Harvester auxiliary driving system path automatic generation method

Abstract

The invention relates to the technical field of auxiliary driving, in particular to a harvester auxiliary driving system path automatic generation method, which comprises the following steps of: 1, judging whether the state of a harvester meets a harvesting starting condition or not, and if the harvesting starting condition is met, creating a point as a point A; two adjacent longer line segments are extended to obtain intersection points, and the intersection points except the point A are marked as points B, C and D in sequence; according to the method, the starting point A is automatically created by judging the state of the harvester, then the points B, C and D are sequentially created at the corners of the land parcel, and the points A, B, C and D and the driving path are automatically created by judging the state of the harvester, so that the follow-up harvesting route can be generated according to the operation habit of a driver, and the planned route conforms to the operation habit of the driver; the operation complexity of a driver is reduced, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving technology, and in particular to a method for automatically generating a path for an assisted driving system of a harvester. Background Art

[0002] A harvester is an integrated machine for harvesting crops. It can complete harvesting and threshing in one go and concentrate the grains in a storage bin. It is mainly used for harvesting grains of cereal crops such as rice and wheat, and crops such as straw. In order to improve harvesting efficiency and reduce the operating burden of the driver, a harvester assisted driving system is sometimes configured on the harvester. The harvester assistance system can assist in planning the harvesting path, and the driver can harvest along the path. However, the existing harvester assisted driving system, whether it is a straight line operation or a curved operation, requires the user to manually create the starting point and end point of the operation path, and the driver's operation complexity is relatively high. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for automatically generating a path for a harvester assisted driving system to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] The method for automatically generating a path for a harvester assisted driving system includes the following steps:

[0006] Step 1: Determine whether the harvester status meets the conditions for starting harvesting. If not, continue to wait and re-determine the harvester status. If it meets the conditions for starting harvesting, create this point as point A.

[0007] Step 2: Move along the boundary of the plot, collect GPS markers at preset distances and time intervals on the boundary, construct multiple groups of intersecting line clusters, and fit the line segments using the least squares method;

[0008] Step 3: At the bend in the boundary, extend the two adjacent longer line segments to obtain intersections. Mark the intersections except point A as points B, C, and D in sequence, and use the AB, BC, CD, and DA line segments as the driving path.

[0009] Step 4: Determine whether the harvester has returned to point A. After returning to point A, generate a complete U-shaped operation path and plan the operation path within the U-shaped path based on the initial driving path AB.

[0010] Furthermore, when judging whether the state of the harvester meets the conditions for starting harvesting in step one, the specific state information of the harvester is the speed of the main threshing drum of the harvester and the lifting height of the header. If the speed of the main threshing drum and the lifting height of the header meet the requirements in step one, the state of the harvester meets the conditions for starting harvesting.

[0011] Furthermore, when moving to the turning point of the plot, repeated straight paths and arc paths generated by the turning actions of reversing and turning are removed.

[0012] Furthermore, in the step 4, after point D is created, it is continuously determined whether the point has returned to point A. If the point has not returned to point A, it is re-determined whether the point has returned to point A.

[0013] Preferably, when starting the operation, the assisted driving system first performs a self-check. After the self-check is completed and the assisted driving system enters the normal working state, it determines whether the working area is a new plot. If the working area is a new plot, it enters step one and starts path recording and path generation. If the working area is not a new plot, it loads the historical task and continues the operation.

[0014] Furthermore, in step 4, when generating subsequent paths, several initial travel paths are arranged equidistantly within the ABCD zigzag path based on the initial travel AB path. Suppose the distance between two adjacent paths is x, the harvesting width of the harvester is c1, and the normal overlapping width of the two harvests is c2, then the value of x is c1 minus c2.

[0015] Furthermore, when harvesting is performed subsequently according to the generated path, harvesting is performed alternately from the two long sides of the harvesting area, and harvesting is performed gradually from the two long sides of the harvesting area toward the middle of the harvesting area.

[0016] Furthermore, when performing harvesting operations, the number of operations m is multiplied by the x value to obtain the overall harvesting width, the redundant harvesting width b1 is obtained by subtracting the width of the operation area to be harvested from the overall harvesting width, b2 is obtained by subtracting c2 from b1, the total number of operation trips m is subtracted by one to obtain n, and b3 is obtained by dividing b2 by n. b3 is the maximum allowable overlapping width of the operation area between two adjacent operation trips during the harvesting operation. After path planning, the distance between the two adjacent operation paths is adjusted according to b3.

[0017] Furthermore, if c2 is greater than b3, the distance x between two adjacent routes is c1-c2, and if c2 is greater than b3, the distance x between two adjacent routes is c1-(c2+b3) / 2.

