An intelligent driving rice transplanter operation control method, device and medium

Abstract

The application discloses a kind of intelligent driving rice transplanter operation control method, equipment and medium, it is related to agricultural machinery automatic driving technical field.The method comprises: obtaining the position of the first reference point and the second reference point of the field to be operated, to obtain the reference interval, and obtaining the turning radius, working width and initial turning direction of the rice transplanter;In response to the reference point adjustment instruction, the first reference point and / or the second reference point is extended or contracted along the preset direction to update the position of the first reference point and / or the second reference point;When the rice transplanter travels to the preset range of the first reference point or the second reference point, it is judged whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter;When the rice transplanter meets the automatic turning condition, the turning direction is determined based on the initial turning direction and the real-time heading of the rice transplanter;Based on the turning direction, the working width and the head-tail point direction of the current working row, the head point coordinate and tail point coordinate of the next working row are calculated to generate a turning path.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery automatic driving technology, and in particular to an intelligent driving rice transplanter operation control method, equipment and medium. Background Technology

[0002] With the development of precision agriculture technology, the level of automation of rice transplanters has become the key to improving the efficiency of rice planting. At present, assisted driving systems based on satellite positioning and automatic navigation have been applied to rice transplanters. By planning straight operation paths, they can reduce the labor intensity of manual driving to a certain extent.

[0003] However, existing assisted driving systems for rice transplanters still have significant shortcomings. First, the calibration method for the work area is not flexible enough, and the work boundary cannot be easily adjusted according to the actual shape of the field, resulting in poor adaptability to different fields. Second, the decision logic for automatic turning is relatively simple and fails to fully consider the different positional relationships and heading combinations of the rice transplanter at both ends of the work row, which makes it easy to miss turning or misjudge under complex working conditions, requiring manual intervention. Finally, there is a lack of a unified coordination mechanism for various working scenarios such as automatic turning, emergency steering, and temporary interruption, resulting in insufficient continuity and robustness of the automated operation process.

[0004] Therefore, for intelligent driving rice transplanters, how to achieve flexible definition of the working area and automatic turning judgment logic through dynamic coordinate correction, so as to improve the automation level and practicality of rice transplanting assisted driving operation, has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides an intelligent driving rice transplanter operation control method, equipment, and medium to solve the following technical problem: how to achieve flexible definition of the operation area and automatic turning judgment logic through dynamic coordinate correction, thereby improving the automation level and practicality of rice transplanter assisted driving operation.

[0006] In a first aspect, embodiments of this application provide an intelligent driving rice transplanter operation control method, the method comprising: acquiring the position information of a first reference point and a second reference point of the field to be operated to obtain a reference range, and acquiring the turning radius, operating width and initial turning direction of the rice transplanter; responding to an input reference point adjustment command, extending or contracting the first reference point and / or the second reference point along a preset direction to update the position of the first reference point and / or the second reference point; when the rice transplanter is operating normally within a preset range of the first reference point or the second reference point, determining whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter; when the rice transplanter meets the automatic turning condition, determining the turning direction based on the initial turning direction and the real-time heading of the rice transplanter; and calculating the coordinates of the first point and the last point of the next operating row based on the turning direction, the operating width and the direction of the first and last points of the current operating row to generate a turning path from the last point of the current operating row to the first point of the next operating row.

[0007] In one implementation of this application, in response to an input reference point adjustment command, the first reference point and / or the second reference point are extended or contracted along a preset direction to update the positions of the first reference point and / or the second reference point. Specifically, this includes: obtaining the adjustment length value input in the reference point adjustment command; and updating the positions of the first and second reference points, as expressed by the following formula:

[0008]

[0009] in,

[0010]

[0011] in,( () represents the plane coordinates of the first reference point. () represents the plane coordinates of the second reference point. Adjust the length value for the first input reference point. Adjust the length value for the second reference point input. ) represents the updated planar coordinates of the first reference point. ) represents the updated planar coordinates of the second reference point.

[0012] In one implementation of this application, when the rice transplanter is operating normally and travels within a preset range of the first or second reference point, it is determined whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter. Specifically, this includes: when the real-time position is outside the second reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turning condition is not met and a first prompt message is generated; when the real-time position is outside the first reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turning condition is not met and a second prompt message is generated; when the real-time position is outside the second reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turning condition is not met and a third prompt message is generated; when the real-time position is outside the first reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turning condition is not met and a fourth prompt message is generated; when the real-time position is between the first and second reference points, it is determined that the automatic turning condition is met.

[0013] In one implementation of this application, when the rice transplanter meets the automatic turning conditions, the turning direction is determined based on the initial turning direction and the real-time heading of the rice transplanter. Specifically, this includes: when the rice transplanter meets the automatic turning conditions, sending a turning command to the control terminal and maintaining the real-time heading to travel to the outside of the reference section; when the real-time heading is the same as the direction of the reference section and the initial turning direction is the first direction, determining the turning direction as a left turn; when the real-time heading is the same as the direction of the reference section and the initial turning direction is the second direction, determining the turning direction as a right turn; when the real-time heading is opposite to the direction of the reference section and the initial turning direction is the first direction, determining the turning direction as a right turn; and when the real-time heading is opposite to the direction of the reference section and the initial turning direction is the second direction, determining the turning direction as a left turn.

