Method and device for prompting turning opportunity, agricultural machine and storage medium

Abstract

The application relates to the technical field of mechanical control, and discloses a turning opportunity prompting method and device, an agricultural machine and a storage medium, which are applied to the agricultural machine provided with an image acquisition component. The method acquires a working direction image in front of the agricultural machine through the image acquisition component, identifies a target ridge in the working direction image through target detection, determines distance information between the target ridge and the agricultural machine, determines a turning opportunity of the agricultural machine according to the distance information and operation parameters of the agricultural machine, and prompts the turning opportunity, so that the driver can control the agricultural machine to turn according to the prompted opportunity, and accurate judgment of the turning opportunity is realized without relying on the experience of the driver.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a method, device, agricultural machinery, and storage medium for indicating when to turn around. Background Technology

[0002] In agricultural planting, high-speed rice transplanters are widely used in rice cultivation. Due to the limitations of water management along paddy field ridges, individual paddy field plots are typically small and have clearly defined boundaries. When a rice transplanter completes a single row of transplanting and reaches the end of the plot (the ridge), it must perform a "U"-shaped turn to rotate the machine 180° and align it with the next adjacent row. Currently, the timing of these turns relies primarily on the driver's experience, leading to inaccurate judgments and further affecting transplanting quality. Summary of the Invention

[0003] The main purpose of this application is to provide a method, device, agricultural machinery and storage medium for indicating the timing of turning around, which aims to solve the technical problem that the timing of turning around in agricultural machinery in the prior art mainly relies on the driver's judgment based on experience, resulting in inaccurate judgment of the timing of turning around.

[0004] To achieve the above objectives, this application provides a method for indicating when to turn around, the method being applied to agricultural machinery equipped with an image acquisition component, the method comprising: The image acquisition component acquires an image of the agricultural machinery's operating direction. Target detection is performed on the image of the working direction to obtain the distance information between the target field ridge and the agricultural machinery; The operating parameters of the agricultural machinery are obtained, and the timing for the agricultural machinery to turn around is determined based on the distance information and the operating parameters. The timing of the U-turn is indicated so that the driver can control the agricultural machinery to turn around according to the indicated timing.

[0005] In one embodiment, the step of performing target detection on the work direction image to obtain distance information between the target field ridge and the agricultural machinery includes: Target detection is performed on the work direction image to obtain the pixel position of the target field ridge in the work direction image; Obtain the preset calibration parameters of the image acquisition component; Based on the preset calibration parameters and the pixel position, the reference distance between the target field ridge and the agricultural machinery is obtained; The vehicle posture parameters of the agricultural machinery are obtained, and the reference distance is corrected based on the vehicle posture parameters to obtain the distance information between the target field ridge and the agricultural machinery.

[0006] In one embodiment, the step of obtaining the reference distance between the target field ridge and the agricultural machinery based on the preset calibration parameters and the pixel position includes: The pitch projection coefficient is determined based on the preset initial pitch angle and the preset focal length in the preset calibration parameters. The longitudinal offset projection amount is obtained based on the preset initial pitch angle, the pixel ordinate of the pixel position, the principal point ordinate in the preset calibration parameters, and the preset initial roll angle in the preset calibration parameters. The lateral offset projection amount is obtained based on the preset initial pitch angle, the pixel x-coordinate of the pixel position, the principal point x-coordinate in the preset calibration parameters, and the preset initial roll angle. The projection distance numerator is obtained based on the preset focal length and the installation height above the ground in the preset calibration parameters; The projection distance denominator is obtained based on the pitch projection coefficient, the longitudinal offset projection amount, and the lateral offset projection amount; The reference distance between the target field ridge and the agricultural machinery is obtained based on the numerator of the projection distance, the denominator of the projection distance, and the installation longitudinal distance in the preset calibration parameters.

[0007] In one embodiment, the step of obtaining the vehicle posture parameters of the agricultural machinery, correcting the reference distance based on the vehicle posture parameters, and obtaining the distance information between the target field ridge and the agricultural machinery includes: The depth of the agricultural machinery's tires in the mud is obtained, and the installation height above the ground is corrected based on the depth of the tires in the mud to obtain the effective installation height. The pitch angle of the agricultural machinery is also obtained, and the preset initial pitch angle is corrected based on the pitch angle to obtain the effective pitch angle. The first correction distance is determined based on the effective installation height, the effective pitch angle, the preset initial roll angle, the preset focal length, the pixel position, and the installation longitudinal distance; The roll angle of the agricultural machinery is obtained, and the preset initial roll angle is corrected based on the roll angle to obtain the effective roll angle. Based on the first correction distance, the vehicle roll angle, the pixel horizontal coordinate, the principal point horizontal coordinate, the effective roll angle, the effective installation height, and the preset focal length, the left correction distance and the right correction distance are obtained. Based on the left-side correction distance and the right-side correction distance, the distance information between the target field ridge and the agricultural machinery is obtained.

[0008] In one embodiment, the step of obtaining the distance information between the target field ridge and the agricultural machinery based on the left-side corrected distance and the right-side corrected distance includes: Obtain the main straight line of the target field ridge in the image of the working direction; The intersection point of the main straight line and the center line of the image of the working direction is taken as the distance calculation reference point; Based on the coordinates of the distance calculation reference point, the installation longitudinal distance, the left correction distance, and the right correction distance, the relative distance from the front wheel landing point of the agricultural machinery to the target field ridge is obtained, and the relative distance is used as the distance information between the target field ridge and the agricultural machinery.

[0009] In one embodiment, the step of determining the turning point of the agricultural machinery based on the distance information and the operating parameters includes: A first safety threshold and a second safety threshold are determined based on the preset minimum turning radius and the preset safety distance in the operating parameters, wherein the second safety threshold is greater than the first safety threshold. If the distance information is not greater than the first safety threshold, the agricultural machinery will turn around immediately. If the distance information is greater than the first safety threshold and not greater than the second safety threshold, preparing to turn around will be the timing for the agricultural machinery to turn around; If the distance information is greater than the second safety threshold, normal operation will be used as the time for the agricultural machinery to turn around.

[0010] In one embodiment, the step of prompting the driver to turn the agricultural machinery around according to the indicated turning time includes: Obtain the current speed of the agricultural machinery; Based on the distance information and the current driving speed, determine the remaining time for the agricultural machinery to reach the target field ridge; The system provides information on the timing of the U-turn and the remaining time, enabling the driver to control the agricultural machinery to turn around based on the timing and remaining time.

[0011] Furthermore, to achieve the above objectives, this application also proposes a turning-around timing indicator device, which is applied to agricultural machinery equipped with an image acquisition component, and the device includes: An image acquisition module is used to acquire an image of the agricultural machinery's operating direction through the image acquisition component; The distance determination module is used to perform target detection on the image of the working direction to obtain the distance information between the target field ridge and the agricultural machinery; The timing determination module is used to acquire the operating parameters of the agricultural machinery and determine the turning time of the agricultural machinery based on the distance information and the operating parameters. The timing prompt module is used to prompt the timing of the U-turn, so that the driver can control the agricultural machinery to turn around according to the timing of the U-turn.

[0012] In addition, to achieve the above objectives, this application also proposes an agricultural machine, which includes: an image acquisition component; The agricultural machinery also includes: a memory, a processor, and a turning-off timing prompting program stored in the memory and executable on the processor. When the turning-off timing prompting program is executed by the processor, it implements the steps of the turning-off timing prompting method described above.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the turning timing prompting method described above.

[0014] This application provides a method for indicating when to turn around, applied to agricultural machinery equipped with an image acquisition component. The method includes: acquiring an image of the agricultural machinery's operating direction through the image acquisition component; performing target detection on the operating direction image to obtain distance information between the target field ridge and the agricultural machinery; acquiring the operating parameters of the agricultural machinery, and determining the timing for turning around the agricultural machinery based on the distance information and the operating parameters; and indicating the timing for turning around so that the driver can control the agricultural machinery to turn around according to the timing.