[0018] Furthermore, when harvesting operations are performed according to the planned path, the overlapping width of two adjacent operations is recorded. If it is detected that the maximum width of the overlapping area of two adjacent operations is greater than or equal to the sum of c2 and b3, the spacing of subsequent paths is adjusted so that the value of subsequent spacing x is c1 minus c2.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By judging the status of the harvester, when starting to harvest, it is determined whether the harvester status meets the conditions for starting harvesting. If it does, the starting point A is automatically created, and then points B, C, and D are created at the corners of the plot in sequence. By judging the harvester status, points ABCD and the driving path are automatically created. In this way, the subsequent harvesting route can be generated according to the driver's operating habits, so that the planned route conforms to the driver's operating habits, which is conducive to reducing the driver's operating complexity and improving harvesting efficiency.

[0021] 2. By determining the width of the redundant harvesting area, when planning the route, the width of the redundant harvesting area can be evenly distributed to the overlapping width of the working areas of two adjacent operations. This helps increase the allowable deviation from the planned path during a harvesting operation, while maintaining the same number of harvesting operations, and helps reduce the operational requirements for the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the path generation process in the present invention;

[0023] Figure 2 It is a schematic flow chart of the specific steps of the method of the present invention;

[0024] Figure 3 It is a schematic diagram of overlapping working areas in the present invention;

[0025] Figure 4 It is a schematic diagram of the path planning of the working area in the present invention. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] See also Figure 1-4 In an embodiment of the present invention, a method for automatically generating a path for a harvester assisted driving system includes the following steps:

[0028] Step 1: Determine whether the harvester status meets the conditions for starting harvesting. If not, continue to wait and re-determine the harvester status. If it meets the conditions for starting harvesting, create this point as point A.

[0029] Step 2: Move along the boundary of the plot, collect GPS markers at preset distances and time intervals on the boundary, construct multiple groups of intersecting line clusters, and fit the line segments using the least squares method;

[0030] Step 3: At the bend in the boundary, extend the two adjacent longer line segments to obtain intersections. Mark the intersections except point A as points B, C, and D in sequence, and use the AB, BC, CD, and DA line segments as the driving path.

[0031] Step 4: Determine whether the harvester has returned to point A. After returning to point A, generate a complete U-shaped operation path and plan the operation path within the U-shaped path based on the initial driving path AB.

[0032] A controller with a harvester assisted driving system can be configured, and a touch screen is provided on the controller. For the harvester's driving speed and driving distance in step four, the driver can input the set value or set range through the touch screen according to the requirements of the harvesting operation. In step four, after creating point D, it is continuously judged whether to return to point A. If it does not return to point A, it is re-judged whether to return to point A. When moving to the turning point of the plot, the repeated straight line path and arc path generated by the turning action of reversing and turning are removed.

[0033] Specifically, when the harvesting starts, it is determined whether the state of the harvester meets the conditions for starting harvesting. If it meets the conditions, point A is automatically created. After that, the harvester is in the working state of harvesting and drives along the boundary of the plot to harvest. The constructed line segment is extended to obtain the intersection point, and the intersection point is used as the corner of the plot. The corners are recorded as points B, C, and D in sequence, and then return to point A. A is the starting and ending point of harvesting, and then the driving route between ABCD is recorded as the harvesting path. When the harvesting path is in the shape of a U-shaped character, the initial AB driving path is used as a template to generate subsequent driving paths within the U-shaped harvesting path. During the harvesting process, harvesting is carried out alternately from the two long sides of the harvesting area, and gradually from the edge of the harvesting area to the middle of the harvesting area. By judging the state of the harvester, ABCD points are automatically created, and the driving route between ABCD is recorded as the harvesting path. Then, the subsequent driving route is planned based on the initial driving path. By judging the state of the harvester, ABCD points and the driving path are automatically created. In this way, the subsequent harvesting route can be generated according to the driver's operating habits, so that the planned route conforms to the driver's operating habits, which is beneficial to reducing the driver's operating complexity and improving the harvesting efficiency.

[0034] Example 1

[0035] like Figure 1-2 As shown, in this embodiment, when starting the operation, the assisted driving system first performs a self-check. After the self-check is completed, the assisted driving system enters the normal working state and determines whether the working area is a new plot. If the working area is a new plot, it enters step one and starts path recording and path generation. If the working area is not a new plot, it loads the historical task and continues the operation.

[0036] During specific implementation, after harvesting an operation area, the planned path and driving path within the operation area are recorded. In this way, when harvesting the operation area again in the future, the planned path and driving path can be directly retrieved, and the driver can directly perform harvesting operations along the path, which is conducive to reducing the complexity of subsequent operations.

