An automatic driving navigation control method, device and medium for a rice transplanter

Abstract

This application discloses an automatic navigation control method, device, and medium for a rice transplanter, relating to the field of rice transplanter technology. The method includes: responding to the driver issuing a work path on the integrated display and control screen of the rice transplanter, detecting the position status of the rice transplanter handle; when the rice transplanter handle is in a neutral position, responding to receiving a start navigation command, controlling the rice transplanter to enter an automatic operation mode; in the automatic operation mode, the automatic navigation system of the rice transplanter takes over the steering wheel control and overall vehicle control of the rice transplanter, controlling the rice transplanter to automatically travel at a preset first speed, and executing implement control and planting motor control according to the field conditions; monitoring the pitch angle of the rice transplanter; when the pitch angle is greater than a first threshold, controlling the rice transplanter to travel at a second speed lower than the aforementioned first speed. This allows for the safe initiation of the automatic operation mode of the rice transplanter, and provides terrain-adaptive speed adjustment capability and overall vehicle cooperative control capability in the automatic operation mode.

Description

Technical Field

[0001] This application relates to the field of rice transplanter technology, and in particular to a method, equipment and medium for automatic navigation control of a rice transplanter. Background Technology

[0002] Rice transplanting is a crucial step in agricultural production. Traditional manual transplanting is labor-intensive and inefficient, making it difficult to meet the demands of large-scale agricultural production. With the development of smart agriculture technology, automated guided rice transplanters are gradually being applied to paddy field operations, but existing technologies still have the following shortcomings: (1) The existing rice transplanter navigation system has a low degree of coupling with the whole vehicle, only supporting steering wheel control and start / stop functions, and the start of automatic operation mode lacks physical interlock logic, which poses a safety hazard. The existing system usually relies on touch screen soft buttons or steering wheel electronic buttons to switch between manual and automatic modes. It lacks an interlock mechanism with the physical operation parts of the rice transplanter, and cannot accurately identify the driver's operating intention. The driver is prone to misjudging the mode due to accidental touch of electronic buttons while operating the steering wheel and handle, which may lead to operation conflicts or even safety accidents.

[0003] (2) The automatic operation mode travels at a constant speed and lacks terrain adaptability. The paddy field environment is complex, with varying mud depths and uneven ground, and there are differences in elevation between the two ends of the field. The existing system travels at a constant speed in automatic mode. When it enters areas with deeper mud or reaches the edge of the field, the excessive speed can easily cause the wheels to slip and sink, resulting in uneven planting depth, or even the entire vehicle getting stuck and interrupting the operation.

[0004] (3) Insufficient vehicle coordination control in automatic driving mode. In automatic mode, the existing system usually only takes over the steering wheel. The speed adjustment, lifting and lowering of the implement and the control of the insertion motor still need to be manually operated by the driver. The efficiency of human-machine collaboration is low and the continuity of operation is poor. Summary of the Invention

[0005] This application provides an automatic navigation control method, device, and medium for a rice transplanter, which aims to solve the following technical problem: how to safely start the automatic operation mode of a rice transplanter and have terrain-adaptive speed adjustment capability and whole-vehicle collaborative control capability in the automatic operation mode.

[0006] In a first aspect, embodiments of this application provide an automatic navigation control method for a rice transplanter, the method comprising: detecting the position status of the rice transplanter handle in response to the driver issuing a work path on the integrated display and control screen of the rice transplanter; When the rice transplanter handle is in the neutral position, in response to receiving the start navigation command, the rice transplanter is controlled to enter the automatic operation mode. In the automatic operation mode, the rice transplanter automatic driving navigation system takes over the steering wheel control and vehicle control of the rice transplanter, controls the rice transplanter to drive automatically at a preset first speed, and performs implement control and planting motor control according to the field conditions. Monitor the pitch angle of the rice transplanter; When the pitch angle is greater than a first threshold, the rice transplanter is controlled to travel at a second speed, wherein the second speed is lower than the first speed.

[0007] In one possible implementation, after detecting the position state of the rice transplanter handle, the method further includes: When the rice transplanter handle is in a non-neutral position, in response to receiving a start navigation command, the rice transplanter is controlled to enter manual operation mode; In the manual operation mode, the rice transplanter's automatic driving navigation system controls the rice transplanter's steering wheel, and the driver controls the rice transplanter's overall speed, implement lifting and lowering, and the start and stop of the planting motor.