[0015] The U-turn timing prompting method of this application acquires an image of the working direction in front of the agricultural machinery through an image acquisition component, identifies the target field ridge in the working direction image through target detection, determines the distance information between the target field ridge and the agricultural machinery, and then determines the U-turn timing of the agricultural machinery based on the distance information and the operating parameters of the agricultural machinery, and prompts the U-turn timing, so that the driver can control the agricultural machinery to turn around according to the prompt timing, realizing accurate judgment of the U-turn timing without relying on the driver's judgment based on experience. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the agricultural machinery structure of the hardware operating environment involved in the embodiments of this application; Figure 2 A comparative diagram showing the turning paths of agricultural machinery at different turning times; Figure 3 This is a flowchart illustrating the first embodiment of the U-turn timing prompting method of this application; Figure 4 This is a flowchart illustrating the second embodiment of the U-turn timing prompting method of this application; Figure 5 This is a schematic diagram of the agricultural machinery display and control unit interface of this application; Figure 6 This is a flowchart illustrating the third embodiment of the U-turn timing prompting method of this application; Figure 7 This is a structural block diagram of the U-turn timing indicator device of this application.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0021] Reference Figure 1 , Figure 1 This is a schematic diagram of the agricultural machinery structure of the hardware operating environment involved in the embodiments of this application.

[0022] like Figure 1 As shown, the agricultural machine may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may be connected to a display screen; optionally, the user interface 1003 may include a standard wired interface or a wireless interface. In this application, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0023] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on agricultural machinery and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0024] like Figure 1 As shown, the memory 1005, which is identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a turn-around timing prompt program.

[0025] It should be noted that high-speed rice transplanters are widely used in rice planting. Due to the limitations of water management along paddy field ridges, individual paddy field plots are typically small and have clearly defined boundaries. When the transplanter completes a single row of transplanting and reaches the end of the plot (the ridge), it must perform a "U"-shaped turn to rotate the machine 180° and align it with the next adjacent row. Currently, the timing of this turn relies primarily on the driver's experience, leading to inaccurate judgment and further affecting transplanting quality. (Refer to...) Figure 2 , Figure 2 This is a comparative diagram showing the turning paths of agricultural machinery at different turning times, such as... Figure 2 As shown, when a rice transplanter performs a "U" shaped turn at the edge of the field, the timing of the turn directly affects the quality of the turn path and the operational efficiency. When the driver triggers the turn at the appropriate time (i.e.,...) Figure 2 (For U-shaped turns, the rice transplanter can smoothly complete the turn with a "U" shaped trajectory and accurately cut into the next row's working position, without creating gaps at the edge of the field or interfering with the field ridges.) When the driver triggers the turn too early (i.e., Figure 2 If the U-turn is made too early (the rice transplanter starts turning before it has reached a position close enough to the field ridge), a large gap will appear between the transplanter and the next row's work position after the turn, resulting in a noticeable unplanted area at the edge of the field. This not only wastes land resources but also affects subsequent finishing work. If the driver triggers the U-turn too late (i.e.,...), the transplanter will not be able to complete the U-turn. Figure 2 (The U-turn is made too late). The rice transplanter only begins to turn when it is too close to the paddy field ridge, resulting in insufficient turning space. During the turning process, the transplanter is prone to collision or interference with the ridge. At this time, the driver often needs to move forward and backward multiple times to complete the turn, which not only reduces the operation efficiency, but also damages the ridge. Furthermore, repeated rolling will damage the soil structure of the paddy field, affecting the quality of subsequent rice transplanting.

[0026] Therefore, accurate judgment of the turning point is crucial for rice transplanter turning operations at the edge of the field. However, due to inherent differences in the skill level, reaction speed, and spatial judgment ability of different drivers, relying on manual experience to judge the turning point timing cannot guarantee that every turn will be triggered at the appropriate time, resulting in inconsistent turning quality and affecting the overall efficiency and quality of rice transplanting operations.

[0027] Therefore, in order to solve the above-mentioned defects, this embodiment provides a method for prompting the timing of a U-turn. The method is applied to agricultural machinery equipped with an image acquisition component. The method includes: acquiring an image of the working direction of the agricultural machinery through the image acquisition component; performing target detection on the image of the working direction to obtain distance information between the target field ridge and the agricultural machinery; acquiring the operating parameters of the agricultural machinery, and determining the timing of the U-turn of the agricultural machinery based on the distance information and the operating parameters; and prompting the timing of the U-turn so that the driver can control the agricultural machinery to turn around according to the timing of the U-turn.

[0028] This embodiment acquires an image of the working direction in front of the agricultural machinery through an image acquisition component, identifies the target field ridge in the working direction image through target detection, determines the distance information between the target field ridge and the agricultural machinery, and then determines the timing for the agricultural machinery to turn around based on the distance information and the operating parameters of the agricultural machinery, and prompts the driver to control the agricultural machinery to turn around according to the prompt timing, thus realizing accurate judgment of the timing for turning around without relying on the driver's experience.

[0029] For ease of understanding, the following is combined with Figures 3 to 7 The method for indicating the timing of a U-turn provided in the embodiments of this application will be described in detail.

[0030] Reference Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the U-turn timing prompting method of this application. The first embodiment of the U-turn timing prompting method of this application is presented as follows: Figure 3 As shown, in this embodiment, the method is applied to agricultural machinery equipped with an image acquisition component, and the method includes: Step S10: Obtain the working direction image of the agricultural machinery through the image acquisition component.

[0031] It should be noted that the turning timing prompting method provided in this embodiment can be applied to the aforementioned agricultural machinery. This agricultural machinery can be any agricultural operation machinery equipped with image acquisition components, such as high-speed rice transplanters, tractors, or sprayers equipped with cameras. This embodiment does not impose any limitations on this. For ease of subsequent understanding, this embodiment and the following embodiments can be described using the aforementioned agricultural machinery. Furthermore, it should be noted that the aforementioned agricultural machinery can also be equipped with a display and control unit, a combined navigation unit, and an electric steering unit. The display and control unit is used to display the images acquired by the image acquisition components and various prompts; the combined navigation unit is used to measure the position, speed, and attitude information of the agricultural machinery in real time; and the electric steering unit is used to respond to steering commands to control the steering of the agricultural machinery.

[0032] It is understood that the aforementioned image acquisition component can be a high-definition camera installed in front of the agricultural machinery, such as a camera with night vision or infrared supplementary light function. This image acquisition component is used to acquire video or image data in the direction of the agricultural machinery's movement in real time.

[0033] It is also understood that the above-mentioned working direction image can be an image frame taken in real time by the image acquisition component of the agricultural machinery along the direction of the machinery's movement during the operation. For example, when a rice transplanter is working in a paddy field, the image acquisition component takes an image containing the scene of the farmland and the ridges in front of it.

[0034] In its implementation, the aforementioned agricultural machinery acquires real-time images of the working direction ahead of it via an image acquisition component. Specifically, the image acquisition component is installed at the front of the machinery, for example, on the top of the cab or the front crossbeam of a rice transplanter. The lens of the image acquisition component faces the direction of travel of the machinery and can be installed at a downward angle of 30° to 45° to ensure that, during normal operation, it can capture images including the farmland ahead and the field ridges. After the agricultural machinery starts the image acquisition component, it begins to continuously acquire images of the working direction and transmits these images to the display and control unit. The display and control unit receives and displays the working direction image and stores it for subsequent processing.

[0035] Step S20: Perform target detection on the working direction image to obtain the distance information between the target field ridge and the agricultural machinery.

[0036] It should be understood that the above-mentioned object detection can be a process of identifying and locating the field ridge region in the image through a preset object detection model, such as a deep learning-based object detection algorithm or image segmentation algorithm, and this application does not limit it.

[0037] It should also be understood that the aforementioned target field ridge can be the field ridge at the boundary of the agricultural machinery operation plot, that is, the raised area at the boundary of the paddy field plot. The aforementioned distance information can be the relative distance between the target field ridge and the agricultural machinery. It should be noted that the specific reference point on the agricultural machinery corresponding to this distance information can be set according to the actual application scenario, and this embodiment does not impose specific restrictions on it.

