High-precision operation control method and system for weeding machine

Abstract

The invention provides a high-precision operation control method and system for a weeding machine, and the method comprises the steps: dynamically collecting farmland environment information based on a multi-class sensor preset on the weeding machine, carrying out the analysis of the farmland environment information, and determining the distribution characteristics of crops in a farmland; monitoring whether an operation parameter configuration requirement input by a user exists on the man-machine interaction interface in real time, and when the operation parameter configuration requirement exists, dynamically controlling the driving paths and the working modes of the weeding machine at different moments by combining the crop distribution characteristics; and displaying the real-time state of the weeding machine on a human-computer interaction interface based on the dynamic control result. The high-precision operation control effect of the weeding machine is ensured, and the weed removing effect and accuracy of the weeding machine are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and in particular to a high-precision operation control method and system for a weeder. Background Art

[0002] At present, with the development of science and technology, more and more mechanized equipment has appeared in agriculture. Weeders are one of them. They can quickly remove weeds and save a lot of manpower and material resources for agricultural workers. Therefore, high-precision control of weeders is particularly important.

[0003] However, existing weeders have some problems in the operation control process. In complex terrain (such as rolling grasslands, farmland with obstacles, etc.), it is difficult for weeders to accurately control the weeding range and depth, which can easily lead to incomplete weeding or accidental damage to surrounding crops. In addition, traditional weeders require human intervention, resulting in inaccurate operation path planning, low operation efficiency, energy waste, and other problems, which greatly reduces the control effect of the weeder.

[0004] Therefore, in order to overcome the above-mentioned defects, the present invention provides a high-precision operation control method and system for a weeder. Summary of the Invention

[0005] The present invention provides a high-precision operation control method and system for a weeder, which is used to collect farmland environmental information through multiple categories of sensors, analyze the farmland environmental information, and determine the crop distribution characteristics in the farmland, providing a reference basis for determining the driving path and working mode of the weeder. Secondly, it monitors whether the user has any operation parameter configuration requirements, and when so, dynamically controls the driving path and working mode of the weeder at different times in combination with the determined crop distribution characteristics, ensuring that the weeder can perform accurate and reliable weeding according to actual conditions. Finally, the real-time status of the weeder is displayed on the human-computer interaction interface, which facilitates the staff to effectively understand the real-time working status of the weeder, ensuring the high-precision operation control effect of the weeder, and also improving the weed removal effect and accuracy of the weeder.

[0006] The present invention provides a high-precision operation control method for a weeder, comprising:

[0007] Step 1: Dynamically collect farmland environmental information using multiple sensors pre-installed on the weeder, analyze the information, and determine the crop distribution characteristics in the field.

[0008] Step 2: Real-time monitoring of whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. If there are any operating parameter configuration requirements, the driving path and working mode of the weeder at different times are dynamically controlled based on the crop distribution characteristics.

[0009] Step 3: Based on the dynamic control results, the real-time status of the lawn mower is displayed on the human-computer interaction interface.

[0010] Preferably, a high-precision operation control method for a weeder includes, in step 1, dynamically collecting farmland environmental information based on multiple types of sensors pre-installed on the weeder, including:

[0011] Obtain the sensor categories preset on the lawn mower and determine the business category of each sensor type;

[0012] Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the business category of each type of sensor;

[0013] Configure the corresponding category of sensors based on personalized configuration parameters, and perform time-series association of the preset multiple categories of sensors based on the configuration results;

[0014] Based on the time series correlation results, the information update frequency is added to the preset sensor categories, and based on the added results, the business configuration of the multiple categories of sensors preset on the lawn mower is completed;

[0015] Dynamically collect farmland environmental information based on business configuration results.

[0016] Preferably, a high-precision operation control method for a weeder dynamically collects farmland environmental information based on business configuration results, including:

[0017] Based on the business configuration results, the placement and start-up conditions of the weeder in the farmland are monitored. When the placement and start-up conditions meet the requirements, the pre-installed sensor types on the weeder are synchronously activated.

[0018] Performing an initial scan on the current position of the lawn mower based on the synchronous start result, and marking the current position of the lawn mower as a starting position based on the initial scan result;

[0019] The initial movement direction of the lawn mower is determined based on the starting position marking result, and the dynamic collection mechanism of the preset multi-category sensors is activated;

[0020] Based on the initial action direction and dynamic collection mechanism, the preset multi-category sensors are controlled to dynamically collect farmland environmental information.

[0021] Preferably, a high-precision operation control method for a weeder, in step 1, analyzing farmland environmental information to determine crop distribution characteristics in the farmland, includes:

[0022] Acquire the obtained farmland environmental information and classify the farmland environmental information based on the data source of the farmland environmental information, wherein the classification includes crop information, terrain information, and soil information;

[0023] Each type of farmland environment information obtained after classification is analyzed to obtain the object features corresponding to each type of farmland environment information, and the position of the object features corresponding to each type of farmland environment information is calibrated with the weeder as the center;

[0024] Based on the position calibration results, the characteristics of different objects at the same location are summarized, and the crop distribution characteristics in the farmland are obtained based on the summary results.

