility D1 and the second field facility D2 into one field facility DN, and then using this field facility DN as the target object for avoidance.

[0151] Since the vehicle has passed the proximal end of the field facility DN (that is, the end of the field facility DN closest to the vehicle), to ensure the timely lowering of the vehicle, subsequently, only the distal end of the field facility DN (that is, the end of the field facility DN farthest from the vehicle) may be concerned, so only the current maximum distance of the next calculation period may be obtained, and the current minimum distance may not be concerned. The vehicle lowering control principle therein may refer to the relevant records above and will not be elaborated here.

[0152] When the first distance is less than or equal to the second distance, the second field facility can be ignored first. That is, the first field facility is used as the target object for avoidance first. After reaching the vehicle lowering position corresponding to the first field facility, the vehicle is controlled to lower, and there is no need to control the vehicle to remain suspended. Subsequently, the second field facility is used as the target object for a new round of avoidance.

[0153] During the process of lowering the vehicle, it may also face a third field facility other than the first field facility in the forward direction of the agricultural machine. Therefore, in order to ensure that the vehicle can avoid the third field facility in a timely manner while avoiding the first field facility in a timely manner, in some embodiments, the field facility avoidance control method provided by the embodiments of the present invention may further include:

[0154] In step S910, during the process of lowering the vehicle, if it is determined according to the third detection data collected by the sensing module that there is a third field facility laid on the ground in the forward direction of the agricultural machine, then the second target minimum distance and the second target maximum distance between the vehicle and the third field facility are determined according to the third detection data;

[0155] In step S920, according to the traveling speed of the agricultural machine corresponding to the current calculation period and the remaining lowering time of the vehicle, the third distance between the current position of the vehicle and the corresponding vehicle lowering completion position is determined;

[0156] In step S930, according to the traveling speed of the agricultural machine corresponding to the current calculation period, and the second target minimum distance and the vehicle lifting time, the fourth distance between the current position of the vehicle and the vehicle lifting position corresponding to the third field facility is determined;

[0157] In step S940, according to the third distance and the fourth distance, it is determined whether to control the vehicle to stop descending.

[0158] During the process of lowering the vehicle, if it is determined according to the currently collected third detection data that there is still a third field facility in the forward direction of the agricultural machine, then step S910 is executed to determine the second target minimum distance and the second target maximum distance between the vehicle and the third field facility according to the third detection data. Similarly, the second target minimum distance and the second target maximum distance respectively refer to the minimum distance and the maximum distance between the vehicle and the third field facility.

[0159] Then, step S920 and step S930 are executed in parallel or serially without a specific order. During the execution of step S920, the third distance can be calculated by the formula p3 = v1t2', where p3 represents the third distance, v1 represents the traveling speed detected in the current calculation period, and t2' represents the remaining lowering time of the vehicle.

[0160] During the execution of step S930, the fourth distance can be calculated through the formula p4 = L1" - v1t1, where p4 represents the fourth distance, L1" represents the second target minimum distance, v1 represents the driving speed detected in the current calculation period, and t1 represents the vehicle lifting time.

[0161] In some embodiments, to improve the avoidance reliability, a fifth safety distance can also be considered to be added in step S930. Based on this, the formula involved in step S930 can be adaptively adjusted to: p4 = L1" - v1t1 - L5, where L5 represents the fifth safety distance, and the meanings of other letters can be seen in the relevant records above.

[0162] It should be understood that the values of the above safety distances can be the same or different.

[0163] After obtaining the third distance and the fourth distance, step S940 can be executed to determine whether to control the vehicle to stop descending according to the third distance and the fourth distance.

[0164] In some embodiments, the present invention embodiment also provides an implementation manner of step S940, that is, in step S940, the step of determining whether to control the vehicle to stop descending according to the third distance and the fourth distance may include:

[0165] In step S941, if the third distance is greater than the fourth distance, control the vehicle to stop descending, and update the current minimum distance and the current maximum distance to the second target minimum distance and the second target maximum distance respectively; or, control the vehicle to stop descending and lift, and update the current maximum distance to the second target maximum distance.