[0014] In one implementation of this application, the coordinates of the first and last points of the next work line are calculated based on the turning direction, the work width, and the directions of the first and last points of the current work line. Specifically, this includes calculating the coordinates of the first and last points of the next work line, expressed by the following formula:

[0015]

[0016] in,

[0017] in,( , ) is the starting point of the next operation line, ( , () indicates the end point of the next job line. For the working width, For the turn signal position, The heading angle is the reference interval direction.

[0018] In one implementation of this application, after generating the turning path, the method further includes: determining the timing for lifting the machinery based on preset machinery lifting sensitivity parameters, and determining the timing for stopping the planting based on preset machinery planting sensitivity parameters; when the rice transplanter travels to the starting point of the next working row and travels a preset extension distance in a straight line, controlling the machinery of the rice transplanter to perform a lifting action according to the timing for lifting the machinery, and controlling the rice transplanter to stop the planting operation according to the timing for stopping the planting operation; after the rice transplanter completes the predetermined extension distance, controlling the machinery to perform a lowering action and starting the planting operation to begin the normal operation of the next working row.

[0019] In one implementation of this application, the method further includes: when generating a first prompt message or a second prompt message, outputting a normal automatic turn-around failure prompt in the interactive interface, and waiting to receive a one-click turn-around command manually triggered by the user; in response to the one-click turn-around command, shifting forward a preset distance along the real-time heading based on the real-time position to obtain the turn-around starting point; and calculating the coordinates of the first and last points of the next work line based on the turning direction, work width, and the direction of the first and last points of the current work line in the one-click turn-around command, so as to generate a turning path from the turn-around starting point to the first point of the next work line.

[0020] In one implementation of this application, the method further includes: responding to a replanting trigger command, exiting the automatic turning mode and controlling the rice transplanter to perform a lifting action to detach from the working surface; controlling the rice transplanter to travel straight along the current heading to the field ridge area and stop to perform replanting operations; after replanting is completed, when it is detected that the rice transplanter has engaged reverse gear, controlling the rice transplanter to travel in reverse along the current navigation path to the last terminated transplanting position; when it is detected that the rice transplanter has switched from reverse gear to forward gear, triggering an automatic turning operation; wherein, the turning operation includes automatic turning or one-click turning.

[0021] Secondly, embodiments of this application also provide an intelligent driving rice transplanter operation control device, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to: acquire position information of a first reference point and a second reference point of the field to be operated, to obtain a reference range, and acquire the turning radius, operating width, and initial turning direction of the rice transplanter; in response to an input reference point adjustment instruction, extend or contract the first reference point and / or the second reference point along a preset direction to update the position of the first reference point and / or the second reference point; when the rice transplanter is operating normally within a preset range of the first reference point or the second reference point, determine whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter; when the rice transplanter meets the automatic turning condition, determine the turning direction based on the initial turning direction and the real-time heading of the rice transplanter; and calculate the coordinates of the first point and the last point of the next operating row based on the turning direction, the operating width, and the direction of the first and last points of the current operating row, to generate a turning path from the last point of the current operating row to the first point of the next operating row.

[0022] Thirdly, embodiments of this application also provide a non-volatile computer storage medium for intelligent driving rice transplanter operation control, storing computer-executable instructions. The computer-executable instructions are configured to: acquire the position information of a first reference point and a second reference point of the field to be operated, to obtain a reference interval, and acquire the turning radius, operating width, and initial turning direction of the rice transplanter; in response to an input reference point adjustment instruction, extend or contract the first reference point and / or the second reference point along a preset direction to update the position of the first reference point and / or the second reference point; when the rice transplanter is operating normally within a preset range of the first reference point or the second reference point, determine whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter; when the rice transplanter meets the automatic turning condition, determine the turning direction based on the initial turning direction and the real-time heading of the rice transplanter; and calculate the coordinates of the first and last points of the next operating row based on the turning direction, the operating width, and the direction of the first and last points of the current operating row, to generate a turning path from the last point of the current operating row to the first point of the next operating row.

[0023] The intelligent driving rice transplanter operation control method, equipment, and medium provided in this application embodiment have the following beneficial effects: By extending or contracting the reference point, the operator can adjust the length of the operation range in real time and linearly without re-marking the points when the boundary is not suitable during actual operation, which solves the problem of re-planting and missed planting caused by the initial marking deviation or the actual boundary of the field not matching the preset; by coupling the real-time position and real-time heading of the rice transplanter for determination, the risk of getting stuck, overturning, or mechanical collision caused by forcibly starting and turning around at the edge of the field or in narrow areas is avoided, and the accuracy of turning around triggering is improved. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of an intelligent driving rice transplanter operation control method provided in this application embodiment; Figure 2 This is a schematic diagram illustrating the automatic turning condition determination of a rice transplanter provided in an embodiment of this application; Figure 3 This is a schematic diagram of the turning direction when the real-time heading of the rice transplanter is the same as the direction of the reference section, as provided in the embodiments of this application. Figure 4 This is a schematic diagram of the turning direction when the real-time heading of the rice transplanter is opposite to the direction of the reference section, as provided in this embodiment of the application. Figure 5 This is a schematic diagram of the internal structure of an intelligent driving rice transplanter operation control device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] This application provides an intelligent driving rice transplanter operation control method, equipment, and medium to solve the following technical problem: how to achieve flexible definition of the operation area and automatic turning judgment logic through dynamic coordinate correction, thereby improving the automation level and practicality of rice transplanter assisted driving operation.