[0038] In its implementation, the agricultural machinery performs target detection on the acquired image of the work direction to identify the target field ridge in the image. Specifically, the machinery can input the image of the work direction into a pre-trained target detection model, which then identifies and locates the features of the field ridge in the image. After detecting the target field ridge, the machinery further determines its position in the image and calculates the relative distance between the target field ridge and the machinery based on this position information and the calibration parameters of the image acquisition unit, outputting this distance information.

[0039] Step S30: Obtain the operating parameters of the agricultural machinery, and determine the turning point of the agricultural machinery based on the distance information and the operating parameters.

[0040] It should be noted that the aforementioned operating parameters can be parameters related to the operating status of the agricultural machinery, such as preset operating parameters and / or real-time operating parameters, which are not limited in this application. The aforementioned turning timing can be information used to indicate the type of operation the driver should perform when the agricultural machinery approaches the field ridge, and the turning timing is used to prompt the driver to take the appropriate action when approaching the field ridge.

[0041] In its implementation, the agricultural machinery acquires relevant operating parameters. Then, based on the obtained distance information and these operating parameters, it determines when to turn around. Specifically, the machinery can acquire these operating parameters through a control unit or a display unit. These parameters can be pre-stored fixed parameters or dynamically collected parameters in real time. Subsequently, the machinery comprehensively analyzes the distance information and operating parameters to determine its current position relative to the target field ridge, thereby determining the appropriate time to turn around. This turning time reflects the type of operation the machinery should perform in its current state; for example, it may instruct the driver to immediately perform a turning operation or instruct the driver to continue normal operations. After determining the turning time, the machinery transmits this information to a prompting module or display module for subsequent prompting to the driver.

[0042] Step S40: Prompt the driver to turn the agricultural machinery around according to the indicated turning time.

[0043] It is understood that the aforementioned prompts may be delivered to the driver through visual information displayed by an image display component, sound signals emitted by an audible alarm component, or a combination of multiple methods; this application does not impose any limitations on this. The aforementioned driver may be an operator who controls agricultural machinery for operation.

[0044] In its implementation, the aforementioned agricultural machinery prompts the driver to determine the appropriate U-turn timing, enabling the driver to control the machinery to make the turn accordingly. Specifically, after determining the U-turn timing, the agricultural machinery presents this timing to the driver through a prompt. This prompt can be achieved through one or more combinations of methods such as video feeds from the display and control unit, audible alarms, and screen flashing, to attract the driver's attention. Upon receiving the prompt, the driver manually controls the agricultural machinery to perform the corresponding operation based on the type of operation indicated by the prompt. For example, when the prompt indicates an immediate U-turn, the driver turns the steering wheel to the left or right to its maximum position, causing the agricultural machinery to perform a "U"-shaped U-turn.

[0045] This embodiment acquires an image of the working direction using an image acquisition component, performs target detection on the image to obtain the distance information between the target field ridge and the agricultural machinery, and then determines the turning point by combining the agricultural machinery's operating parameters. The timing of the turning point is then indicated so that the driver can control the agricultural machinery to turn around. This achieves accurate indication of the turning point timing, thereby solving the technical problem of inaccurate judgment due to reliance on driver experience in judging the turning point timing.

[0046] Reference Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the U-turn timing prompting method of this application. Based on the first embodiment described above, a second embodiment of the U-turn timing prompting method of this application is proposed.

[0047] Furthermore, in order to accurately determine the distance information between the target field ridge and the agricultural machinery, in this embodiment, the step of performing target detection on the working direction image to obtain the distance information between the target field ridge and the agricultural machinery includes: Step S201: Perform target detection on the work direction image to obtain the pixel position of the target field ridge in the work direction image.

[0048] It should be noted that the aforementioned pixel positions can be the coordinate information of the target field ridge in the image of the working direction, such as the pixel coordinates of a feature point or multiple feature points on the target field ridge in the image.

[0049] In its implementation, the aforementioned agricultural machinery performs target detection on the image of the work direction to identify the pixel position of the target field ridge in the image. Specifically, the machinery inputs the image of the work direction into a pre-trained target detection model, which identifies and locates the field ridge features in the image. After detecting the target field ridge, the machinery extracts its pixel position in the image; this pixel position can be the coordinate information of the target field ridge region in the image.

[0050] Step S202: Obtain the preset calibration parameters of the image acquisition component.

[0051] It should be noted that the aforementioned preset calibration parameters can be a set of parameters pre-acquired and stored in the agricultural machinery through a calibration process after the image acquisition component is installed. These preset calibration parameters are used to establish the mapping relationship between image pixel positions and actual spatial distances. For example, they can include intrinsic and extrinsic parameters of the image acquisition component. The intrinsic parameters can include the camera's focal length and the coordinates of the image's principal point, while the extrinsic parameters can include the camera's installation height above the ground, the camera's initial pitch angle, the camera's initial roll angle, and the longitudinal distance from the camera's installation position to the front wheel's contact point. These preset calibration parameters are fixed after calibration and do not need to be recalibrated during subsequent agricultural machinery operations unless the installation position or angle of the image acquisition component changes.

[0052] In its implementation, the aforementioned agricultural machinery acquires preset calibration parameters from the image acquisition component. Specifically, after the image acquisition component is installed and calibrated, the preset calibration parameters are written into the storage module of the agricultural machinery's display and control unit or control unit. When performing distance calculations, the agricultural machinery reads these preset calibration parameters from the storage module to map the pixel position of the target field ridge to a distance value in actual space.

[0053] More specifically, the aforementioned preset calibration parameters can be obtained in advance through the following calibration process: First, park the agricultural machinery on a flat surface. Taking the point where the front wheels of the machinery touch down as the starting point, use a measuring tape to extend along the direction of the machinery's movement and mark the position at a distance from the preset minimum turning radius. Then, adjust the angle of the image acquisition component so that the red scale area on the display and control unit's video interface coincides exactly with this mark. At this point, fix the current angle and position of the image acquisition component and click "Confirm" on the display interface to complete the calibration. Alternatively, the image acquisition component can be fixed at an initial angle (e.g., the lens is horizontally downwards at 30° to 45°), ensuring that the aforementioned mark is displayed near the center of the display and control unit's video interface, as referenced. Figure 5 , Figure 5 This is a schematic diagram of the agricultural machinery display and control unit interface of this application, such as... Figure 5As shown, the video screen of the agricultural machinery display and control unit of this application has a red scale area (i.e., the "U-turn area") superimposed on it. This red scale area represents the U-turn trigger position corresponding to the preset minimum turning radius. During calibration, after the operator marks the ground, they observe the position of the mark on the screen through the video screen of the display and control unit. If the position of the ground mark on the screen does not coincide with the red scale area, the operator can use the "move up" or "move down" buttons on the interface to move the position of the red scale area up or down until the red scale area completely coincides with the ground mark on the screen. At this point, clicking the "OK" button completes the calibration. After calibration, the position of the red scale area on the screen is fixed and used for visual cues of subsequent U-turn timing. In addition, the video screen also displays distance indication information of "far from the edge of the field" and "near the edge of the field" to help the operator judge the actual distance relationship corresponding to different areas in the current screen. After the above calibration process is completed, the preset calibration parameters are fixedly stored in the agricultural machinery for subsequent distance calculations.

[0054] To facilitate understanding, the following example is provided for illustration, but it does not impose specific limitations on this embodiment. For instance, after the high-speed rice transplanter is equipped with a camera at the factory, the transplanter is parked on a flat surface. Taking the point where the front wheels touch down as the starting point, a distance of 2.5 meters (i.e., the preset minimum turning radius) is measured along the direction of travel using a ruler, and a ground mark is made at this location. Then, the camera angle is adjusted so that the red scale area on the display and control unit screen aligns with this mark, and "OK" is clicked to complete the calibration. Next, the height of the camera installation position from the ground is measured to be 1.2 meters, and the longitudinal distance from the camera installation position to the front wheel touch down point is measured to be 0.8 meters. These two values ​​are input into the display and control unit interface. After calibration, the above parameters are written into the storage module of the display and control unit, and no further calibration is required during subsequent rice transplanter operations.

[0055] Step S203: Based on the preset calibration parameters and the pixel position, obtain the reference distance between the target field ridge and the agricultural machinery.