[0008] In one possible implementation, after monitoring the pitch angle of the rice transplanter, the method further includes: If the rate of change of the pitch angle is greater than the second threshold, or if the duration of the pitch angle being greater than the third threshold exceeds the fourth threshold, the rice transplanter is controlled to perform an emergency stop braking.

[0009] In one possible implementation, before detecting the position status of the rice transplanter handle in response to the driver issuing the work path on the integrated display and control screen of the rice transplanter, the method further includes: In response to the power-on start of the rice transplanter, the system reads messages from the positioning antenna, the electric steering wheel, and the inertial measurement unit via the CAN bus of the controller area network, and checks whether the number of satellites received by the positioning antenna is normal and the signal is stable, and whether the connection of the electric steering wheel is stable, in order to complete the navigation initialization. Navigation parameters are set and saved through the integrated display and control screen, wherein the navigation parameters include at least one of the following: differential mode, differential authentication certificate, rice transplanter overall parameters, rice transplanter control parameters, width parameters, and row connection width parameters.

[0010] In one possible implementation, the method further includes: In response to receiving a one-click U-turn signal at any position in the current work row, the system plans a U-turn path to the adjacent work row and controls the rice transplanter to travel along the U-turn path. When performing a U-turn in the automatic operation mode, the rice transplanter is controlled to travel at a third speed and enter a non-operation state. After the U-turn is completed, the rice transplanter is controlled to return to the automatic operation mode. The third speed is lower than the first speed. The one-click U-turn signal is when the driver clicks the U-turn button on the integrated display screen or Bluetooth handle.

[0011] In one possible implementation, the method further includes: When the rice transplanter is in automatic turning mode, in response to receiving a turning trigger signal, a turning path to the adjacent working row is planned, the rice transplanter is controlled to travel along the turning path, and the rice transplanter is controlled to travel at a third speed and put into a non-working state. After the turning is completed, the rice transplanter is controlled to resume the automatic working mode, and the third speed is lower than the first speed. The turning-off trigger signal is an automatic trigger signal generated when the rice transplanter travels to a set distance from the preset navigation line reference point.

[0012] In one possible implementation, the method further includes: In automatic turning mode, in response to the seedling replanting trigger signal, the rice transplanter is controlled to travel from the turning starting point to the end point of the current working row, and the current turning process is paused to wait for the seedling replanting to be completed; In response to the recovery trigger signal, the rice transplanter is controlled to reverse back to the original turning starting point and then resume the turning path; wherein, the rice replanting trigger signal comes from the rice replanting button on the Bluetooth handle or the integrated display and control screen, and the recovery trigger signal comes from the turning button on the Bluetooth handle or the integrated display and control screen.

[0013] In one possible implementation, the method further includes: In the absence of the start navigation command, while the driver is controlling the vehicle to travel along the planned path, if the lateral deviation, heading deviation, and vehicle speed of the rice transplanter all meet the conditions for automatic operation mode, the automatic driving navigation system of the rice transplanter automatically issues the start navigation command and controls the rice transplanter to enter automatic operation mode.

[0014] Secondly, embodiments of this application also provide an automatic driving navigation control device for a rice transplanter, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute an automatic driving navigation control method for a rice transplanter as described in any of the preceding claims.

[0015] Thirdly, embodiments of this application also provide a computer storage medium storing computer-executable instructions, which, when executed, implement an automatic driving navigation control method for a rice transplanter as described in any of the preceding claims.