[0166] That the third distance is greater than the fourth distance indicates that the distance between the first field facility and the third field facility is relatively close. After the vehicle is lowered and then lifted, it may be too late to avoid the third field facility. Therefore, to avoid the third field facility in time, the vehicle lowering will be stopped.

[0167] In the case where the third distance is greater than the fourth distance, to ensure that the vehicle can be correctly lifted in time in the subsequent calculation period, in some examples, the current minimum distance and the current maximum distance of the next calculation period can be updated to the second target minimum distance and the second target maximum distance respectively. This can guide the agricultural machinery to avoid the third field facility as the target object, and accurately control the continuous lifting of the vehicle and the lowering after lifting based on the updated current minimum distance and current maximum distance.

[0168] In some other examples, to reduce the computational burden to a certain extent, after stopping the lowering of the vehicle, the vehicle can be controlled to lift to the in-place position. In this case, only the distal end of the third field facility needs to be focused on to guide the agricultural machine to control the vehicle to lower in a timely manner when the vehicle reaches the vehicle lowering position corresponding to the third field facility, so as to ensure the operation coverage rate. Based on this, there is no need to consider the current minimum distance in the next calculation cycle, but only the current maximum distance in the next calculation cycle. Therefore, only the current maximum distance in the next calculation cycle needs to be updated to the second target maximum distance.

[0169] When the third distance is less than or equal to the fourth distance, the third field facility can be ignored first, that is, the first field facility is used as the target object for avoidance first, and the vehicle is continuously controlled to lower to ensure the operation coverage rate. Subsequently, the third field facility is used as the target object for avoidance in a new round.

[0170] Since the field facility avoidance device is not a device that is matched with the agricultural machine, in order to facilitate the user to complete the construction of the camera coordinate system and the vehicle coordinate system without professional knowledge after installing the field facility avoidance device on the agricultural machine, and also without participating in the acquisition of the transformation matrix between the camera coordinate system and the vehicle coordinate system, in some embodiments, the field facility avoidance control method provided by the embodiments of the present invention may further include:

[0171] In step S010, a parameter preset interface is displayed; in the parameter preset interface, there are input boxes for inputting the installation height of the sensing module on the agricultural machine, input boxes for inputting the distance between the sensing module and the vehicle, input boxes for inputting the width dimension of the vehicle, input boxes for inputting the operation width of the vehicle, and a save control for saving the parameters input in all the input boxes;

[0172] In step S020, when receiving the instruction generated by the triggering of the save control, according to the currently obtained installation height, the distance between the sensing module and the vehicle, the width dimension of the vehicle, and the operation width, determine the relative position of the sensing module relative to the origin of the vehicle coordinate system of the vehicle;

[0173] In step S030, determine the transformation matrix between the camera coordinate system of the sensing module and the vehicle coordinate system according to the relative position.

[0174] The above steps S010 to S030 can be executed before the agricultural machine operates, or can be executed after the user installs the field facility avoidance device on the agricultural machine.

[0175] For the parameter preset interface mentioned in step S010, it can be displayed on the display module configured in the field facility avoidance device or on the in-vehicle display module of the agricultural machine. Multiple parameter input boxes can be displayed in this parameter preset interface, including: an input box for the installation height of the sensing module on the agricultural machine, an input box for the distance between the sensing module and the vehicle, an input box for the width dimension of the vehicle, and an input box for the working width of the vehicle. However, it is not limited to this. Among them, the width dimension of the vehicle can refer to the width of the vehicle in the forward direction of the agricultural machine, and the working width of the vehicle can have various input forms. For example, a value representing the actual working width of the vehicle can be input. Another example is that in the case where the vehicle includes multiple agricultural implements of the same specification, the working width of the vehicle W = W1 × n can be determined by inputting the working width of a single agricultural implement and setting the number of agricultural implements, where W1 represents the working width of a single agricultural implement and n represents the number of agricultural implements.