[0056] It is understandable that the aforementioned reference distance can be an initial distance value calculated based on preset calibration parameters and pixel positions, that is, the longitudinal distance obtained by mapping the pixel positions of the target field ridge in the image to the actual space based on the calibration parameters of the image acquisition component.

[0057] In practice, the agricultural machinery calculates the reference distance between the target field ridge and the machinery based on the acquired preset calibration parameters and the pixel position of the target ridge. Specifically, the machinery can read the preset calibration parameters from the storage module. These parameters include the camera's focal length, image principal point coordinates, camera mounting height above the ground, initial camera pitch angle, initial camera roll angle, and longitudinal distance from the camera mounting position to the front wheel's contact point. Next, the machinery substitutes the pixel position of the target field ridge into a reference mapping relationship established based on the pinhole camera monocular ranging principle, and uses the aforementioned preset calibration parameters to map this pixel position into a longitudinal distance in actual space, thereby obtaining the reference distance between the target field ridge and the machinery.

[0058] Step S204: Obtain the vehicle posture parameters of the agricultural machinery, and correct the reference distance based on the vehicle posture parameters to obtain the distance information between the target field ridge and the agricultural machinery.

[0059] It should be noted that the above-mentioned vehicle attitude parameters can be data that characterizes the real-time attitude of the agricultural machinery during operation. For example, they can include parameters such as the vehicle pitch angle, roll angle, and tire mud penetration depth. These vehicle attitude parameters can be obtained in real time through the integrated navigation unit. Specifically, the above-mentioned integrated navigation unit can be a Global Navigation Satellite System / Inertial Measurement Unit (GNSS / IMU) integrated navigation unit, which can measure the precise position, attitude, and speed information of the agricultural machinery in real time.

[0060] In its implementation, after calculating the baseline distance, the agricultural machinery acquires its vehicle attitude parameters. Specifically, the agricultural machinery can acquire these parameters in real time through a combined navigation unit, reflecting its real-time attitude during operation. Then, based on these acquired attitude parameters, the agricultural machinery corrects the baseline distance to compensate for distance measurement deviations caused by changes in vehicle attitude during actual operation, thus obtaining the corrected distance information.

[0061] This embodiment obtains the pixel position of the target field ridge in the image by performing target detection on the image of the working direction, and maps the pixel position to a reference distance by combining preset calibration parameters. Then, the reference distance is corrected according to the vehicle posture parameters, so as to accurately determine the distance information between the target field ridge and the agricultural machinery.

[0062] To further accurately determine the aforementioned reference distance, in this embodiment, the step of obtaining the reference distance between the target field ridge and the agricultural machinery based on the preset calibration parameters and the pixel position includes: Step S2031: Determine the pitch projection coefficient based on the preset initial pitch angle and the preset focal length in the preset calibration parameters.

[0063] It should be noted that the aforementioned preset initial pitch angle can be the pitch angle of the camera relative to the horizontal plane when it is installed. The aforementioned preset focal length can be the optical focal length parameter of the camera lens. The aforementioned pitch projection coefficient can be an intermediate parameter determined based on the preset initial pitch angle and the preset focal length.

[0064] In its implementation, the agricultural machinery extracts a preset initial pitch angle and a preset focal length from the preset calibration parameters, and determines the pitch projection coefficient based on these parameters. Specifically, after obtaining the preset calibration parameters, the agricultural machinery reads the preset initial pitch angle and the preset focal length from these parameters, multiplies the preset focal length by the sine of the preset initial pitch angle, and obtains the pitch projection coefficient. This pitch projection coefficient is used subsequently in conjunction with the longitudinal offset projection amount and the lateral offset projection amount to calculate the denominator of the projection distance.

[0065] In practical implementation, the aforementioned agricultural machinery extracts the preset initial pitch angle and preset focal length from the preset calibration parameters, and determines the pitch projection coefficient based on the preset initial pitch angle and preset focal length. Specifically, after obtaining the preset calibration parameters, the agricultural machinery reads the preset initial pitch angle and preset focal length from the preset calibration parameters, multiplies the preset focal length by the sine value of the preset initial pitch angle, and obtains the pitch projection coefficient. More specifically, refer to the following formula: ; in, For pitch projection coefficients, For preset focal length, This is the preset initial pitch angle.

[0066] Step S2032: Based on the preset initial pitch angle, the pixel ordinate of the pixel position, the principal point ordinate in the preset calibration parameters, and the preset initial roll angle in the preset calibration parameters, obtain the longitudinal offset projection amount.

[0067] It is understood that the aforementioned pixel ordinates can be the vertical pixel positions of the target field ridge in the image along the working direction. The aforementioned principal point ordinates can be the vertical coordinates of the image principal point in the image plane. It is understood that the aforementioned image principal point is the intersection of the camera's optical axis and the imaging plane, and its coordinates are part of the preset calibration parameters.

[0068] In its implementation, the aforementioned agricultural machinery obtains the longitudinal offset projection based on a preset initial pitch angle, the pixel ordinate of the pixel position, the principal point ordinate in the preset calibration parameters, and the preset initial roll angle. Specifically, the agricultural machinery reads the principal point ordinate and the preset initial roll angle from the preset calibration parameters and obtains the pixel ordinate of the target field ridge determined in the preceding steps. Next, the agricultural machinery calculates the difference between this pixel ordinate and the principal point ordinate, and then multiplies this difference by the cosine of the preset initial pitch angle and the cosine of the preset initial roll angle, respectively, to obtain the longitudinal offset projection. More specifically, refer to the following formula: ; in, This is the vertical offset projection amount. The vertical coordinate is the pixel coordinate. The ordinate of the principal point, To preset the initial pitch angle, This is the preset initial roll angle.

[0069] Step S2033: Based on the preset initial pitch angle, the pixel x-coordinate of the pixel position, the principal point x-coordinate in the preset calibration parameters, and the preset initial roll angle, obtain the lateral offset projection amount.

[0070] It should be noted that the above pixel x-coordinates can be the horizontal pixel positions of the target field ridge in the image along the work direction. The above principal point x-coordinates can be the horizontal coordinates of the principal point in the image plane.

[0071] In practical implementation, the aforementioned agricultural machinery obtains the lateral offset projection amount based on the preset initial pitch angle, the pixel abscissa of the pixel position, the principal point abscissa in the preset calibration parameters, and the preset initial roll angle. Specifically, the agricultural machinery reads the principal point abscissa and the preset initial roll angle from the preset calibration parameters and obtains the pixel abscissa of the target field ridge determined in the aforementioned steps. Next, the agricultural machinery calculates the difference between this pixel abscissa and the principal point abscissa, and then multiplies this difference by the cosine of the preset initial pitch angle and the sine of the preset initial roll angle, respectively, to obtain the lateral offset projection amount. More specifically, refer to the following formula: ; in, This represents the lateral offset projection amount. The x-coordinate is the pixel coordinate. The x-coordinate of the main point.

[0072] Step S2034: Obtain the projection distance numerator based on the preset focal length and the installation height above the ground in the preset calibration parameters.

[0073] It should be noted that the above-mentioned installation height from the ground can be the vertical height of the image acquisition component's installation position from the ground.

[0074] In practical implementation, the aforementioned agricultural machinery obtains the numerator of the projected distance based on the preset focal length and the installation height above the ground in the preset calibration parameters. Specifically, the agricultural machinery reads the installation height above the ground from the preset calibration parameters and multiplies this installation height by the preset focal length to obtain the numerator of the projected distance. This numerator of the projected distance is used subsequently to calculate the reference distance together with the denominator of the projected distance. More specifically, please refer to the following formula: ; in, For the projected distance molecule, For installation height above the ground, This is the preset focal length.

[0075] Step S2035: Obtain the denominator of the projection distance based on the pitch projection coefficient, the longitudinal offset projection amount, and the lateral offset projection amount.

[0076] It is understandable that the denominator of the above projection distance can be a calculated value obtained by substituting the pitch projection coefficient, longitudinal offset projection amount, and lateral offset projection amount into the denominator of the reference mapping formula.