[0025] Preferably, a high-precision operation control method for a weeder includes, in step 2, real-time monitoring of whether there is an operation parameter configuration requirement input by the user on the human-computer interaction interface, and when there is an operation parameter configuration requirement, dynamically controlling the driving path and working mode of the weeder at different times based on crop distribution characteristics, including:

[0026] Allocate a dynamic monitoring mechanism to the human-computer interaction interface, and monitor the real-time status of the human-computer interaction interface based on the dynamic monitoring mechanism;

[0027] When there is a user input operation parameter configuration requirement, the operation parameter configuration requirement is parsed to obtain the user's control project and project control parameters;

[0028] Generate active intervention parameters from control items and item control parameters. At the same time, obtain the crop distribution characteristics at different times, analyze the crop distribution characteristics, and obtain the crop composition and crop location distribution at different times.

[0029] Determine the weeds to be removed based on the crop composition, and determine the density of weeds to be removed at different locations based on the crop location distribution;

[0030] Matching the density of weeds to be removed with a preset weed density and speed reference table, determining speed parameters corresponding to the density of weeds to be removed at different positions of the weed removal tool, and using the speed parameters as a first mode analysis indicator;

[0031] Based on the collected farmland environmental information, the terrain and soil moisture corresponding to the density of weeds to be removed at each location are determined. The telescopic range of the weeding tool on the weeder is determined based on the terrain and crop location distribution. At the same time, based on the industry service agreement, the relative linear change relationship between soil moisture and the weeding tool is obtained, and the weeding depth of the weeding tool is determined based on the soil moisture and the relative linear change relationship;

[0032] The telescopic range of the weeding tool is used as the second mode analysis indicator, and the weeding depth of the weeding tool is used as the third mode analysis indicator. Based on the first mode analysis indicator, the second mode analysis indicator, and the third mode analysis indicator, the non-intervention working mode of the weeder at different times is determined;

[0033] Based on the active intervention parameters, the intervention nodes for the non-intervention working mode are determined, and the parameters of the intervention nodes are corrected to obtain the working modes at different times. The real-time working mode of the lawn mower is dynamically controlled based on the working modes at different times.

[0034] Preferably, a high-precision operation control method for a weeder, in step 2, dynamically controlling the driving path and working mode of the weeder at different times in combination with crop distribution characteristics, includes:

[0035] Obtaining the obtained crop distribution characteristics and reading the crop distribution characteristics to obtain the crop rows and weed distribution in the farmland;

[0036] Determine the operating position of the weeder in each crop row based on the weed distribution;

[0037] Based on the real-time farmland environment information collected during the weeder's movement, the obstacles and farmland boundaries in each crop row are determined, and the visual features of the obstacles and farmland boundaries are extracted;

[0038] Extract the driving parameters of the lawn mower, and determine the angle change and detour distance of the lawn mower when avoiding obstacles based on the driving parameters and visualization features;

[0039] At the same time, the relative spatial relationship between adjacent crop rows is extracted, and the optimal turning radius of the weeder when changing crop rows is determined based on the relative spatial relationship and the driving parameters of the weeder;

[0040] The driving path of the weeder at different times is determined based on the weeder's operating position in each crop row, the angle change and detour distance when avoiding obstacles, and the optimal turning radius when changing crop rows, and the driving path of the weeder is dynamically controlled.

[0041] Preferably, a high-precision operation control method for a lawn mower, in step 3, displays the real-time status of the lawn mower on a human-computer interaction interface based on the dynamic control result, including:

[0042] Performing real-time self-checking on the equipment status of the lawn mower based on the dynamic control result, and obtaining the real-time status of the lawn mower based on the real-time self-checking result;

[0043] At the same time, the weeding progress of the weeder in the farmland is tracked, and the weeding parameters of the weeder at different positions in the farmland are determined based on the tracking results;

[0044] Recording the driving path of the lawn mower based on the tracking results, and generating a visual driving route based on the recording results;

[0045] The weeding parameters of the weeder at different locations in the farmland are associated with the visualized driving route to obtain traceable working parameters;

[0046] The real-time status and traceable working parameters of the lawn mower are displayed on the human-computer interaction interface.

[0047] Preferably, a high-precision operation control method for a weeder, which obtains the real-time status of the weeder based on real-time self-check results, includes:

[0048] Obtaining real-time self-test results for the lawn mower, and comparing the real-time status of each device component after the real-time self-test with the corresponding baseline operating status;

[0049] Based on the comparison results, the equipment components with abnormal status in the lawn mower are determined in real time, and an early warning of the equipment components with abnormal status is displayed on the human-computer interaction interface.

[0050] The present invention provides a high-precision operation control system for a weeder, comprising:

[0051] The crop information determination module is used to dynamically collect farmland environmental information based on the multi-category sensors pre-installed on the weeder, analyze the farmland environmental information, and determine the crop distribution characteristics in the farmland;

[0052] The equipment control module is used to monitor in real time whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. When there are operating parameter configuration requirements, the module dynamically controls the driving path and working mode of the weeder at different times based on the crop distribution characteristics.