[0176] In some examples, taking the sensing module as a camera as an example, please refer to Figure 6 , Figure 6 is a schematic diagram of a parameter preset interface provided by an embodiment of the present invention. It can be seen that through such a parameter threshold interface, relevant data for constructing the camera coordinate system and the vehicle coordinate system can be obtained, and then the transformation matrix between the two coordinate systems can be obtained.

[0177] In some embodiments, the multiple parameter input boxes that the parameter preset interface can also display can further include an input box for inputting the time taken for the vehicle to lift and an input box for inputting the time taken for the vehicle to lower, as shown in the input boxes corresponding to "hydraulic lift time required" and "hydraulic descent time required" in Figure 6 . It can enable the user to customize the time taken for the vehicle to lift and the time taken for the vehicle to lower according to their own needs.

[0178] It should be noted that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other as long as there is no combination contradiction.

[0179] In addition, an embodiment of the present invention further provides an agricultural machine, which includes the field facility avoidance device in any of the above embodiments.

[0180] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0181] In addition, in each embodiment of the present invention, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0182] If the above functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this 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 to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0183] The foregoing is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A field facility avoidance control method, characterized in that: Applied to agricultural machinery, the head of the agricultural machinery is equipped with a sensing module; the method comprises: During the operation of the agricultural machinery, if it is determined according to the first detection data collected by the perception module that there is a first field facility laid on the ground in the forward direction of the agricultural machinery, then the current minimum distance between the vehicle of the agricultural machinery and the first field facility is determined according to the first detection data; Taking a set time interval as a calculation cycle, determining whether the agricultural machine has reached the vehicle lifting position according to the current minimum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set vehicle lifting time; In the case where it is determined that the agricultural machine has not reached the carrier lifting position, the current minimum distance corresponding to the next cycle is calculated according to the current minimum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set time interval, and the step of determining whether the agricultural machine has reached the carrier lifting position according to the current minimum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set carrier lifting time is returned to be executed; When it is determined that the agricultural machine has reached the vehicle lifting position, the vehicle is controlled to be lifted.

2. The method according to claim 1, characterized in that In the step of determining the current minimum distance between the vehicle of the agricultural machine and the first field facility according to the first detection data, the current maximum distance between the vehicle and the first field facility is also determined according to the first detection data; The method further comprises: Determining whether the agricultural machine has reached the carrier lowering position according to the current maximum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set time interval; In the case where it is determined that the agricultural machine has not arrived at the carrier lowering position, the current maximum distance corresponding to the next cycle is calculated according to the current maximum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set time interval, and the step of determining whether the agricultural machine has arrived at the carrier lowering position according to the current maximum distance corresponding to the current calculation cycle and the driving speed of the agricultural machine, and the set time interval is returned to be executed; When it is determined that the agricultural machine has arrived at the carrier lowering position, the carrier is controlled to be lowered.

3. The method according to claim 2, characterized in that The method further comprises: In the case where the vehicle is suspended in the air, if it is determined according to the second detection data collected by the perception module that there is a second field facility laid on the ground in the forward direction of the agricultural machinery, then the first target minimum distance between the vehicle and the second field facility is determined according to the second detection data; wherein the vehicle being suspended in the air means that the vehicle is in the process of lifting or in a hovering state after lifting is completed; Determine a first distance between a current position of the vehicle and a corresponding position where the vehicle is lowered, according to a current maximum distance corresponding to a current calculation cycle, a travel speed of the agricultural machine, and a set time taken to lower the vehicle; Determine a second distance between the current position of the vehicle and the vehicle lifting position corresponding to the second field facility according to the driving speed of the agricultural machinery corresponding to the current calculation cycle, the vehicle lifting time and the first target minimum distance; Whether to control the vehicle to remain suspended is determined according to the first distance and the second distance.

4. The method according to claim 3, characterized in that In the step of determining the first target minimum distance between the vehicle and the second field facility according to the second detection data, the first target maximum distance between the vehicle and the second field facility is also determined according to the second detection data; The step of determining whether to control the vehicle to remain suspended according to the first distance and the second distance includes: If the first distance is greater than the second distance, the vehicle is controlled to remain suspended, and the current maximum distance corresponding to the next calculation cycle is determined according to the first target maximum distance and the current maximum distance.