[0077] In practical implementation, the agricultural machinery obtains the denominator of the projection distance based on the pitch projection coefficient, longitudinal offset projection amount, and lateral offset projection amount. Specifically, the agricultural machinery obtains the pitch projection coefficient, longitudinal offset projection amount, and lateral offset projection amount determined in the preceding steps, adds the longitudinal offset projection amount to the pitch projection coefficient, and then subtracts the lateral offset projection amount to obtain the denominator of the projection distance. More specifically, the following formula can be used as a reference: ; in, This is the denominator for the projected distance.

[0078] Step S2036: Based on the numerator of the projection distance, the denominator of the projection distance, and the installation longitudinal distance in the preset calibration parameters, obtain the reference distance between the target field ridge and the agricultural machinery.

[0079] It should be noted that the aforementioned longitudinal installation distance can be the longitudinal distance from the camera installation location to the front wheel contact point.

[0080] In practice, the agricultural machinery obtains the reference distance between the target field ridge and the machinery based on the numerator and denominator of the projected distance, as well as the installation longitudinal distance from the preset calibration parameters. Specifically, the machinery obtains the numerator and denominator of the projected distance determined in the preceding steps and reads the installation longitudinal distance from the preset calibration parameters. Then, the machinery divides the numerator by the denominator and subtracts the installation longitudinal distance from the resulting quotient to obtain the reference distance between the target field ridge and the machinery. More specifically, the following formula can be used as a reference: ; in, As the reference distance, For the longitudinal distance of installation.

[0081] This embodiment determines the pitch projection coefficient based on a preset initial pitch angle and a preset focal length, obtains the longitudinal offset projection amount based on the pixel ordinate and principal point ordinate, the preset initial pitch angle, and the preset initial roll angle, obtains the lateral offset projection amount based on the pixel abscissa and principal point abscissa, the preset initial pitch angle, and the preset initial roll angle, obtains the projection distance numerator based on the installation height above the ground and the preset focal length, obtains the projection distance denominator based on the pitch projection coefficient, the longitudinal offset projection amount, and the lateral offset projection amount, and finally obtains the reference distance based on the projection distance numerator, the projection distance denominator, and the installation longitudinal distance, thus achieving accurate mapping from the image pixel position to the actual spatial longitudinal distance.

[0082] Considering that the mud depth in paddy fields varies during agricultural machinery operations, the machinery body may experience pitching, rolling, and tire sinking, which can cause deviations in the mapping relationship of the aforementioned reference distance. Therefore, it is necessary to obtain the machinery body posture parameters to correct the reference distance. Thus, in this embodiment, the step of obtaining the machinery body posture parameters, correcting the reference distance based on the posture parameters, and obtaining the distance information between the target field ridge and the machinery includes: Step S2041: Obtain the depth of the agricultural machinery's tires in the mud, correct the installation height from the ground based on the depth of the tires in the mud to obtain the effective installation height, and obtain the vehicle body pitch angle of the agricultural machinery, correct the preset initial pitch angle based on the vehicle body pitch angle to obtain the effective pitch angle.

[0083] It should be noted that the above-mentioned tire mud penetration depth can be the vertical depth at which the entire vehicle body sinks when the tires sink into the mud layer during agricultural machinery operation in paddy fields. This depth can be obtained through vehicle height sensors or global navigation satellite system (GNSS) altitude difference.

[0084] It should also be noted that the aforementioned effective installation height can be the actual effective height obtained after correcting for the tire mud penetration depth from the installation ground clearance. The aforementioned vehicle pitch angle can be the angle at which the agricultural machinery body rotates around its lateral axis, i.e., the tilt angle of the body in the longitudinal direction. This angle can represent whether the front of the vehicle is raised or lowered, and it can be obtained in real time through the integrated navigation unit. The aforementioned effective pitch angle can be the actual effective pitch angle obtained after correcting for the preset initial pitch angle.

[0085] In practical implementation, the aforementioned agricultural machinery acquires the depth of its tires embedded in mud and corrects the installation height from the ground based on this depth to obtain the effective installation height. Simultaneously, the agricultural machinery acquires its vehicle body pitch angle and corrects the preset initial pitch angle based on this angle to obtain the effective pitch angle. Specifically, the agricultural machinery acquires the tire depth of its tires in real time using a vehicle height sensor or GNSS altitude difference measurement. The effective installation height is obtained by subtracting the tire depth of the tires from the installation height obtained during the calibration phase. Simultaneously, the agricultural machinery acquires the vehicle body pitch angle in real time using a combined navigation unit. The preset initial pitch angle obtained during the calibration phase is added to the vehicle body pitch angle to obtain the effective pitch angle. This effective installation height and effective pitch angle are used for subsequent correction of the reference distance to eliminate ranging deviations caused by tire depth in mud and vehicle body pitch. More specifically, the following formula can be used as a reference: ; in, For effective installation height, For installation height above the ground, This refers to the depth to which the tire penetrates the mud. For the effective pitch angle, To preset the initial pitch angle, The vehicle body pitch angle.

[0086] Step S2042: Determine the first correction distance based on the effective installation height, the effective pitch angle, the preset initial roll angle, the preset focal length, the pixel position, and the installation longitudinal distance.

[0087] It should be understood that the aforementioned preset initial roll angle can be the roll angle of the camera relative to the horizontal plane when it is installed, that is, the angle at which the camera rotates around the front-to-back axis. The aforementioned first correction distance can be a distance value calculated based on the effective installation height, effective pitch angle, preset initial roll angle, preset focal length, pixel position, and installation longitudinal distance, after being corrected for tire mud entry and pitch angle.

[0088] In its implementation, the agricultural machinery determines the first correction distance based on the effective installation height, effective pitch angle, preset initial roll angle, preset focal length, pixel position, and installation longitudinal distance. Specifically, the agricultural machinery obtains the effective installation height and effective pitch angle determined in the preceding steps, and reads the preset initial roll angle, preset focal length, and installation longitudinal distance from preset calibration parameters, while simultaneously obtaining the pixel position of the target field ridge determined in the preceding steps. Next, the agricultural machinery substitutes these parameters into a reference mapping relationship based on the pinhole camera monocular ranging principle, where the effective installation height replaces the installation ground clearance during calibration, the effective pitch angle replaces the preset initial pitch angle during calibration, and the preset initial roll angle remains unchanged. This recalculates the distance between the target field ridge and the agricultural machinery, yielding the first correction distance. This first correction distance is a distance value that incorporates tire mud penetration correction and pitch angle correction based on the reference distance. More specifically, the following formula can be referenced:

[0089] in, This is the first corrected distance.

[0090] Step S2043: Obtain the roll angle of the agricultural machinery, and correct the preset initial roll angle based on the roll angle to obtain the effective roll angle.

[0091] It should be noted that the aforementioned vehicle roll angle can be the angle at which the agricultural machinery body rotates around its longitudinal axis, i.e., the tilt angle of the body in the left-right direction. The body can tilt to the left or right using this angle, which can be obtained in real time through the integrated navigation unit. The aforementioned effective roll angle can be the actual effective roll angle obtained after correcting the preset initial roll angle for vehicle roll angle.

[0092] In its implementation, the agricultural machinery acquires its roll angle and corrects the preset initial roll angle to obtain the effective roll angle. Specifically, the agricultural machinery acquires the roll angle in real time through the integrated navigation unit, adds the preset initial roll angle obtained during the calibration phase to the roll angle, and obtains the effective roll angle. This effective roll angle is used for subsequent distance correction to eliminate the ranging deviation caused by the roll of the vehicle. More specifically, refer to the following formula: ; in, For the effective roll angle, This refers to the vehicle's roll angle.

[0093] Step S2044: Based on the first correction distance, the vehicle roll angle, the pixel horizontal coordinate, the principal point horizontal coordinate, the effective roll angle, the effective installation height, and the preset focal length, obtain the left correction distance and the right correction distance.

[0094] It should be noted that the aforementioned left-side correction distance can be the correction distance value corresponding to the left-side region of the image obtained after applying roll angle correction to the first correction distance. Similarly, the aforementioned right-side correction distance can be the correction distance value corresponding to the right-side region of the image obtained after applying roll angle correction to the first correction distance.