[0053] The parameter management module is used to display the real-time status of the lawn mower on the human-computer interaction interface based on the dynamic control results.

[0054] Preferably, a high-precision operation control system for a weeder, a crop information determination module, comprises:

[0055] Sensor configuration unit for:

[0056] Obtain the sensor categories preset on the lawn mower and determine the business category of each sensor type;

[0057] Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the business category of each type of sensor;

[0058] Configure the corresponding category of sensors based on personalized configuration parameters, and perform time-series association of the preset multiple categories of sensors based on the configuration results;

[0059] Based on the time series correlation results, the information update frequency is added to the preset sensor categories, and based on the added results, the business configuration of the multiple categories of sensors preset on the lawn mower is completed;

[0060] The information collection unit is used to dynamically collect farmland environment information based on business configuration results.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] By collecting farmland environmental information through multiple categories of sensors and analyzing the farmland environmental information, the crop distribution characteristics in the farmland are determined, providing a reference basis for determining the driving path and working mode of the weeder. Secondly, it monitors whether the user has any operating parameter configuration requirements. If so, the driving path and working mode of the weeder at different times are dynamically controlled in combination with the determined crop distribution characteristics, ensuring that the weeder can perform accurate and reliable weeding according to actual conditions. Finally, the real-time status of the weeder is displayed on the human-computer interaction interface, which facilitates the staff to effectively understand the real-time working status of the weeder, ensuring high-precision operation control of the weeder, and improving the weed removal effect and accuracy of the weeder.

[0063] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0064] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0066] Figure 1 This is a flow chart of a high-precision operation control method for a weeder according to an embodiment of the present invention;

[0067] Figure 2 This is a flow chart of step 1 in a method for high-precision operation control of a weeder in an embodiment of the present invention;

[0068] Figure 3 4 is a structural diagram of a high-precision operation control system for a weeder in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0070] Example 1:

[0071] This embodiment provides a high-precision operation control method for a weeder, such as Figure 1 Shown, including:

[0072] Step 1: Dynamically collect farmland environmental information using multiple sensors pre-installed on the weeder, analyze the information, and determine the crop distribution characteristics in the field.

[0073] Step 2: Real-time monitoring of whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. If there are any operating parameter configuration requirements, the driving path and working mode of the weeder at different times are dynamically controlled based on the crop distribution characteristics.

[0074] Step 3: Based on the dynamic control results, the real-time status of the lawn mower is displayed on the human-computer interaction interface.

[0075] In this embodiment, the preset multi-category sensors refer to different types of sensors that are pre-set on the lawn mower, such as a soil moisture detection sensor, a camera, and a laser radar.

[0076] In this embodiment, the farmland environmental information refers to information such as the types of crops contained in the farmland, the distribution of the crops, and the topography of the farmland.

[0077] In this embodiment, the crop distribution characteristics refer to the distribution of different crops and weeds in the farmland, that is, the crop rows and weed distribution.

[0078] In this embodiment, the human-computer interaction interface is on the lawn mower, and is used to provide a channel for interaction between the user and the device.

[0079] In this embodiment, the operating parameter configuration requirement refers to the operating parameters set by the user for the lawn mower on the human-computer interaction interface, for example, the parameters that limit the travel speed and weeding force of the lawn mower.

[0080] In this embodiment, the working mode refers to the rotation speed of the weeding tool in the weeder, the weeding depth of the weeding tool, the telescopic range of the weeding tool, etc.

[0081] The beneficial effects of the above technical solution are: by collecting farmland environmental information through multi-category sensors and analyzing the farmland environmental information, the crop distribution characteristics in the farmland are determined, which provides a reference basis for determining the driving path and working mode of the weeder; secondly, it monitors whether the user has any operation parameter configuration requirements, and if so, dynamically controls the driving path and working mode of the weeder at different times in combination with the determined crop distribution characteristics, ensuring that the weeder can perform accurate and reliable weeding according to actual conditions; finally, the real-time status of the weeder is displayed on the human-computer interaction interface, which facilitates the staff to effectively understand the real-time working status of the weeder, ensures the high-precision operation control effect of the weeder, and also improves the weed removal effect and accuracy of the weeder.

[0082] Example 2:

[0083] Based on Example 1, this embodiment provides a high-precision operation control method for a weeder, such as Figure 2 As shown, in step 1, the farmland environment information is dynamically collected based on the multi-category sensors pre-installed on the weeder, including:

[0084] Step 101: Obtain sensor categories preset on the lawn mower and determine the service category of each sensor category;

[0085] Step 102: Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the service category of each type of sensor;

[0086] Step 103: configuring corresponding category sensors based on personalized configuration parameters, and temporally associating preset multiple categories of sensors based on the configuration results;

[0087] Step 104: adding information update frequencies to preset sensor categories based on the time series correlation results, and completing service configuration of multiple categories of sensors preset on the lawn mower based on the added results;

[0088] Step 105: Dynamically collect farmland environment information based on the business configuration result.