[0027] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 This is a flowchart illustrating an intelligent driving rice transplanter operation control method provided in an embodiment of this application. Figure 1 As shown in the figure, the intelligent driving rice transplanter operation control method provided in this application embodiment specifically includes the following steps: Step 10: Obtain the position information of the first and second reference points of the field to be operated, so as to obtain the reference interval, and obtain the turning radius, operating width and initial turning direction of the rice transplanter.

[0029] In this step, the spatial location information of two positioning points at the boundary of the field to be operated is first collected. The two points are defined as the first reference point and the second reference point, respectively. A reference interval is formed through the planar coordinates of the two sets of points, which runs through the field operation area. Simultaneously, the basic operating parameters of the machine are read from the machine's storage unit. These parameters include the turning radius of the rice transplanter adapted to field turning movements, the working width corresponding to the rice transplanting coverage width that can be completed in a single movement, and the initial turning direction uniformly followed for turning operations between rows in the field. All point location information and machine operating parameters are cached in the system's computing storage area as the basic computing data for subsequent heading comparison, working condition determination, turning calculation, row coordinate solution, and turning path planning.

[0030] Step 20: In response to the input reference point adjustment command, extend or contract the first reference point and / or the second reference point along a preset direction to update the position of the first reference point and / or the second reference point.

[0031] As an optional embodiment, in response to the input reference point adjustment command, the first reference point and / or the second reference point are extended or contracted along a preset direction to update the position of the first reference point and / or the second reference point. Specifically, it may include: Step 201: Obtain the adjustment length value input in the reference point adjustment command.

[0032] In this step, the operator can issue adjustment commands for the reference point through the machine's input interface. After receiving the command, the operator extracts the reference line segment adjustment length related parameter information carried in the command, completes the reading and parsing of the adjustment length value, and identifies and distinguishes the length parameter to determine the adjustment action of the current command. Different attribute adjustment length values ​​correspond to two different adjustment trends of the reference point along the reference interval direction. The read adjustment length parameter will be synchronously transmitted to the control module to participate in coordinate conversion calculation, serving as the core input variable for adaptive correction of the second reference point position.

[0033] Step 202: Update the positions of the first and second reference points, expressed by the following formula:

[0034]

[0035] in,

[0036]

[0037] in,( () represents the plane coordinates of the first reference point. () represents the plane coordinates of the second reference point. Adjust the length value for the first input reference point. Adjust the length value for the second reference point input. ) represents the updated planar coordinates of the first reference point. ) represents the updated planar coordinates of the second reference point.

[0038] In this step, after receiving the reference point adjustment length parameter input by the operator, the coordinates of the first and second reference points are recalculated using two sets of vector conversion formulas, thereby achieving adaptive updates to the positions of the two reference points. For the first reference point coordinates, the original first reference point planar coordinates are used as the calculation basis, and a normalized unit vector conversion is performed by combining the vector magnitude formed by the two original reference points. The first reference point adjustment length is then scaled and superimposed onto the original first reference point coordinates to obtain the updated complete coordinates of the first reference point and the coordinates of the second reference point. The update process is similar; the adjustment length parameter has directional differentiation logic. The sign of the adjustment length value corresponding to the first reference point determines whether the point extends or contracts inward along the direction of the line connecting the two points. The sign of the adjustment length value corresponding to the second reference point determines whether the point extends or contracts inward along the opposite direction of the line connecting the two points. After completing the calculation of the two sets of coordinates, the system uses the updated coordinates of the two reference points to replace the original reference point data and reconstructs a new reference interval vector. The updated reference interval will serve as the core reference data for subsequent equipment position and working condition determination, heading matching verification, inter-row coordinate solution, and turning path planning.

[0039] Step 30: When the rice transplanter is operating normally and travels within the preset range of the first or second reference point, determine whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter.

[0040] As an optional embodiment, when the rice transplanter is operating normally and travels within a preset range of the first or second reference point, it is determined whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter. Specifically, it may include: Step 301: When the real-time position is outside the second reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turning condition is not met and a first prompt message is generated.

[0041] In this step, the machine's planar position and heading data output by the positioning module are continuously read in real time. First, the relative spatial position of the machine's current real-time position is compared with that of the second reference point. If the machine is identified as being outside the area of ​​the second reference point, the real-time heading of the machine is then matched and compared with the preset reference interval direction to confirm that the two travel directions are consistent. When both judgment conditions are met simultaneously, such as... Figure 2As shown in path 21, if it is determined that the rice transplanter may be traveling across areas, then it is determined that the current working condition cannot carry out the automatic turning operation, and the whole machine does not meet the conditions for automatic turning. Then, a corresponding prompt message is generated and pushed to the operation display terminal to inform the operator that the automatic turning process cannot be triggered under the current position and heading combination, prompting the operator to adjust the machine's driving status or change the operation control mode.

[0042] Step 302: When the real-time position is outside the first reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a second prompt message is generated.