[0095] In its implementation, the agricultural machinery obtains the left and right correction distances based on the first correction distance, vehicle roll angle, pixel horizontal coordinate, principal point horizontal coordinate, effective roll angle, effective installation height, and preset focal length. Specifically, the machinery acquires the first correction distance, effective roll angle, effective installation height, and pixel horizontal coordinate of the target field ridge determined in the preceding steps, and reads the principal point horizontal coordinate and preset focal length from preset calibration parameters. The machinery calculates the difference between the pixel horizontal coordinate and the principal point horizontal coordinate, then multiplies this difference by the ratio of the effective installation height to the preset focal length, and then by the sine of the effective roll angle to obtain the roll correction term. Based on this, the machinery multiplies the first correction distance by the cosine of the vehicle roll angle, subtracts the aforementioned roll correction term, and obtains the left correction distance; simultaneously, it multiplies the first correction distance by the cosine of the vehicle roll angle, adds the aforementioned roll correction term, and obtains the right correction distance. More specifically, the following formula can be referenced: ; in, The corrected distance on the left is, Correcting the distance to the right. For effective roll angle.

[0096] It's also important to note that obtaining the left and right correction distances separately is necessary because when the agricultural machinery rolls (i.e., the vehicle tilts left and right), the image acquisition unit also tilts. This causes an asymmetrical deviation in the distance mapping between the actual ground positions on the left and right sides of the image and the image acquisition unit. Specifically, the left and right regions deviate from the image center to different degrees during roll, resulting in opposite directions of distance influence from pixel offsets at the same lateral position. Therefore, the left and right correction distances need to be calculated separately: one side needs to have the roll correction term subtracted, and the other side needs to have it added, to eliminate the different directional distance measurement deviations caused by roll on both sides, thus ensuring consistent distance indication accuracy on both sides of the image.

[0097] Step S2045: Based on the left-side correction distance and the right-side correction distance, obtain the distance information between the target field ridge and the agricultural machinery.

[0098] In practice, the above-mentioned agricultural machinery can obtain the distance information between the target field ridge and the agricultural machinery based on the left and right correction distances.

[0099] This embodiment obtains the effective installation height by correcting the installation height from the ground by acquiring the tire's mud penetration depth, and obtains the effective pitch angle by correcting the preset initial pitch angle by acquiring the vehicle body pitch angle. A first correction distance is determined based on the effective installation height, effective pitch angle, preset initial roll angle, preset focal length, pixel position, and installation longitudinal distance. Then, the effective roll angle is obtained by correcting the preset initial roll angle by acquiring the vehicle body roll angle. The left and right correction distances are obtained based on the first correction distance, vehicle body roll angle, pixel horizontal coordinate, principal point horizontal coordinate, effective roll angle, effective installation height, and preset focal length, respectively. Finally, the distance information is obtained based on the left and right correction distances. This achieves multi-dimensional dynamic correction of the reference distance, eliminating distance measurement deviations caused by factors such as tire mud penetration, vehicle pitch, and roll during paddy field operations, and further improving the accuracy of distance information.

[0100] To accurately determine the specific values ​​of the left and right correction distances in the image to obtain the final distance information, in this embodiment, the step of obtaining the distance information between the target field ridge and the agricultural machinery based on the left and right correction distances includes: Step S2145: Obtain the main straight line of the target field ridge in the working direction image.

[0101] It should be noted that the aforementioned principal line can be the main edge contour line of the target field ridge in the image of the working direction, such as the projection of the edge line formed at the junction of the field ridge and the field into the image. In the image, the field ridge usually appears as an approximately horizontal linear edge, and this principal line can be obtained through target detection or edge extraction.

[0102] In its implementation, the agricultural machinery acquires the main straight line of the target field ridge in the image along the working direction. Specifically, the machinery extracts the main straight line of the target field ridge from the image along the working direction based on the detection results of the identified target field ridge.

[0103] Step S2245: Take the intersection point of the main straight line and the center line of the image of the working direction as the distance calculation reference point.

[0104] It should be noted that the aforementioned image center line can be a virtual straight line passing through the geometric center of the image along the longitudinal direction in the working direction image, dividing the image into two symmetrical regions, left and right. The aforementioned distance calculation reference point can be the intersection of the main line and the image center line in the image plane, and this intersection point serves as the reference position for calculating the distance between the target field ridge and the agricultural machinery.

[0105] In its implementation, after acquiring the main straight line of the target field ridge, the agricultural machinery takes the intersection of the main straight line and the center line of the image in the working direction as the distance calculation reference point. Specifically, the agricultural machinery determines the position of the center line of the image in the working direction, which is a virtual straight line passing through the geometric center of the image along the longitudinal direction. Next, the agricultural machinery calculates the intersection of the main straight line and the center line in the image plane and uses this intersection point as the distance calculation reference point. This distance calculation reference point is located at the image center line and is used to subsequently determine the corresponding corrected distance value at that point, serving as the final distance information between the target field ridge and the agricultural machinery.

[0106] Step S2345: Based on the coordinate position of the reference point, the installation longitudinal distance, the left correction distance, and the right correction distance, obtain the relative distance from the front wheel landing point of the agricultural machinery to the target field ridge, and use the relative distance as the distance information between the target field ridge and the agricultural machinery.

[0107] It should be understood that the aforementioned front wheel contact point can be the point where the front wheel of the agricultural machinery contacts the ground, and this point serves as a reference point for the distance between the agricultural machinery and the target field ridge. The aforementioned relative distance can be the actual distance from the front wheel contact point to the target field ridge in the longitudinal direction, and this relative distance is the final distance information between the target field ridge and the agricultural machinery.

[0108] In practice, the agricultural machinery calculates the relative distance from the front wheel landing point to the target field ridge based on the coordinates of the distance calculation reference point, the longitudinal installation distance, the left correction distance, and the right correction distance. This relative distance is then used as the distance information between the target field ridge and the agricultural machinery.

[0109] Specifically, the agricultural machinery acquires the coordinates of the distance calculation reference point, which is the intersection of the main straight line of the field ridge and the center line of the image, located at the center line of the image. The agricultural machinery also acquires the left and right correction distances determined in the preceding steps. Since the distance calculation reference point is located on the center line of the image, the left and right correction distances are equal at this point, i.e.: ; in, The coordinates of the distance to the reference point are used for calculation. To calculate the left-side correction distance at the reference point, Calculate the right-side correction distance at the reference point. This is used to calculate the corrected distance value at the reference point.

[0110] Subsequently, the agricultural machinery uses the corrected distance value at the calculated reference point and the longitudinal installation distance to obtain the actual distance from the camera to the field ridge through the following conversion relationship: ; in, This refers to the actual distance from the camera (image acquisition component) to the field ridge.

[0111] Next, the agricultural machinery subtracts the longitudinal distance of the camera installation from the actual distance from the camera to the field ridge to obtain the relative distance from the front wheel contact point to the target field ridge: ; in, This is the relative distance between the point of impact of the front wheel and the target field ridge.

[0112] This relative distance is the distance information between the target field ridge and the agricultural machinery, which is used to determine the timing for the agricultural machinery to turn around.

[0113] This embodiment obtains the main straight line of the target field ridge in the image of the working direction, and takes the intersection of the main straight line and the center line of the image as the distance calculation reference point. Then, based on the coordinate position of the reference point, the installation longitudinal distance, and the left and right correction distances, the relative distance from the front wheel landing point of the agricultural machinery to the target field ridge is obtained. This relative distance is used as the distance information between the target field ridge and the agricultural machinery, realizing the unification of the left and right correction distances into the final distance information, providing a basis for accurately judging the timing of turning around.

[0114] Reference Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the U-turn timing prompting method of this application. Based on the above embodiments, the third embodiment of the U-turn timing prompting method of this application is proposed.

[0115] Furthermore, in order to accurately determine the type of turning operation the agricultural machinery should perform based on the aforementioned distance information, and to provide more targeted prompts, in this embodiment, the step of determining the timing of the agricultural machinery's turning operation based on the distance information and the operating parameters includes: Step S301: Determine a first safety threshold and a second safety threshold based on the preset minimum turning radius and the preset safety distance in the operating parameters, wherein the second safety threshold is greater than the first safety threshold.