[0037] like Figure 1-2 As shown, in this embodiment, when judging whether the state of the harvester meets the conditions for starting harvesting in step one, the specific state information of the harvester is the rotation speed of the main threshing drum of the harvester and the lifting height of the header. If the rotation speed of the main threshing drum and the lifting height of the header meet the requirements in step one, the state of the harvester meets the conditions for starting harvesting. Corresponding sensors are set on the main threshing drum structure and the header structure of the harvester to detect the rotation speed of the main threshing drum and the height of the header.

[0038] During specific implementation, during normal harvesting, the speed of the main threshing drum needs to reach the corresponding harvesting requirements, and the header needs to be lowered to an appropriate degree to meet the corresponding stubble height requirements. The speed of the main threshing drum and the height of the header are set according to the harvesting requirements of different crops. For example, in the process of harvesting wheat, the speed of the main threshing drum is required to be about 900RPm, and the stubble height of wheat is required to be about 10 cm. The speed of the main threshing drum can be set within the range of 890-910RPm, and when the header height is within the range of 9-11 cm, the harvester status meets the conditions for starting harvesting, and the harvester is in the harvesting working state.

[0039] like Figure 3-4 As shown, in this embodiment, in step 4, when generating subsequent paths, according to the initial driving AB path, several initial driving paths are arranged equidistantly in the ABCD zigzag path. Assume that the distance between two adjacent paths is x, the harvesting width of the harvester is c1, and the normal overlapping width of two harvests is c2. Then the value of x is c1 minus c2. When harvesting according to the generated path subsequently, harvesting is performed alternately from the two long sides of the harvesting area, and harvesting is gradually carried out from the two long sides of the harvesting area to the middle of the harvesting area.

[0040] In specific implementation, when harvesting a harvesting area, if the width of the harvesting area is a multiple of the x value, then after the penultimate harvest, the width of the remaining harvested part is equal to x. If the width of the harvesting area is not a multiple of the x value, then after the penultimate harvest, the width of the remaining harvested part will be less than x. When planning the path, you can alternately plan from the two long sides of the area to be harvested to the middle of the area to be harvested, so that the last remaining area is located in the middle of the plot, and the path of the last trip is planned in the middle of the remaining harvesting area.

[0041] Example 2

[0042] Based on the first embodiment, Figure 1-4 As shown, in this embodiment, when performing a harvesting operation, the number of operations m is multiplied by the value x to obtain the overall harvesting width, the overall harvesting width is subtracted from the width of the to-be-harvested operation area to obtain the redundant harvesting width b1, b2 is obtained by subtracting c2 from b1, the total number of operation passes m is subtracted by one to obtain n, and b3 is obtained by dividing b2 by n. b3 is the maximum allowable overlap width of the operation area between two adjacent operation passes during the harvesting operation. After path planning, the distance between two adjacent operation paths is adjusted according to b3. If c2 is greater than b3, the distance x between the two adjacent routes is c1-c2. If c2 is greater than b3, the distance x between the two adjacent routes is c1-(c2+b3) / 2.

[0043] When recording the overlapping area between the last harvesting operation and the penultimate harvesting operation, if both long sides of the operation area are curved and the curvatures of the two long sides are different, b1 should be the maximum width of the overlapping area between the last harvesting operation and the penultimate harvesting operation.

[0044] In specific implementation, after obtaining the zigzag path, the overall width of the harvesting area can be known. According to the number of planned paths, the number of operations m can be known. The number of operations is multiplied by the actual harvesting range x of each operation to obtain the redundant harvesting width b1. When subsequently planning the path, the redundant harvesting width can be evenly distributed to the overlapping width of the working areas of two adjacent operations. Among them, if c2 is greater than b3, the spacing of x can be selected to remain c1 minus c2, and if c2 is greater than b3, the spacing of x can be set to c1-(c2+b3) / 2, and the above planning method is recorded. When performing the second or more operations, the path planning of the first operation is directly called. In this way, under the premise that the number of harvesting operations remains unchanged, in one harvesting operation, it is beneficial to increase the distance allowed to deviate from the planned path, which is beneficial to reduce the operating requirements for the driver.

[0045] like Figure 1-3 As shown, in this embodiment, when harvesting operations are performed according to the planned path, the overlapping width of two adjacent operations is recorded. If it is detected that the maximum width of the overlapping area of two adjacent operations is greater than or equal to the sum of c2 and b3, the spacing of subsequent paths is adjusted so that the value of the subsequent spacing x is c1 minus c2.