[0089] In this embodiment, the service category refers to the service category that each type of sensor can perform, for example, it may be image acquisition.

[0090] In this embodiment, the requirements for collecting environmental information are known in advance, including requirements for the accuracy and frequency of collecting environmental information.

[0091] In this embodiment, the personalized configuration parameters refer to configuration parameters corresponding to different types of sensors, that is, different sensors correspond to different configuration parameters.

[0092] In this embodiment, time series association refers to unifying the working time of multiple types of sensors in order to determine the farmland environment information at the current position at the same time, thereby facilitating comprehensive control of the weeder.

[0093] The beneficial effect of the above technical solution is: by configuring all aspects of the parameters of the sensors, the reliability of each category of sensors during operation is ensured, and ultimately the effective collection of farmland environmental information based on multiple categories of sensors is achieved.

[0094] Example 3:

[0095] Based on Example 2, this example provides a high-precision operation control method for a weeder, which dynamically collects farmland environmental information based on business configuration results, including:

[0096] Based on the business configuration results, the placement and start-up conditions of the weeder in the farmland are monitored. When the placement and start-up conditions meet the requirements, the pre-installed sensor types on the weeder are synchronously activated.

[0097] Performing an initial scan on the current position of the lawn mower based on the synchronous start result, and marking the current position of the lawn mower as a starting position based on the initial scan result;

[0098] The initial movement direction of the lawn mower is determined based on the starting position marking result, and the dynamic collection mechanism of the preset multi-category sensors is activated;

[0099] Based on the initial action direction and dynamic collection mechanism, the preset multi-category sensors are controlled to dynamically collect farmland environmental information.

[0100] In this embodiment, the start condition refers to the requirements that need to be met for the lawn mower to enter the working state from the non-working state, for example, the state of each device may be normal and the start instruction may be received.

[0101] In this embodiment, the initial scan refers to scanning the farmland environment at the current location when the weeder just starts working, so as to facilitate determining the next working step.

[0102] In this embodiment, the initial movement direction refers to the next moving direction of the lawn mower after it is started.

[0103] In this embodiment, the dynamic acquisition mechanism refers to a scheme or strategy for dynamically controlling multiple types of sensors.

[0104] The beneficial effect of the above technical solution is: by monitoring the placement posture and starting conditions of the weeder, multiple categories of sensors can be started synchronously in a timely manner when the starting conditions are met, and the initial movement direction of the weeder can be determined after starting, thereby ensuring that the weeder can enter the working state in an orderly manner, and then realizing the dynamic collection of farmland environmental information, ensuring the accuracy and reliability of the collected farmland environmental information.

[0105] Example 4:

[0106] Based on Example 1, this embodiment provides a high-precision operation control method for a weeder. In step 1, farmland environmental information is analyzed to determine crop distribution characteristics in the farmland, including:

[0107] Acquire the obtained farmland environmental information and classify the farmland environmental information based on the data source of the farmland environmental information, wherein the classification includes crop information, terrain information, and soil information;

[0108] Each type of farmland environment information obtained after classification is analyzed to obtain the object features corresponding to each type of farmland environment information, and the position of the object features corresponding to each type of farmland environment information is calibrated with the weeder as the center;

[0109] Based on the position calibration results, the characteristics of different objects at the same location are summarized, and the crop distribution characteristics in the farmland are obtained based on the summary results.

[0110] In this embodiment, the data source refers to the sensor corresponding to the farmland environment information.

[0111] In this embodiment, object features refer to specific objects recorded in each type of farmland environment information, such as the specific shape of crops and the height of weeds.

[0112] The beneficial effect of the above technical solution is: by analyzing the obtained farmland environmental information, the crop distribution characteristics in the farmland can be accurately and effectively determined, thereby facilitating the determination of the driving path and working mode of the weeder according to the crop distribution characteristics of the farmland, thereby providing convenience for high-precision operation control of the weeder.

[0113] Example 5:

[0114] Based on Example 1, this embodiment provides a high-precision operation control method for a weeder. In step 2, whether there is an operation parameter configuration requirement input by the user on the human-computer interaction interface is monitored in real time. When there is an operation parameter configuration requirement, the weeder's driving path and operating mode at different times are dynamically controlled based on crop distribution characteristics, including:

[0115] Allocate a dynamic monitoring mechanism to the human-computer interaction interface, and monitor the real-time status of the human-computer interaction interface based on the dynamic monitoring mechanism;

[0116] When there is a user input operation parameter configuration requirement, the operation parameter configuration requirement is parsed to obtain the user's control project and project control parameters;

[0117] Generate active intervention parameters from control items and item control parameters. At the same time, obtain the crop distribution characteristics at different times, analyze the crop distribution characteristics, and obtain the crop composition and crop location distribution at different times.