[0116] It should be understood that the aforementioned preset minimum turning radius can be the minimum turning radius value required for the agricultural machine to perform a "U" shaped turn during operation. This value is determined by the physical parameters of the agricultural machine. For example, high-speed rice transplanters with different numbers of rows have different minimum turning radii. This value can be obtained by measurement during the calibration stage and stored in the agricultural machine in advance.

[0117] It should also be understood that the aforementioned preset safety distance can be a preset safety margin for turning around, which is used to add a certain distance margin on the basis of the minimum turning radius to ensure that the agricultural machinery can turn safely without colliding with the field ridge when turning around. This value can be preset according to actual operation needs.

[0118] It should be noted that the aforementioned first safety threshold can be a threshold determined based on the sum of a preset minimum turning radius and a preset safe distance. The aforementioned second safety threshold can be a threshold determined based on 1.5 times the sum of the preset minimum turning radius and the preset safe distance, and the second safety threshold is greater than the first safety threshold. The aforementioned first safety threshold is used to define the boundary of the red U-turn area, and the aforementioned second safety threshold is used to define the boundary between the yellow warning area and the green safe area.

[0119] In its implementation, the aforementioned agricultural machinery determines a first safety threshold and a second safety threshold based on the preset minimum turning radius and preset safety distance in the operating parameters. Specifically, the agricultural machinery reads the preset minimum turning radius and preset safety distance from the operating parameters, then adds the preset minimum turning radius and preset safety distance to obtain the first safety threshold; the sum of the preset minimum turning radius and preset safety distance is multiplied by 1.5 to obtain the second safety threshold, which is greater than the first safety threshold. More specifically, the following formula can be referenced: ; in, The first safety threshold, As the second safety threshold, To preset the minimum turning radius, To set a safe distance.

[0120] Step S302: If the distance information is not greater than the first safety threshold, the agricultural machinery shall immediately turn around as the turning point.

[0121] Step S303: If the distance information is greater than the first safety threshold and not greater than the second safety threshold, prepare to turn around as the timing for the agricultural machinery to turn around.

[0122] Step S304: If the distance information is greater than the second safety threshold, normal operation is taken as the time for the agricultural machinery to turn around.

[0123] It should be noted that the above-mentioned turning time can be information on the type of operation that the agricultural machinery should currently perform, used to instruct the driver on the actions to be taken when approaching the field ridge, such as turning around immediately, preparing to turn around, or normal operation.

[0124] In practice, the aforementioned agricultural machinery determines the timing of a U-turn based on a comparison of distance information with the first and second safety thresholds. When the distance information is greater than the second safety threshold, it indicates that the machinery is still far from the field ridge and there is sufficient space to continue normal operation. The machinery uses normal operation as the timing for a U-turn, prompting the driver to continue transplanting rice without needing to perform a U-turn. When the distance information is greater than the first safety threshold but less than the second safety threshold, it indicates that the machinery is approaching the field ridge but has not yet reached the point where an immediate U-turn is necessary. The machinery uses preparing to turn as the timing for a U-turn, prompting the driver to start paying attention to the distance to the edge of the field and prepare for a U-turn. When the distance information is less than the first safety threshold, it indicates that the machinery is very close to the field ridge, and continuing would not provide sufficient space to turn around. The machinery uses immediately turning as the timing for a U-turn, prompting the driver to perform the U-turn immediately.

[0125] Corresponding to the aforementioned classifications, the display interface of the agricultural machinery's control terminal can be equipped with green, yellow, and red scale areas, corresponding to the three types of U-turn opportunities. Areas outside the green scale area indicate that the distance to the field edge is still far, and the machinery is in normal operating condition, requiring no U-turn. The yellow scale area indicates that the machinery is approaching the field edge, requiring the driver to pay attention to distance information and prepare for a U-turn. The red scale area indicates that the machinery has entered the U-turn zone and should be turned around immediately. When the machinery enters the red U-turn zone, the control terminal will also provide a warning through screen flashing and audible alarms to further attract the driver's attention. In addition, the control terminal interface also displays distance information and remaining time, allowing the driver to make necessary preparations in advance.

[0126] Furthermore, when determining the aforementioned green, yellow, and red scale areas, the corresponding image pixel coordinates can be obtained by substituting the aforementioned thresholds into the modified distance formula and then solving the problem in reverse. The positions of the green, yellow, and red scale lines on the display and control terminal are then updated in real time. Specifically, the agricultural machinery substitutes the first and second safety thresholds into the modified distance calculation formula, and through reverse solving, obtains the pixel coordinate positions of each threshold in the image along the working direction. The green, yellow, and red scale lines are then drawn at the corresponding positions on the display interface of the display and control terminal.

[0127] It should also be noted that when the absolute value of the roll angle of the agricultural machinery exceeds a preset angle threshold (e.g., 3°), the tilt of the machinery causes an asymmetrical deviation in the distance mapping between the left and right sides of the image. The machinery automatically adjusts the left and right scale lines to display asymmetrically. Specifically, the left scale line determines its pixel position based on the left-corrected distance, and the right scale line determines its pixel position based on the right-corrected distance, thus ensuring consistent distance indication accuracy on both sides. Through this method, the display and control terminal can present the current warning area to the driver in real time and intuitively, assisting the driver in accurately judging when to turn around.

[0128] This embodiment determines a first safety threshold and a second safety threshold based on the preset minimum turning radius and preset safety distance in the operating parameters. It determines to make an immediate U-turn when the distance information is not greater than the first safety threshold, to prepare to make a U-turn when the distance information is greater than the first safety threshold but not greater than the second safety threshold, and to perform normal operation when the distance information is greater than the second safety threshold. This achieves a graded approach to U-turn timing and provides drivers with clearer and more explicit operational guidance.

[0129] Furthermore, in order to provide the driver with time information regarding the approach to the field ridge while simultaneously indicating the U-turn opportunity, enabling the driver to make more thorough preparations for operation, in this embodiment, the step of indicating the U-turn opportunity so that the driver can control the agricultural machinery to turn around according to the indicated U-turn opportunity includes: Step S41: Obtain the current speed of the agricultural machinery.

[0130] Step S42: Based on the distance information and the current driving speed, determine the remaining time for the agricultural machinery to reach the target field ridge.

[0131] It should be noted that the aforementioned current driving speed can be the real-time driving speed of the agricultural machinery at the current moment, which can be obtained through real-time measurement by the integrated navigation unit. The aforementioned remaining time can be the remaining time required for the agricultural machinery to travel to the target field ridge at the current speed, calculated based on distance information and the current driving speed. This remaining time can be used to assist the driver in judging the urgency of approaching the field ridge.

[0132] In its implementation, the agricultural machinery acquires its current speed. Specifically, the machinery obtains its current speed in real time through a navigation unit. Then, based on the distance information determined in the preceding steps and the acquired current speed, the machinery determines the remaining time to reach the target field ridge. Specifically, the machinery divides the distance information by its current speed to obtain the remaining time.

[0133] Step S43: Prompt the driver to turn the agricultural machinery around based on the turn-around time and the remaining time.

[0134] In practice, after determining the turning opportunity and remaining time, the aforementioned agricultural machinery displays these information, allowing the driver to control the machinery to turn around accordingly. Specifically, the machinery simultaneously presents the determined turning opportunity and remaining time to the driver through a display and control unit. Upon receiving this prompt, the driver can understand the type of operation to be performed based on the turning opportunity, and simultaneously assess the urgency of approaching the field ridge based on the remaining time. This allows the driver to prepare for the operation more calmly and control the machinery to perform the turning maneuver at the appropriate time.