[0046] In specific implementation, while the driver is driving, the GPS positioning mechanism on the harvester determines whether the harvester's driving position deviates from the planned driving route. When the allowed overlap width of two adjacent working areas is c2, that is, when x is c1-c2, if the harvester's position deviates from the planned route by more than half of c2, the voice mechanism will play a voice reminder in real time to correct the driving route in time;

[0047] The allowed overlapping width of two adjacent operation areas is half of the sum of c2 and b3, that is, when x is c1-(c2+b3) / 2, when the distance the harvester position deviates from the planned route exceeds one-quarter of the sum of c2 and b3, a voice reminder is played through the voice mechanism. If the maximum width of the overlapping area of two adjacent operations is greater than or equal to the sum of c2 and b3, the subsequent path spacing x is no longer equal to c1-(c2+b3) / 2, and the subsequent path spacing x is readjusted to c1-c2.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0049] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A method for automatically generating a path for a harvester assisted driving system, characterized in that: The following steps are involved: Step 1: Determine whether the harvester status meets the conditions for starting harvesting. If not, continue to wait and re-determine the harvester status. If it meets the conditions for starting harvesting, create this point as point A. Step 2: Move along the boundary of the plot, collect GPS markers at preset distances and time intervals on the boundary, construct multiple groups of intersecting line clusters, and fit the line segments using the least squares method; Step 3: At the bend in the boundary, extend the two adjacent longer line segments to obtain intersections. Mark the intersections except point A as points B, C, and D in sequence, and use the AB, BC, CD, and DA line segments as the driving path. Step 4: Determine whether the harvester has returned to point A. After returning to point A, generate a complete U-shaped operation path and plan the operation path within the U-shaped path based on the initial driving path AB.

2. The automatic path generation method of the harvester assisted driving system according to claim 1 is characterized in that: When judging whether the state of the harvester meets the conditions for starting harvesting in step one, the specific state information of the harvester is the speed of the main threshing drum of the harvester and the lifting height of the header. If the speed of the main threshing drum and the lifting height of the header meet the requirements in step one, the state of the harvester meets the conditions for starting harvesting.

3. The automatic path generation method of the harvester assisted driving system according to claim 1 is characterized in that: When moving to the turning point of the plot, the repeated straight paths and arc paths generated by the turning actions of reversing and turning are removed.

4. The automatic path generation method of the harvester assisted driving system according to claim 1 is characterized in that: In the step 4, after point D is created, it is continuously determined whether the point has returned to point A. If the point has not returned to point A, it is re-determined whether the point has returned to point A.

5. The automatic path generation method of the harvester assisted driving system according to claim 1 is characterized in that: When starting an operation, the assisted driving system first performs a self-check. After the self-check is completed and the assisted driving system enters normal working state, it determines whether the working area is a new plot. If the working area is a new plot, it enters step one and starts path recording and path generation. If the working area is not a new plot, it loads the historical task and continues the operation.

6. The automatic path generation method of the harvester assisted driving system according to claim 5 is characterized in that: In step 4, when generating subsequent paths, based on the initial AB path, several initial travel paths are arranged equidistantly within the ABCD zigzag path. Assuming that the distance between two adjacent paths is x, the harvesting width of the harvester is c1, and the normal overlapping width of two harvests is c2, the value of x is c1 minus c2.

7. The automatic path generation method of the harvester assisted driving system according to claim 6 is characterized in that: When harvesting according to the generated path subsequently, harvesting is performed alternately from the two long sides of the harvesting area, and harvesting is gradually performed from the two long sides of the harvesting area to the middle of the harvesting area.

8. The automatic path generation method of the harvester assisted driving system according to claim 7, characterized in that: When performing harvesting operations, multiply the number of operations m by the x value to obtain the overall harvesting width. Subtract the width of the operation area to be harvested from the overall harvesting width to obtain the redundant harvesting width b1. Subtract c2 from b1 to obtain b2. Subtract one from the total number of operation trips m to obtain n. Divide b2 by n to obtain b3. b3 is the maximum allowable overlapping width of the operation area between two adjacent operation trips during the harvesting operation. After path planning, adjust the distance between the two adjacent operation paths according to b3.

9. The method for automatically generating a path for a harvester assisted driving system according to claim 8, characterized in that: If c2 is greater than b3, the distance x between two adjacent routes is c1-c2, and if c2 is greater than b3, the distance x between two adjacent routes is c1-(c2+b3) / 2.

10. The automatic path generation method of the harvester assisted driving system according to claim 9, characterized in that: When harvesting according to the planned path, the overlap width of two adjacent runs is recorded. If the maximum width of the overlap area of two adjacent runs is greater than or equal to the sum of c2 and b3, the spacing of the subsequent paths is adjusted so that the subsequent spacing x is equal to c1 minus c2.

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