[0043] In this step, the spatial position of the machine relative to the first reference point is determined. If it is confirmed that the machine is located outside the area of ​​the first reference point, the real-time travel direction of the machine is compared with the preset reference interval direction to identify that the two travel directions are in opposite directions. When both of the above determination conditions are met simultaneously, such as Figure 2 As shown in path 22, if the current working condition of the machine does not meet the basic conditions for performing automatic turning, a corresponding second prompt message is generated and transmitted to the operation display interface. The operator is informed that the current position and heading combination cannot start the automatic turning function, and the operator is reminded to adjust the machine's driving posture or switch to other operation control modes to carry out field navigation operations normally.

[0044] Step 303: When the real-time position is outside the second reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a third prompt message is generated.

[0045] In this step, the spatial relative position of the machine's current real-time position and the second reference point is first analyzed. If it is confirmed that the machine is located outside the area of ​​the second reference point, the real-time travel direction of the machine is compared with the preset reference interval direction. If it is identified that the two travel directions are in opposite directions, such as... Figure 2 As shown in path 23, it is determined that the current working condition of the machine does not support the direct execution of automatic turning operation at this end point. Then, a unique third prompt message is generated and sent to the operation display terminal to inform the operator that the automatic turning process cannot be directly triggered under the current position and heading matching state. The operator is reminded to adjust the machine's traveling attitude or switch to other operation control modes to ensure that the rice transplanting navigation operation can proceed normally.

[0046] Step 304: When the real-time position is outside the first reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a fourth prompt message is generated.

[0047] In this step, if the machine is identified as being outside the first reference point, its real-time travel direction is matched and verified with the preset reference interval direction. If it is confirmed that the two travel directions are consistent, then... Figure 2 If path 24 is shown, it is determined that the current working condition cannot be directly executed on the end point of this side. The whole machine does not meet the operating conditions for local automatic turning. Then, the corresponding fourth prompt information is generated and pushed to the operation display terminal to inform the operator that the current position and heading combination cannot start the automatic turning process. The operator is reminded to adjust the machine's driving posture or switch to other operation control modes to ensure that the rice transplanting navigation operation is carried out in an orderly manner.

[0048] Step 305: When the real-time position is between the first reference point and the second reference point, it is determined that the automatic turning condition is met.

[0049] In this step, when the coordinate calculation identifies that the real-time position of the entire machine is within the reference interval formed by the first and second reference points, meaning the current travel path of the machine falls within the working area defined by the line connecting the two reference points, it is directly determined that the entire machine possesses the basic conditions for performing an automatic turn. Based on this, the matching relationship between the machine's real-time heading and the direction of the reference interval is further combined to distinguish the subsequent turn execution endpoints. If the machine's travel heading is consistent with the direction of the reference interval, such as... Figure 2 As shown in path 25, the planned equipment will travel to the side of the second reference point and complete the turning maneuver; if the equipment's travel direction is opposite to the direction of the reference section, such as... Figure 2 As shown in path 26, the machine will move to the side of the first reference point and perform a U-turn operation. The overall judgment logic does not require additional adjustment of the machine position. It can directly enter the subsequent turning direction judgment, next row work point solution and turning path generation process, and start the automatic U-turn control program normally.

[0050] Step 40: When the rice transplanter meets the conditions for automatic turning, determine the turning direction based on the initial turning direction and the real-time heading of the rice transplanter.

[0051] As an optional embodiment, when the rice transplanter meets the automatic turning conditions, the turning direction is determined based on the initial turning direction and the real-time heading of the rice transplanter. Specifically, it may include: Step 401: When the rice transplanter meets the automatic turning conditions, a turning command is sent to the control terminal, and the real-time heading is maintained to travel to the outside of the reference section.

[0052] In this step, once the working condition judgment is completed and it is confirmed that the current position and heading of the rice transplanter meet the conditions for automatic turning, the corresponding turning control command is immediately issued to the whole machine control module. At the same time, the current real-time heading of the rice transplanter is continuously maintained in a straight-line state until the machine travels to the outer area of ​​the benchmark interval formed by the line connecting the two benchmark points. Throughout the process, the rice transplanting operation-related mechanisms are kept running continuously. After the machine arrives at the designated area outside the corresponding benchmark endpoint, the subsequent processing flow such as turning direction determination, solving the coordinates of the next work row point, and generating the turning path is entered, thus fully executing the entire set of control logic for automatic turning at the field boundary.

[0053] Step 402: When the real-time heading is the same as the reference section direction and the initial turning direction is the first direction, determine the turning direction as left turn.

[0054] In this step, after determining that the rice transplanter meets the basic conditions for automatic turning, the real-time heading data of the machine, the pre-stored reference interval direction vector, and the previously set initial turning direction parameters are retrieved simultaneously to complete the turning logic judgment. First, the real-time heading of the entire machine is compared with the reference interval direction. If the two are consistent, the initial turning direction configured during the operation initialization phase is read. If the initial turning direction is identified as the preset first turning mode, then... Figure 3 As shown in path 31, the direction of this U-turn action is determined to be a left turn, and a corresponding turning marker is generated for subsequent coordinate calculation and turning path planning. This marker will participate in the calculation of the next row of work points and the generation of turning trajectory throughout the process, providing a basis for the execution module to output accurate left turn control commands.

[0055] Step 403: When the real-time heading is the same as the reference section direction and the initial turning direction is the second direction, determine the turning direction as a right turn.