[0118] Determine the weeds to be removed based on the crop composition, and determine the density of weeds to be removed at different locations based on the crop location distribution;

[0119] Matching the density of weeds to be removed with a preset weed density and speed reference table, determining speed parameters corresponding to the density of weeds to be removed at different positions of the weed removal tool, and using the speed parameters as a first mode analysis indicator;

[0120] Based on the collected farmland environmental information, the terrain and soil moisture corresponding to the density of weeds to be removed at each location are determined. The telescopic range of the weeding tool on the weeder is determined based on the terrain and crop location distribution. At the same time, based on the industry service agreement, the relative linear change relationship between soil moisture and the weeding tool is obtained, and the weeding depth of the weeding tool is determined based on the soil moisture and the relative linear change relationship;

[0121] The telescopic range of the weeding tool is used as the second mode analysis indicator, and the weeding depth of the weeding tool is used as the third mode analysis indicator. Based on the first mode analysis indicator, the second mode analysis indicator, and the third mode analysis indicator, the non-intervention working mode of the weeder at different times is determined;

[0122] Based on the active intervention parameters, the intervention nodes for the non-intervention working mode are determined, and the parameters of the intervention nodes are corrected to obtain the working modes at different times. The real-time working mode of the lawn mower is dynamically controlled based on the working modes at different times.

[0123] In this embodiment, the dynamic monitoring mechanism refers to a scheme or strategy for monitoring the human-computer interaction interface, and is used to monitor whether there is user operation data on the human-computer interaction interface.

[0124] In this embodiment, the control item refers to a component of the lawn mower that is input by the user on the human-computer interaction interface and needs to be controlled, for example, it may be a limit on the travel speed of the lawn mower.

[0125] In this embodiment, the project control parameter refers to specific data that limits the control project, such as the limit indicator for the travel speed is 0.5 meters per second.

[0126] In this embodiment, the active intervention parameter is generated according to the control item and the item control parameter, and is used to represent the user's active control demand for the lawn mower.

[0127] In this embodiment, the weeds to be removed refer to plants and trees that need to be removed by a weeder.

[0128] In this embodiment, the preset weed density and speed reference table is set in advance and is used to represent speed parameters corresponding to weeds of different densities.

[0129] In this embodiment, the speed parameter refers to the speed that the weeder needs to achieve under different density conditions.

[0130] In this embodiment, the terrain corresponding to the density of weeds to be removed at each location refers to the terrain height corresponding to the density of weeds to be removed, whether it is at the boundary of the farmland, and the distance from the boundary and other crops.

[0131] In this embodiment, the telescopic range refers to the telescopic diameter of the weeding tool on the weeder, the purpose of which is to avoid damage to crops.

[0132] In this embodiment, the industry service agreement is set in advance.

[0133] In this embodiment, the relative linear variation relationship is used to characterize the correlation between soil moisture and the weed cutting depth of the weed removal tool during weeding. When the soil moisture is high, the weeding depth should be appropriately increased to prevent the weed remover from sinking into the soil and being unable to move forward.

[0134] In this embodiment, the non-intervention working mode refers to a working mode in which the lawn mower automatically performs the weeding work without user parameter settings.

[0135] In this embodiment, the intervention node refers to the position information corresponding to the active intervention parameter in the non-intervention working mode, that is, the position where the parameter in the non-intervention working mode needs to be adjusted.

[0136] The beneficial effects of the above technical solution are: by monitoring the operating parameter configuration requirements input by the user on the human-computer interaction interface, the user's active intervention parameters can be accurately and effectively determined; at the same time, the density of weeds to be removed, the rotation speed of the weeding tool, the telescopic range of the weeding tool and the weeding depth can be determined in combination with the crop distribution characteristics, providing comprehensive data support for determining the working mode of the weeder; finally, the working mode of the weeder at different times can be determined in combination with the user's active intervention parameters, thereby improving the control accuracy of the weeder and, at the same time, improving the weeding efficiency of the weeder.

[0137] Example 6:

[0138] Based on Example 1, this embodiment provides a high-precision operation control method for a weeder. In step 2, the driving path and working mode of the weeder at different times are dynamically controlled based on the crop distribution characteristics, including:

[0139] Obtaining the obtained crop distribution characteristics and reading the crop distribution characteristics to obtain the crop rows and weed distribution in the farmland;

[0140] Determine the operating position of the weeder in each crop row based on the weed distribution;

[0141] Based on the real-time farmland environment information collected during the weeder's movement, the obstacles and farmland boundaries in each crop row are determined, and the visual features of the obstacles and farmland boundaries are extracted;

[0142] Extract the driving parameters of the lawn mower, and determine the angle change and detour distance of the lawn mower when avoiding obstacles based on the driving parameters and visualization features;

[0143] At the same time, the relative spatial relationship between adjacent crop rows is extracted, and the optimal turning radius of the weeder when changing crop rows is determined based on the relative spatial relationship and the driving parameters of the weeder;

[0144] The driving path of the weeder at different times is determined based on the weeder's operating position in each crop row, the angle change and detour distance when avoiding obstacles, and the optimal turning radius when changing crop rows, and the driving path of the weeder is dynamically controlled.