[0016] The automatic navigation control method, equipment, and medium for a rice transplanter provided in this application have the following beneficial effects: In this embodiment, after the driver issues the work path on the integrated display and control screen, the position of the rice transplanter handle can be detected. Only when the rice transplanter handle is in the neutral position will the driver respond to the received start navigation command and control the rice transplanter to enter the automatic operation mode. This ensures that the driver has actively released the handle operation before the automatic mode is started, eliminating the safety hazard of mode misjudgment caused by accidental touch of electronic buttons, and realizing safe and reliable human-machine interaction. After entering the automatic operation mode, the rice transplanter's automatic driving navigation system takes over the steering wheel control and vehicle control, controlling the rice transplanter to drive automatically at a first speed, and automatically executing implement control and planting horse according to the field conditions. This system achieves automated operation, addressing the low human-machine collaboration efficiency caused by existing systems that only control the steering wheel, vehicle speed, and implements while still requiring manual operation. It enables fully automated operation, from path tracking to complete vehicle control. In automatic operation mode, the system monitors the rice transplanter's pitch angle in real time. When the pitch angle exceeds a first threshold, the transplanter is controlled to travel at a second speed lower than the first speed. This allows for real-time sensing of changes in the vehicle's pitch attitude and proactive speed reduction, effectively preventing wheel slippage and ensuring uniform planting depth. It also solves the problem of lacking terrain adaptability and easily getting stuck when traveling at a constant speed, while maintaining operational safety and efficiency. Thus, it enables safe initiation of automatic driving mode, coordinated vehicle control, and terrain-adaptive speed adjustment in complex paddy field environments. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of an automatic navigation control method for a rice transplanter provided in this application embodiment; Figure 2 A schematic diagram of a navigation hardware development software architecture provided for an embodiment of this application; Figure 3 A flowchart illustrating a Bluetooth connection scheme provided in an embodiment of this application; Figure 4 A schematic diagram of an automatic driving navigation control system for a rice transplanter provided in an embodiment of this application; Figure 5This is a schematic diagram of the internal structure of an automatic navigation control device for a rice transplanter, provided as an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This application provides a flowchart of an automatic navigation control method for a rice transplanter, which can be applied to an automatic navigation system for rice transplanters. Figure 1 As shown in the figure, an automatic navigation control method for a rice transplanter provided in this application embodiment specifically includes the following steps: Step 101: In response to the driver issuing the operation path on the integrated display and control screen of the rice transplanter, detect the position status of the rice transplanter handle.

[0021] In one possible implementation, before detecting the position status of the rice transplanter handle in response to the driver issuing the work path on the integrated display and control screen of the rice transplanter, the method further includes: In response to the power-on start of the rice transplanter, the system reads messages from the positioning antenna, the electric steering wheel, and the inertial measurement unit via the CAN bus of the controller area network, and checks whether the number of satellites received by the positioning antenna is normal and the signal is stable, and whether the connection of the electric steering wheel is stable, in order to complete the navigation initialization. Navigation parameters are set and saved through the integrated display and control screen, wherein the navigation parameters include at least one of the following: differential mode, differential authentication certificate, rice transplanter overall parameters, rice transplanter control parameters, width parameters, and row connection width parameters.

[0022] After the system is powered on, the application module reads the messages from the positioning antenna, the electronic steering wheel, and the IMU on the CAN bus, checks whether the number of satellites received by the positioning antenna is normal and the signal is stable, and whether the connection of the electronic steering wheel is stable. After the checks are completed, the navigation system initialization is completed.

[0023] Before the navigation equipment starts operating, navigation parameters need to be set. The parameters to be set include differential mode, differential authentication certificate, rice transplanter parameters, rice transplanter control parameters, width parameters, and row width parameters. Once the above parameters are set, they will be saved in the navigation screen and do not need to be set again if they have not been modified.

[0024] Step 102: When the rice transplanter handle is in the neutral position, in response to receiving the start navigation command, control the rice transplanter to enter the automatic operation mode.

[0025] In the automatic operation mode, the rice transplanter's automatic driving navigation system takes over the steering wheel control and vehicle control of the rice transplanter, controls the rice transplanter to drive automatically at a preset first speed, and performs implement control and planting motor control according to the field conditions.

[0026] In practical applications, when the rice transplanter handle is in the neutral position, the driver clicks "Start Navigation," and the transplanter enters automatic operation mode. The navigation system takes over the steering wheel and vehicle control, controlling the transplanter to move forward at a preset first speed and automatically executing implement and interpolation motor controls based on the field conditions. The vehicle will automatically stop after navigation is paused.

[0027] In one possible implementation, after detecting the position state of the rice transplanter's handle, the method further includes: When the handle is in a non-neutral position, in response to receiving a start navigation command, the rice transplanter is controlled to enter manual operation mode; In the manual operation mode, the rice transplanter's automatic driving navigation system controls the rice transplanter's steering wheel, and the driver controls the rice transplanter's overall speed, implement lifting and lowering, and the start and stop of the planting motor.