[0135] More specifically, after determining the timing and remaining time for a U-turn, the aforementioned agricultural machinery can display these information to the driver via the display and control unit. Simultaneously, on the display and control unit, when the current speed is less than or equal to 0.1 meters per second, it indicates that the agricultural machinery is stationary or reversing. In this case, calculating the remaining time is meaningless, and the machinery displays the remaining time as a preset symbol (e.g., "--"). When the distance is less than or equal to 0.5 meters, it indicates that the machinery is extremely close to the field ridge. The machinery displays a "Turn around immediately" message on the display and control unit and triggers the highest level of audible and visual alarm to remind the driver to immediately perform the U-turn.

[0136] This embodiment obtains the current driving speed of the agricultural machinery, determines the remaining time to reach the target field ridge based on the distance information and the current driving speed, and prompts the timing of turning around and the remaining time. This allows the driver to know the type of operation to be performed (immediate turn around, prepare to turn around, or normal operation) and also obtain the estimated remaining time to reach the field ridge. Furthermore, it provides the driver with the time information for approaching the field ridge, enabling the driver to make more adequate preparations for the operation.

[0137] In addition, refer to Figure 7 , Figure 7 This is a structural block diagram of the U-turn timing indication device of this application. Figure 7 As shown in the figure, this application also proposes a turning timing prompting device, which is applied to agricultural machinery equipped with an image acquisition component. The device includes: Image acquisition module 701 is used to acquire an image of the working direction of the agricultural machinery through the image acquisition component; The distance determination module 702 is used to perform target detection on the working direction image to obtain distance information between the target field ridge and the agricultural machinery; The timing determination module 703 is used to acquire the operating parameters of the agricultural machinery and determine the turning time of the agricultural machinery based on the distance information and the operating parameters. The timing prompt module 704 is used to prompt the turning time so that the driver can control the agricultural machinery to turn around according to the turning time.

[0138] Furthermore, this application also proposes an agricultural machine, which includes: an image acquisition component; The agricultural machinery further includes: a memory, a processor, and a turning-off timing prompting program stored in the memory and executable on the processor, wherein when the turning-off timing prompting program is executed by the processor, it implements the steps of the turning-off timing prompting method as described in any one of the above.

[0139] Other embodiments or specific implementations of the agricultural machinery described in this application can be found in the above-described method embodiments, and will not be repeated here.

[0140] Furthermore, embodiments of this application also propose a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the U-turn timing prompting method as described above.

[0141] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system 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 system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0142] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0144] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for indicating the timing of a U-turn, characterized in that, The method is applied to agricultural machinery equipped with an image acquisition component, and the method includes: The image acquisition component acquires an image of the agricultural machinery's operating direction. Target detection is performed on the image of the working direction to obtain the distance information between the target field ridge and the agricultural machinery; The operating parameters of the agricultural machinery are obtained, and the timing for the agricultural machinery to turn around is determined based on the distance information and the operating parameters. The timing of the U-turn is indicated so that the driver can control the agricultural machinery to turn around according to the indicated timing.

2. The method as described in claim 1, characterized in that, The step of performing target detection on the image of the working direction to obtain the distance information between the target field ridge and the agricultural machinery includes: Target detection is performed on the work direction image to obtain the pixel position of the target field ridge in the work direction image; Obtain the preset calibration parameters of the image acquisition component; Based on the preset calibration parameters and the pixel position, the reference distance between the target field ridge and the agricultural machinery is obtained; The vehicle posture parameters of the agricultural machinery are obtained, and the reference distance is corrected based on the vehicle posture parameters to obtain the distance information between the target field ridge and the agricultural machinery.

3. The method as described in claim 2, characterized in that, The step of obtaining the reference distance between the target field ridge and the agricultural machinery based on the preset calibration parameters and the pixel position includes: The pitch projection coefficient is determined based on the preset initial pitch angle and the preset focal length in the preset calibration parameters. The longitudinal offset projection amount is obtained based on the preset initial pitch angle, the pixel ordinate of the pixel position, the principal point ordinate in the preset calibration parameters, and the preset initial roll angle in the preset calibration parameters. The lateral offset projection amount is obtained based on the preset initial pitch angle, the pixel x-coordinate of the pixel position, the principal point x-coordinate in the preset calibration parameters, and the preset initial roll angle. The projection distance numerator is obtained based on the preset focal length and the installation height above the ground in the preset calibration parameters; The projection distance denominator is obtained based on the pitch projection coefficient, the longitudinal offset projection amount, and the lateral offset projection amount; The reference distance between the target field ridge and the agricultural machinery is obtained based on the numerator of the projection distance, the denominator of the projection distance, and the installation longitudinal distance in the preset calibration parameters.

4. The method as described in claim 3, characterized in that, The step of obtaining the vehicle posture parameters of the agricultural machinery, correcting the reference distance based on the vehicle posture parameters, and obtaining the distance information between the target field ridge and the agricultural machinery includes: The depth of the agricultural machinery's tires in the mud is obtained, and the installation height above the ground is corrected based on the depth of the tires in the mud to obtain the effective installation height. The pitch angle of the agricultural machinery is also obtained, and the preset initial pitch angle is corrected based on the pitch angle to obtain the effective pitch angle. The first correction distance is determined based on the effective installation height, the effective pitch angle, the preset initial roll angle, the preset focal length, the pixel position, and the installation longitudinal distance; The roll angle of the agricultural machinery is obtained, and the preset initial roll angle is corrected based on the roll angle to obtain the effective roll angle. Based on the first correction distance, the vehicle roll angle, the pixel horizontal coordinate, the principal point horizontal coordinate, the effective roll angle, the effective installation height, and the preset focal length, the left correction distance and the right correction distance are obtained. Based on the left-side correction distance and the right-side correction distance, the distance information between the target field ridge and the agricultural machinery is obtained.

5. The method as described in claim 4, characterized in that, The step of obtaining the distance information between the target field ridge and the agricultural machinery based on the left-side corrected distance and the right-side corrected distance includes: Obtain the main straight line of the target field ridge in the image of the working direction; The intersection point of the main straight line and the center line of the image of the working direction is taken as the distance calculation reference point; Based on the coordinates of the distance calculation reference point, the installation longitudinal distance, the left correction distance, and the right correction distance, the relative distance from the front wheel landing point of the agricultural machinery to the target field ridge is obtained, and the relative distance is used as the distance information between the target field ridge and the agricultural machinery.

6. The method as described in claim 1, characterized in that, The step of determining the turning point of the agricultural machinery based on the distance information and the operating parameters includes: A first safety threshold and a second safety threshold are determined based on the preset minimum turning radius and the preset safety distance in the operating parameters, wherein the second safety threshold is greater than the first safety threshold. If the distance information is not greater than the first safety threshold, the agricultural machinery will turn around immediately. If the distance information is greater than the first safety threshold but not greater than the second safety threshold, preparing to turn around will be the timing for the agricultural machinery to turn around; If the distance information is greater than the second safety threshold, normal operation will be used as the time for the agricultural machinery to turn around.

7. The method as described in claim 1, characterized in that, The step of prompting the driver to turn the agricultural machinery around according to the indicated turning time includes: Obtain the current speed of the agricultural machinery; Based on the distance information and the current driving speed, determine the remaining time for the agricultural machinery to reach the target field ridge; The system provides information on the timing of the U-turn and the remaining time, enabling the driver to control the agricultural machinery to turn around based on the timing and remaining time.

8. A U-turn timing indication device, characterized in that, The device is applied to agricultural machinery equipped with an image acquisition component, and the device includes: An image acquisition module is used to acquire an image of the agricultural machinery's operating direction through the image acquisition component; The distance determination module is used to perform target detection on the image of the working direction to obtain the distance information between the target field ridge and the agricultural machinery; The timing determination module is used to acquire the operating parameters of the agricultural machinery and determine the turning timing of the agricultural machinery based on the distance information and the operating parameters. The timing prompt module is used to prompt the timing of the U-turn, so that the driver can control the agricultural machinery to turn around according to the timing of the U-turn.

9. An agricultural machine, characterized in that, The agricultural machinery includes: an image acquisition component; The agricultural machinery further includes: a memory, a processor, and a turning-off timing prompting program stored in the memory and executable on the processor, wherein when the turning-off timing prompting program is executed by the processor, it implements the steps of the turning-off timing prompting method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the U-turn timing prompting method as described in any one of claims 1 to 7.

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