[0145] In this embodiment, the crop rows refer to the distribution of crops in rows and columns in the farmland.

[0146] In this embodiment, the operating position refers to the result obtained by determining the working position of the weeder according to the position of the weeds in the crop row, for example, it may be at the two-thirds position of each crop row.

[0147] In this embodiment, the visual features refer to the specific forms of obstacles and farmland boundaries, that is, visual features that can be observed.

[0148] In this embodiment, the driving parameters refer to the equipment operating parameters of the lawn mower, including parameters such as the conversion radius of the lawn mower and the traveling power of the lawn mower.

[0149] In this embodiment, the angle change amount refers to the amount by which the travel angle of the lawn mower needs to be changed in order to avoid an obstacle.

[0150] In this embodiment, the optimal turning radius refers to the turning radius at which the weeder can quickly enter another crop row with the least number of turning adjustments when changing the crop row.

[0151] The beneficial effects of the above technical solution are: by analyzing the distribution characteristics of crops, the angle change and detour distance of the weeder when avoiding obstacles can be determined. At the same time, according to the driving parameters of the weeder and the relative spatial relationship between adjacent crop rows, the optimal turning radius of the weeder when changing crop rows can be determined, and finally the driving path of the weeder can be determined, thereby realizing dynamic control of the driving path of the weeder.

[0152] Example 7:

[0153] Based on Example 1, this embodiment provides a high-precision operation control method for a lawn mower. In step 3, the real-time status of the lawn mower is displayed on a human-computer interaction interface based on the dynamic control result, including:

[0154] Performing real-time self-checking on the equipment status of the lawn mower based on the dynamic control result, and obtaining the real-time status of the lawn mower based on the real-time self-checking result;

[0155] At the same time, the weeding progress of the weeder in the farmland is tracked, and the weeding parameters of the weeder at different positions in the farmland are determined based on the tracking results;

[0156] Recording the driving path of the lawn mower based on the tracking results, and generating a visual driving route based on the recording results;

[0157] The weeding parameters of the weeder at different locations in the farmland are associated with the visualized driving route to obtain traceable working parameters;

[0158] The real-time status and traceable working parameters of the lawn mower are displayed on the human-computer interaction interface.

[0159] In this embodiment, the weeding parameters refer to information such as the weeding force and weeding depth of the weeder at different positions.

[0160] In this embodiment, the visualized driving route refers to real-time tracking of the position of the lawn mower and directly viewing route information drawn based on the real-time tracking results.

[0161] In this embodiment, the subordinate association refers to associating the weeding parameters at different positions with the visualized driving route, that is, marking the weeding parameters at corresponding positions on the visualized driving route.

[0162] In this embodiment, the traceable working parameters refer to data information that can be viewed by the user after the weeding parameters are subordinately associated with the visualized driving route.

[0163] The beneficial effect of the above technical solution is: by determining the weeding parameters of the weeder at different positions and tracking the weeding progress of the weeder in real time, the weeding parameters of the weeder at different positions in the farmland are finally associated with the visualized driving route, making it convenient for users to view the historical weeding situation.

[0164] Example 8:

[0165] Based on Example 7, this embodiment provides a high-precision operation control method for a lawn mower, which obtains the real-time status of the lawn mower based on real-time self-check results, including:

[0166] Obtaining real-time self-test results for the lawn mower, and comparing the real-time status of each device component after the real-time self-test with the corresponding baseline operating status;

[0167] Based on the comparison results, the equipment components with abnormal status in the lawn mower are determined in real time, and an early warning of the equipment components with abnormal status is displayed on the human-computer interaction interface.

[0168] In this embodiment, the reference operating state is known in advance, and represents the operating parameters corresponding to each device component when the lawn mower operates normally and has no abnormalities.

[0169] In this embodiment, the device component with an abnormal state refers to a device component whose real-time state is inconsistent with the reference operating state.

[0170] The beneficial effect of the above technical solution is: by performing real-time self-inspection on the lawn mower and comparing the real-time self-inspection results with the corresponding baseline operating status, it is possible to identify equipment components with abnormal status, and display early warnings of equipment components with abnormal status on the human-computer interaction interface, so that users can understand the real-time status of the lawn mower, thereby ensuring the weeding effect of the lawn mower.

[0171] Example 9:

[0172] This embodiment provides a high-precision operation control system for a weeder, such as Figure 3Shown, including:

[0173] The crop information determination module is used to dynamically collect farmland environmental information based on the multi-category sensors pre-installed on the weeder, analyze the farmland environmental information, and determine the crop distribution characteristics in the farmland;

[0174] The equipment control module is used to monitor in real time whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. When there are operating parameter configuration requirements, the module dynamically controls the driving path and working mode of the weeder at different times based on the crop distribution characteristics.

[0175] The parameter management module is used to display the real-time status of the lawn mower on the human-computer interaction interface based on the dynamic control results.