[0056] In this step, the real-time heading of the entire machine is compared with the direction of the reference section. If the two are consistent, the initial turning direction configured during the operation initialization phase is read. If the initial turning direction is identified as the preset second steering mode, then... Figure 3 As shown in path 32, the direction of this U-turn is determined to be a right turn, and a corresponding turning marker is generated for subsequent coordinate calculation and turning path planning.

[0057] Step 404: When the real-time heading is opposite to the reference section direction and the initial turning direction is the first direction, determine the turning direction as a right turn.

[0058] In this step, the real-time heading of the entire machine is compared with the direction of the reference section. If the two are in opposite directions, the initial turning direction configured during the operation initialization phase is read. If the initial turning direction is identified as the preset first steering mode, then... Figure 4As shown in path 41, the turning direction of this U-turn action is determined to be a right turn. A flag position matching this turning action is generated simultaneously. This flag position will be used as a core calculation parameter in all subsequent calculation processes, such as solving the coordinates of the beginning and end points of the next work row and generating the field turning path. This provides a unified calculation and judgment basis for the machine's execution module to output the right turn control command.

[0059] Step 405: When the real-time heading is opposite to the reference section direction and the initial turning direction is the second direction, determine the turning direction as left turn.

[0060] In this step, the real-time travel direction of the equipment is first compared with the direction of the reference section. If the two are found to be traveling in opposite directions, the initial turning direction configured during the operation initialization phase is read. If this initial turning direction is identified as the preset second turning mode, then... Figure 4 As shown in path 42, when both judgment conditions are met simultaneously, the turning direction of this U-turn action is determined to be a left turn, and a corresponding turning marker is generated. This marker will be used as a core parameter in the entire calculation process, such as solving the coordinates of the beginning and end points of the next operation and planning the turning path, to provide a unified calculation benchmark for the machine execution module to output the left turn control command.

[0061] Step 406: When the first or second prompt message is generated, output a prompt message indicating that the regular automatic U-turn has failed in the interactive interface, and wait to receive a one-click U-turn command manually triggered by the user.

[0062] In this step, based on the judgment conditions of the first or second prompt message, the relevant prompts of the failure of the regular automatic U-turn function are simultaneously displayed on the device operation interface. This intuitively informs the operator that the standard automatic U-turn logic cannot operate normally under the current working conditions. The interface continues to display the prompts, and the control module simultaneously enters the command listening and waiting state, continuously monitoring the key signals transmitted by the operation input module, waiting for the operator to manually issue a one-key U-turn trigger command. During this period, the entire machine maintains its current driving state and does not autonomously perform steering or U-turn related actions until it captures the one-key U-turn command manually input by the operator. Only then does it switch to the emergency U-turn control logic to carry out subsequent path calculation and steering control.

[0063] Step 407: In response to the one-click turn command, offset forward by a preset distance along the real-time heading based on the real-time position to obtain the turn starting point.

[0064] In this step, after receiving and recognizing the one-click turn command issued by the operator, the emergency turn point calculation process is immediately initiated. Using the real-time spatial position fed back by the current positioning module of the rice transplanter as the basic reference, and combining it with the real-time driving heading vector of the whole machine at this moment, the displacement offset calculation is completed forward. A new spatial coordinate point is obtained by converting the preset offset distance. This point is the turn starting point corresponding to this one-click turn action. After the calculation is completed, the coordinates of the turn starting point are cached. All subsequent emergency turn logic, such as steering marker determination, inter-row path planning, and turning trajectory generation, will use this calculated turn starting point as the starting point for calculation, and reuse the entire algorithm model of conventional automatic turn to complete the subsequent steering control.

[0065] Step 408: Based on the relative positional relationship between the turning start point and the current work line, determine the turning direction, and based on the turning direction, work width, and the direction of the first and last points of the current work line, calculate the coordinates of the first and last points of the next work line to generate a turning path from the turning start point to the first point of the next work line.

[0066] In this step, the turning direction is determined by combining the spatial relative position between the starting point coordinates of the turn and the current working row, and the corresponding turning marker is generated. Then, the completed turning direction, the preset working width of the whole machine, and the reference direction formed by the first and last points of the current working row are determined as the core calculation parameters. The coordinates of the first and last points of the next working row are calculated by using a standardized vector coordinate model. After the coordinates of the two rows are calculated, the turning trajectory is planned by using the spatial coordinate data of the starting point of the turn and the first point of the next working row, and a complete turning driving path is generated. The entire path generation logic reuses the calculation framework of conventional automatic turn. After the calculation is completed, the path information is sent to the execution module, which drives the rice transplanter to turn along the planned trajectory and enter the next working row to carry out rice transplanting.

[0067] Step 50: Based on the turning direction, working width, and the direction of the beginning and end points of the current working line, calculate the coordinates of the beginning and end points of the next working line to generate a turning path from the end point of the current working line to the beginning point of the next working line.

[0068] As an optional embodiment, based on the turning direction, working width, and the direction of the beginning and end points of the current working line, the coordinates of the first and last points of the next working line are calculated. Specifically, this may include: Step 501: Calculate the coordinates of the first and last points of the next working line, expressed by the following formula:

[0069]

[0070] in,

[0071] in,( , ) is the starting point of the next operation line, ( , () indicates the end point of the next job line. For the working width, For the turn signal position, The heading angle is the reference interval direction.