5. The method according to claim 2 or 3, characterized in that: The method further comprises: During the lowering process of the vehicle, if it is determined according to the third detection data collected by the perception module that there is a third field facility laid on the ground in the forward direction of the agricultural machinery, a second target minimum distance and a second target maximum distance between the vehicle and the third field facility are determined according to the third detection data; Determine a third distance between the current position of the vehicle and the corresponding vehicle lowering completion position according to the driving speed of the agricultural machine corresponding to the current calculation cycle and the remaining lowering time of the vehicle; Determine, according to the driving speed of the agricultural machinery corresponding to the current calculation cycle, the second target minimum distance and the time taken to lift the vehicle, a fourth distance between the current position of the vehicle and the vehicle lifting position corresponding to the third field facility; Whether to control the vehicle to stop descending is determined according to the third distance and the fourth distance.

6. The method according to claim 5, characterized in that The step of determining whether to control the vehicle to stop descending according to the third distance and the fourth distance includes: If the third distance is greater than the fourth distance, the vehicle is controlled to stop descending, and the current minimum distance and the current maximum distance are updated to the second target minimum distance and the second target maximum distance respectively; or, the vehicle is controlled to stop descending and rise, and the current maximum distance is updated to the second target maximum distance.

7. The method according to claim 1, characterized in that The first detection data is image data; the step of determining the current minimum distance between the carrier of the agricultural machinery and the first field facility according to the first detection data comprises: Determining a central axis of the first field facility in a lateral direction of the image according to the image data; Calculate a first straight line equation of the central axis in a vehicle coordinate system of the vehicle according to pixel coordinates of pixel points located on the central axis and a pre-stored transformation matrix; A first intersection point and a second intersection point are calculated based on the first straight line equation and the pre-stored first carrier straight line equation and second carrier straight line equation; wherein the first intersection point is formed by the intersection of a straight line corresponding to the first carrier straight line equation and a straight line corresponding to the first straight line equation, and the second intersection point is formed by the intersection of a straight line corresponding to the second carrier straight line equation and a straight line corresponding to the first straight line equation, and the straight line corresponding to the first carrier straight line equation and the straight line corresponding to the second carrier straight line equation are straight lines located on opposite sides of the carrier in the working width direction; respectively calculating a first intersection point distance and a second intersection point distance between the first intersection point and the second intersection point and the vehicle; The smaller value between the first intersection point distance and the second intersection point distance is used as the current minimum distance.

8. The method according to claim 7, characterized in that Before the agricultural machine operation, the method further comprises: Displaying a parameter preset interface; the parameter preset interface displays an input box for inputting an installation height of the sensing module on the agricultural machine, an input box for inputting a distance between the sensing module and the vehicle, an input box for inputting a width dimension of the vehicle, an input box for inputting an operating width of the vehicle, and a save control for saving parameters input in all input boxes; In the case of receiving the instruction generated by the saving control being triggered, determining the relative position of the perception module relative to the origin of the vehicle coordinate system of the vehicle according to the currently obtained installation height, the distance between the perception module and the vehicle, the width of the vehicle, and the working width; Determine a transformation matrix between the camera coordinate system of the perception module and the vehicle coordinate system according to the relative position.

9. A field facility avoidance device, characterized in that: include: The sensing module is installed on the frame head of the agricultural machinery to detect field facilities; A vehicle drive module, for installation in a vehicle drive circuit of an agricultural machine; as well as The control module is used to communicate with the perception module and the vehicle driving module respectively when installed on the agricultural machinery, and control the vehicle driving module to drive the vehicle to lift or lower based on the detection data collected by the perception module through the method described in any one of claims 1 to 8.

10. An agricultural machine, characterized in that: Including the field facility avoidance device as described in claim 9.

11. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the method according to any one of claims 1 to 8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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