[0176] The beneficial effects of the above technical solution are: by collecting farmland environmental information through multi-category sensors and analyzing the farmland environmental information, the crop distribution characteristics in the farmland are determined, which provides a reference basis for determining the driving path and working mode of the weeder; secondly, it monitors whether the user has any operation parameter configuration requirements, and if so, dynamically controls the driving path and working mode of the weeder at different times in combination with the determined crop distribution characteristics, ensuring that the weeder can perform accurate and reliable weeding according to actual conditions; finally, the real-time status of the weeder is displayed on the human-computer interaction interface, which facilitates the staff to effectively understand the real-time working status of the weeder, ensures the high-precision operation control effect of the weeder, and also improves the weed removal effect and accuracy of the weeder.

[0177] Example 10:

[0178] Based on Example 9, this embodiment provides a high-precision operation control system for a weeder, and a crop information determination module, including:

[0179] Sensor configuration unit for:

[0180] Obtain the sensor categories preset on the lawn mower and determine the business category of each sensor type;

[0181] Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the business category of each type of sensor;

[0182] Configure the corresponding category of sensors based on personalized configuration parameters, and perform time-series association of the preset multiple categories of sensors based on the configuration results;

[0183] Based on the time series correlation results, the information update frequency is added to the preset sensor categories, and based on the added results, the business configuration of the multiple categories of sensors preset on the lawn mower is completed;

[0184] The information collection unit is used to dynamically collect farmland environment information based on business configuration results.

[0185] The beneficial effect of the above technical solution is: by configuring all aspects of the parameters of the sensors, the reliability of each category of sensors during operation is ensured, and ultimately the effective collection of farmland environmental information based on multiple categories of sensors is achieved.

[0186] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A high-precision operation control method for a weeder, characterized in that: include: Step 1: Dynamically collect farmland environmental information using multiple sensors pre-installed on the weeder, analyze the information, and determine the crop distribution characteristics in the field. Step 2: Real-time monitoring of whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. If there are any operating parameter configuration requirements, the driving path and working mode of the weeder at different times are dynamically controlled based on the crop distribution characteristics. Step 3: Based on the dynamic control results, the real-time status of the lawn mower is displayed on the human-computer interaction interface.

2. A high-precision control method for a weeder according to claim 1, characterized in that: In step 1, the farmland environment information is dynamically collected based on the multi-category sensors pre-installed on the weeder, including: Obtain the sensor categories preset on the lawn mower and determine the business category of each sensor type; Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the business category of each type of sensor; Configure the corresponding category of sensors based on personalized configuration parameters, and perform time-series association of the preset multiple categories of sensors based on the configuration results; Based on the time series correlation results, the information update frequency is added to the preset sensor categories, and based on the added results, the business configuration of the multiple categories of sensors preset on the lawn mower is completed; Dynamically collect farmland environmental information based on business configuration results.

3. A high-precision operation control method for a weeder according to claim 2, characterized in that: Dynamically collect farmland environmental information based on business configuration results, including: Based on the business configuration results, the placement and start-up conditions of the weeder in the farmland are monitored. When the placement and start-up conditions meet the requirements, the pre-installed sensor types on the weeder are synchronously activated. Performing an initial scan on the current position of the lawn mower based on the synchronous start result, and marking the current position of the lawn mower as a starting position based on the initial scan result; The initial movement direction of the lawn mower is determined based on the starting position marking result, and the dynamic collection mechanism of the preset multi-category sensors is activated; Based on the initial action direction and dynamic collection mechanism, the preset multi-category sensors are controlled to dynamically collect farmland environmental information.

4. A high-precision control method for a weeder according to claim 1, characterized in that: In step 1, the farmland environmental information is analyzed to determine the crop distribution characteristics in the farmland, including: Acquire the obtained farmland environmental information and classify the farmland environmental information based on the data source of the farmland environmental information, wherein the classification includes crop information, terrain information, and soil information; Each type of farmland environment information obtained after classification is analyzed to obtain the object features corresponding to each type of farmland environment information, and the position of the object features corresponding to each type of farmland environment information is calibrated with the weeder as the center; Based on the position calibration results, the characteristics of different objects at the same location are summarized, and the crop distribution characteristics in the farmland are obtained based on the summary results.