[0072] In this step, after determining the turning direction and generating the corresponding turning marker, the coordinates of the first and last points of the next work row are uniformly calculated. The turning marker is used to distinguish different turning actions, and the two turning states correspond to different marker values. The working width is the working parameters pre-entered by the whole machine. The heading angle of the reference interval is obtained by solving the reference vector formed by the first reference point and the second reference point. The entire calculation logic relies on the same set of displacement vectors to participate in the calculation of the two rows of points. It only distinguishes the calculation base reference point to realize the differentiated solution of the first and last points. It serves as the core coordinate basis for turning path planning and machine driving trajectory output, supporting the subsequent automatic turning trajectory generation and inter-row navigation control.

[0073] Step 502: Determine the timing for lifting the machine based on the preset machine lifting sensitivity parameters, and determine the timing for stopping the insertion based on the preset machine insertion sensitivity parameters.

[0074] In this step, for the lifting action of the planting mechanism, preset machine lifting sensitivity parameters are retrieved as the judgment threshold. Combined with the real-time position of the machine, the travel trajectory and the spatial matching status of the field boundary and the turning area, the timing of the overall lifting of the planting mechanism is accurately determined to ensure that the lifting action is adapted to the field operation switching needs. For the stopping action of the rice transplanting operation, pre-configured machine transplanting sensitivity parameters are retrieved to conduct real-time working condition judgment. Based on the positioning feedback of the machine's spatial position, travel direction and the relative relationship between the row transition area, logical judgment is completed to determine the timing of the stopping of the transplanting operation. The two types of sensitivity parameters are independent of each other and control the start and stop sequence of the corresponding actuators. This can adapt to the action switching needs under different field working conditions. The action execution timing determined by the parameters will be simultaneously sent to the whole machine execution control module to coordinate the lifting mechanism and the transplanting mechanism to complete the start and stop switching in an orderly manner, avoiding problems such as missed seedlings and machine scraping the field surface caused by the mechanism's actions being too early or too late.

[0075] Step 503: When the rice transplanter travels to the first point of the next working row and travels a preset extension distance in a straight line, control the rice transplanter to perform the lifting action according to the timing of the lifting action, and control the rice transplanter to stop the planting operation according to the timing of the planting stop action.

[0076] In this step, the preset extension distance is selected by combining the field boundary size, the machine's external dimensions, and the inter-row operation requirements. This parameter will be used for the end-of-row travel control. After detecting that the machine has traveled to the beginning of the next working row, the machine is controlled to maintain its current course and continue straight for the selected preset extension distance. After completing this straight travel distance, the machine lifting execution timing judgment logic, which is determined in advance by the lifting sensitivity parameter, is retrieved and a control signal is output to the lifting execution mechanism to drive the planting machine to complete the lifting action. At the same time, according to the planting stop execution timing determined in advance by the planting sensitivity parameter, the corresponding control command is issued to cut off the operation drive of the planting mechanism, so that the planting operation is terminated synchronously. The actions of the two mechanisms are executed in an orderly manner according to their respective independent timing judgment rules. Through differentiated action timing control, the planting components are prevented from scraping the field surface during the movement, while ensuring the complete connection of the field planting operation and preventing missed or repeated planting.

[0077] Step 504: After the rice transplanter completes the predetermined extension distance, control the machine to perform a descent action and start the planting operation to begin the normal operation of the next row.

[0078] In this step, after the machine has completed the preset extension distance, a descent control command is immediately sent to the lifting actuator to drive the entire planting machine to fall downwards until the planting components are in contact with the soil layer in the field. At the same time, a start control signal is sent to the planting drive mechanism to restore the rice transplanting operation. After the entire set of mechanisms has completed its linkage action, the rice transplanter enters the stable straight-line operation mode of the next working row and continues to complete the seedling planting along the planned navigation path. By relying on the coordinated action of the lifting mechanism's descent sequence and the planting start sequence, the complete and continuous planting of seedlings at the starting point of the row is ensured, eliminating the operational defects of missing or missing seedlings at the row connection position.

[0079] Step 505: In response to the replanting trigger command, exit the automatic turning mode and control the rice transplanter to perform a lifting action to move away from the working surface.

[0080] In this step, when a scenario is identified where insufficient seedlings are needed and on-site replenishment is required, the operator issues a seedling replenishment trigger command. Upon receiving the seedling replenishment trigger command, the machine immediately terminates its current automatic turning control logic, simultaneously exits the automatic turning mode, and cuts off the output of relevant control programs based on baseline coordinate calculations and turning path planning. After this mode switch is completed, a lifting control command is issued to the rice transplanter's lifting actuator, driving the entire transplanting and planting component to lift upwards, completely separating the planting mechanism from the field soil layer. The machine is removed from the field transplanting surface, preventing the planting component from scraping against the field surface, damaging seedlings, or disrupting the field's flatness during the machine's movement. The entire machine enters a temporary standby state adapted for seedling replenishment operations, waiting for the operator to complete the seedling replenishment operations.

[0081] Step 506: Control the rice transplanter to travel in a straight line along the current course to the field ridge area and stop to perform replanting operations.