5. The high-precision operation control method for a weeder according to claim 1, characterized in that: In step 2, the human-machine interface is monitored in real time to determine whether there are any operating parameter configuration requirements input by the user. If there are any operating parameter configuration requirements, the driving path and working mode of the weeder at different times are dynamically controlled based on the crop distribution characteristics, including: Allocate a dynamic monitoring mechanism to the human-computer interaction interface, and monitor the real-time status of the human-computer interaction interface based on the dynamic monitoring mechanism; When there is a user input operation parameter configuration requirement, the operation parameter configuration requirement is parsed to obtain the user's control project and project control parameters; Generate active intervention parameters from control items and item control parameters. At the same time, obtain the crop distribution characteristics at different times, analyze the crop distribution characteristics, and obtain the crop composition and crop location distribution at different times. Determine the weeds to be removed based on the crop composition, and determine the density of weeds to be removed at different locations based on the crop location distribution; Matching the density of weeds to be removed with a preset weed density and speed reference table, determining speed parameters corresponding to the density of weeds to be removed at different positions of the weed removal tool, and using the speed parameters as a first mode analysis indicator; Based on the collected farmland environmental information, the terrain and soil moisture corresponding to the density of weeds to be removed at each location are determined. The telescopic range of the weeding tool on the weeder is determined based on the terrain and crop location distribution. At the same time, based on the industry service agreement, the relative linear change relationship between soil moisture and the weeding tool is obtained, and the weeding depth of the weeding tool is determined based on the soil moisture and the relative linear change relationship; The telescopic range of the weeding tool is used as the second mode analysis indicator, and the weeding depth of the weeding tool is used as the third mode analysis indicator. Based on the first mode analysis indicator, the second mode analysis indicator, and the third mode analysis indicator, the non-intervention working mode of the weeder at different times is determined; Based on the active intervention parameters, the intervention nodes for the non-intervention working mode are determined, and the parameters of the intervention nodes are corrected to obtain the working modes at different times. The real-time working mode of the lawn mower is dynamically controlled based on the working modes at different times.

6. The high-precision operation control method for a weeder according to claim 1, characterized in that: In step 2, the weeder's driving path and working mode at different times are dynamically controlled based on the crop distribution characteristics, including: Obtaining the obtained crop distribution characteristics and reading the crop distribution characteristics to obtain the crop rows and weed distribution in the farmland; Determine the operating position of the weeder in each crop row based on the weed distribution; Based on the real-time farmland environment information collected during the weeder's movement, the obstacles and farmland boundaries in each crop row are determined, and the visual features of the obstacles and farmland boundaries are extracted; Extract the driving parameters of the lawn mower, and determine the angle change and detour distance of the lawn mower when avoiding obstacles based on the driving parameters and visualization features; At the same time, the relative spatial relationship between adjacent crop rows is extracted, and the optimal turning radius of the weeder when changing crop rows is determined based on the relative spatial relationship and the driving parameters of the weeder; The driving path of the weeder at different times is determined based on the weeder's operating position in each crop row, the angle change and detour distance when avoiding obstacles, and the optimal turning radius when changing crop rows, and the driving path of the weeder is dynamically controlled.

7. The high-precision operation control method for a weeder according to claim 1, characterized in that: In step 3, the real-time status of the lawn mower is displayed on the human-computer interaction interface based on the dynamic control results, including: Performing real-time self-checking on the equipment status of the lawn mower based on the dynamic control result, and obtaining the real-time status of the lawn mower based on the real-time self-checking result; At the same time, the weeding progress of the weeder in the farmland is tracked, and the weeding parameters of the weeder at different positions in the farmland are determined based on the tracking results; Recording the driving path of the lawn mower based on the tracking results, and generating a visual driving route based on the recording results; The weeding parameters of the weeder at different locations in the farmland are associated with the visualized driving route to obtain traceable working parameters; The real-time status and traceable working parameters of the lawn mower are displayed on the human-computer interaction interface.

8. The high-precision operation control method for a weeder according to claim 7, characterized in that: Get the real-time status of the lawn mower based on the real-time self-test results, including: Obtaining real-time self-test results for the lawn mower, and comparing the real-time status of each device component after the real-time self-test with the corresponding baseline operating status; Based on the comparison results, the equipment components with abnormal status in the lawn mower are determined in real time, and an early warning of the equipment components with abnormal status is displayed on the human-computer interaction interface.

9. A high-precision operation control system for a weeder, characterized in that: include: The crop information determination module is used to dynamically collect farmland environmental information based on the multi-category sensors pre-installed on the weeder, analyze the farmland environmental information, and determine the crop distribution characteristics in the farmland; The equipment control module is used to monitor in real time whether there are any operating parameter configuration requirements input by the user on the human-computer interaction interface. When there are operating parameter configuration requirements, the module dynamically controls the driving path and working mode of the weeder at different times based on the crop distribution characteristics. The parameter management module is used to display the real-time status of the lawn mower on the human-computer interaction interface based on the dynamic control results.

10. The high-precision operation control system for a weeder according to claim 9, characterized in that: Crop information determination module, including: Sensor configuration unit for: Obtain the sensor categories preset on the lawn mower and determine the business category of each sensor type; Obtaining environmental information collection requirements based on the management terminal, and determining personalized configuration parameters for each type of sensor based on the environmental information collection requirements and the business category of each type of sensor; Configure the corresponding category of sensors based on personalized configuration parameters, and perform time-series association of the preset multiple categories of sensors based on the configuration results; Based on the time series correlation results, the information update frequency is added to the preset sensor categories, and based on the added results, the business configuration of the multiple categories of sensors preset on the lawn mower is completed; The information collection unit is used to dynamically collect farmland environment information based on business configuration results.

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