[0082] In this step, after completing a series of operations such as raising the planting mechanism and exiting the automatic turning mode, the current travel direction of the rice transplanter is continuously locked, and a straight-line control signal is output to drive the whole machine to maintain a straight line along this direction. The machine's position is checked in real time by the positioning module throughout the process until the machine is detected to have entered the area corresponding to the field ridge. When the positioning data determines that the machine has reached the target field ridge area, a braking command is issued to the walking actuator to control the whole machine to stop. The machine remains stationary so that the operator can carry out seedling replenishment operations. During the entire straight-line travel process, the planting mechanism is always kept raised off the field surface to prevent the planting parts from scraping the field during the journey and to ensure that the seedling replenishment operation has a flat and safe operating space.

[0083] Step 507: After replanting is completed, when the rice transplanter is detected to be in reverse gear, control the rice transplanter to travel in reverse along the current navigation path to the last termination position. In this step, after the operator completes the seedling replenishment operation, they continuously monitor the gear signal status of the rice transplanter in real time. When the signal that the machine has switched to reverse gear is detected, the operator immediately retrieves the complete navigation path data stored internally, generates a reverse driving control command, and drives the rice transplanter to travel in a straight line in the opposite direction of the original navigation path. The positioning module provides real-time feedback on the machine's planar position throughout the entire process and continuously verifies the relative spatial relationship between the machine and the turning area until the machine returns to the position where the last transplanting was terminated. This prepares the machine for restarting the automatic navigation transplanting operation. Throughout the entire process, the planting mechanism remains in an elevated state to prevent parts from touching the field surface.

[0084] Step 508: When the rice transplanter is detected to switch from reverse gear to forward gear, the automatic turning operation is triggered.

[0085] In this step, as the rice transplanter travels in reverse to the turning area after replanting seedlings, once it detects that the machine's gear has switched from reverse to forward, it immediately determines that the operator has completed the position adjustment. Then, it triggers the entire automatic turning control process, simultaneously retrieving all preset calculation parameters such as the coordinates of the reference interval, the current working row position, and the turning marker position. It then starts logic programs such as solving the turning path and calculating the coordinates of the beginning and end of the next working row, and outputs corresponding steering and travel control commands to drive the rice transplanter to complete the turning around according to the planned trajectory and re-enter the automatic rice transplanting navigation operation state between rows.

[0086] The above are embodiments of the method proposed in this application. Based on the same inventive concept, embodiments of this application also provide an intelligent driving rice transplanter operation control device, the structure of which is as follows: Figure 5 As shown.

[0087] Figure 5This is a schematic diagram of the internal structure of an intelligent driving rice transplanter operation control device provided in an embodiment of this application. Figure 5 As shown, the device includes: At least one processor 501; And a memory 502 that is communicatively connected to at least one processor; The memory 502 stores instructions executable by at least one processor. These instructions are executed by at least one processor 501 to enable the processor 501 to: acquire the position information of a first reference point and a second reference point of the field to be worked on, to obtain a reference range, and acquire the turning radius, working width, and initial turning direction of the rice transplanter; in response to an input reference point adjustment instruction, extend or contract the first reference point and / or the second reference point along a preset direction to update the position of the first reference point and / or the second reference point; when the rice transplanter is operating normally within a preset range of the first or second reference point, determine whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter; when the rice transplanter meets the automatic turning condition, determine the turning direction based on the initial turning direction and the real-time heading of the rice transplanter; and calculate the coordinates of the first and last points of the next working row based on the turning direction, the working width, and the direction of the first and last points of the current working row to generate a turning path from the last point of the current working row to the first point of the next working row.

[0088] Some embodiments of this application provide corresponding to Figure 1 A non-volatile computer storage medium for intelligent driving rice transplanter operation control stores computer-executable instructions. These instructions are configured to: acquire the position information of a first and second reference point of the field to be operated, to obtain a reference range, and acquire the turning radius, operating width, and initial turning direction of the rice transplanter; in response to an input reference point adjustment instruction, extend or contract the first and / or second reference points along a preset direction to update their positions; when the rice transplanter is operating normally within a preset range of the first or second reference point, determine whether the automatic turning condition is met based on the real-time position and real-time heading of the rice transplanter; when the rice transplanter meets the automatic turning condition, determine the turning direction based on the initial turning direction and the real-time heading of the rice transplanter; and calculate the coordinates of the first and last points of the next operating row based on the turning direction, operating width, and the directions of the first and last points of the current operating row, to generate a turning path from the last point of the current operating row to the first point of the next operating row.

[0089] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for IoT devices and media are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0090] The systems, media, and methods provided in this application are one-to-one correspondences. Therefore, the systems and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the systems and media will not be repeated here.

[0091] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0095] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0096] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0097] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0098] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0099] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the operation of an intelligent driving rice transplanter, characterized in that, The method includes: Obtain the position information of the first and second reference points of the field to be operated to obtain the reference interval, and obtain the turning radius, operating width and initial turning direction of the rice transplanter, specifically including; First, spatial location information of two positioning points at the boundary of the field to be operated is collected. The two points are defined as the first reference point and the second reference point, respectively. A reference interval that runs through the field operation area is constructed by the planar coordinates of the two sets of points. In response to an input reference point adjustment command, the first reference point and / or the second reference point are extended or contracted along a preset direction to update the position of the first reference point and / or the second reference point, specifically including: Obtain the adjustment length value input in the reference point adjustment command; The positions of the first and second reference points are updated using the following formula: in, in,( () represents the plane coordinates of the first reference point. () represents the plane coordinates of the second reference point. Adjust the length value for the first input reference point. Adjust the length value for the second reference point input. ) represents the updated planar coordinates of the first reference point. () represents the updated planar coordinates of the second reference point; When the rice transplanter is operating normally and travels within a preset range of the first or second reference point, it is determined whether the conditions for automatic turning are met based on the real-time position and real-time heading of the rice transplanter. When the rice transplanter meets the conditions for automatic turning, the turning direction is determined based on the initial turning direction and the real-time heading of the rice transplanter; Based on the turning direction, the working width, and the directions of the beginning and end points of the current working line, calculate the coordinates of the beginning and end points of the next working line to generate a turning path from the end point of the current working line to the beginning point of the next working line.

2. The intelligent driving rice transplanter operation control method according to claim 1, characterized in that, When the rice transplanter is operating normally and travels within a preset range of the first or second reference point, it determines whether the automatic turning conditions are met based on the real-time position and real-time heading of the rice transplanter. Specifically, this includes: When the real-time position is outside the second reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a first prompt message is generated. When the real-time position is outside the first reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a second prompt message is generated. When the real-time position is outside the second reference point and the real-time heading is opposite to the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a third prompt message is generated. When the real-time position is outside the first reference point and the real-time heading is the same as the direction of the reference interval, it is determined that the automatic turn-around condition is not met and a fourth prompt message is generated. When the real-time position is between the first reference point and the second reference point, it is determined that the automatic turning condition is met.

3. The intelligent driving rice transplanter operation control method according to claim 1, characterized in that, When the rice transplanter meets the conditions for automatic turning, the turning direction is determined based on the initial turning direction and the real-time heading of the rice transplanter, specifically including: When the rice transplanter meets the conditions for automatic turning, it sends a turning command to the control terminal and maintains its real-time heading to travel outside the reference interval; When the real-time heading is the same as the reference interval direction and the initial turning direction is the first direction, the turning direction is determined to be a left turn; When the real-time heading is the same as the reference interval direction and the initial turning direction is the second direction, the turning direction is determined to be a right turn; When the real-time heading is opposite to the direction of the reference interval and the initial turning direction is the first direction, the turning direction is determined to be a right turn; When the real-time heading is opposite to the direction of the reference interval and the initial turning direction is the second direction, the turning direction is determined to be a left turn.

4. The intelligent driving rice transplanter operation control method according to claim 1, characterized in that, Based on the turning direction, the working width, and the directions of the beginning and end points of the current working row, the coordinates of the beginning and end points of the next working row are calculated, specifically including: The coordinates of the first and last points of the next work row are calculated using the following formula: in, in,( , ) is the starting point of the next operation line, ( , () indicates the end point of the next job line. For the working width, For the turn signal position, The heading angle is the reference interval direction.

5. The intelligent driving rice transplanter operation control method according to claim 1, characterized in that, After generating the turning path, the method further includes: The timing for lifting the machine is determined based on preset machine lifting sensitivity parameters, and the timing for stopping the insertion is determined based on preset machine insertion sensitivity parameters. When the rice transplanter travels to the first point of the next working row and travels a preset extension distance in a straight line, the rice transplanter is controlled to lift its implements according to the timing of the implement lifting, and the rice transplanter is controlled to stop the planting operation according to the timing of the planting stop. Once the rice transplanter has completed the predetermined extension distance, the machine is controlled to perform a descent action and start the planting operation to begin the normal operation of the next row.

6. The intelligent driving rice transplanter operation control method according to claim 2, characterized in that, The method further includes: When the first or second prompt message is generated, a prompt message indicating that the regular automatic U-turn has failed is output in the interactive interface, and the system waits to receive a one-click U-turn command manually triggered by the user. In response to the one-click turn command, the system moves forward a preset distance along the real-time heading, based on the real-time position, to obtain the turn starting point. Based on the turning direction in the one-click U-turn command, the working width, and the direction of the first and last points of the current working line, the coordinates of the first and last points of the next working line are calculated to generate a turning path from the starting point of the U-turn to the first point of the next working line.

7. The intelligent driving rice transplanter operation control method according to claim 1, characterized in that, The method further includes: In response to the replanting trigger command, exit the automatic turning mode and control the rice transplanter to perform a lifting action to move away from the working surface; Control the rice transplanter to travel in a straight line along the current course to the field ridge area and stop to perform replanting operations; After the replanting is completed, when the rice transplanter is detected to be in reverse gear, the rice transplanter is controlled to travel in reverse along the current navigation path to the last termination position; When the rice transplanter is detected to have switched from reverse gear to forward gear, an automatic turning operation is triggered; wherein, the turning operation includes automatic turning or one-click turning.

8. A smart driving rice transplanter operation control device, characterized in that, The device includes: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a method as described in any one of claims 1-7.

9. A non-volatile computer storage medium for the operation control of an intelligent driving rice transplanter, storing computer-executable instructions, characterized in that, When the computer-executable instructions are executed, they implement a method as described in any one of claims 1-7.

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