[0028] In practical applications, when the rice transplanter handle is not in a neutral position, clicking "Start Navigation" will enter manual operation mode. In this mode, the navigation system only takes over the steering wheel; the entire vehicle is manually controlled by the driver. The driver can adjust the speed using the brake and accelerator pedals and operate the transplanter handle to raise and lower the implements and start / stop the transplanting motor. In traditional rice transplanter operation, the driver must constantly grip the steering wheel to ensure straight-line driving. Manual driving makes it difficult to maintain a perfectly straight line for extended periods and distances, easily leading to uneven row spacing, missed plantings, or repeated plantings. In the aforementioned manual operation mode, the navigation system takes over the transplanter's directional control, automatically ensuring straight forward movement and consistent row spacing. This helps reduce labor intensity and improve work quality. Furthermore, although the driver does not control the direction, they can still control key operations such as speed, implement raising and lowering, and starting / stopping the transplanting motor, allowing for flexible responses to unexpected situations and manual intervention.

[0029] Step 103: Monitor the pitch angle of the rice transplanter.

[0030] In practical applications, the pitch angle of the rice transplanter can be monitored in real time during automatic operation mode.

[0031] Step 104: When the pitch angle is greater than the first threshold, control the rice transplanter to travel at the second speed.

[0032] The second speed is lower than the first speed.

[0033] In practical applications, in automatic mode, the system predicts the arrival time at the field and the flatness of the paddy field based on the IMU pitch angle and lateral deviation, and actively slows down when the field arrival time or pitch angle is too large. This serves as a safety protection function to prevent rollovers caused by excessive speed in some paddy fields with poor terrain.

[0034] In one possible implementation, the method further includes: If the rate of change of the pitch angle is greater than the second threshold, or if the duration of the pitch angle being greater than the third threshold exceeds the fourth threshold, the rice transplanter is controlled to perform an emergency stop braking.

[0035] In practical applications, the rice transplanter can be stopped in case the pitch angle increases rapidly or remains too large for an extended period.

[0036] In one possible implementation, the method further includes: In response to receiving a one-click U-turn signal at any position in the current work row, the system plans a U-turn path to the adjacent work row and controls the rice transplanter to travel along the U-turn path. When performing a U-turn in the automatic operation mode, the rice transplanter is controlled to travel at a third speed and enter a non-operation state. After the U-turn is completed, the rice transplanter is controlled to return to the automatic operation mode. The third speed is lower than the first speed. The one-click U-turn signal is when the driver clicks the U-turn button on the integrated display screen or Bluetooth handle.

[0037] In practical applications, at any position within the work row, pressing the left or right U-turn button on the Bluetooth handle or integrated display screen will automatically plan the U-turn path for the next row in the corresponding direction and complete the U-turn operation along that path. In automatic operation mode, the vehicle speed will automatically decrease, the implements will automatically rise, and the operation state will automatically resume after the U-turn is completed.

[0038] It should be noted that the rice transplanter handle refers to the rice transplanter push rod handle, which is used to physically control the entire vehicle; the Bluetooth handle is just a remote control display screen.

[0039] In another possible implementation, the method further includes: When the rice transplanter is in automatic turning mode, in response to receiving a turning trigger signal, a turning path to the adjacent working row is planned, the rice transplanter is controlled to travel along the turning path, and the rice transplanter is controlled to travel at a third speed and put into a non-working state. After the turning is completed, the rice transplanter is controlled to resume the automatic working mode, and the third speed is lower than the first speed. The turning-off trigger signal is an automatic trigger signal generated when the rice transplanter travels to a set distance from the preset navigation line reference point.

[0040] In the work path setting interface, you can configure the automatic U-turn function, using navigation line AB as the starting point and setting the advance turning distance. When the vehicle automatically drives to the corresponding position, the navigation will automatically plan the U-turn path in the corresponding direction and complete the U-turn operation along that path. At the same time, the vehicle speed and equipment will enter a non-operation state, and will automatically resume operation state after the U-turn is completed.

[0041] It should be noted that the execution actions of one-click U-turn and automatic U-turn are the same; the only difference lies in the triggering method. One-click U-turn requires manual clicking of a button on the display screen or Bluetooth controller, while automatic U-turn requires no manual intervention and is automatically triggered after the program determines that a line of operations has been completed. However, when driving manually, only one-click U-turn can be used, while in autonomous driving mode, both automatic U-turn and one-click U-turn can be used.

[0042] In one possible implementation, the method further includes: In automatic turning mode, in response to the seedling replanting trigger signal, the rice transplanter is controlled to travel from the turning starting point to the end point of the current working row, and the current turning process is paused to wait for the seedling replanting to be completed; In response to the recovery trigger signal, the rice transplanter is controlled to reverse back to the original turning starting point and then resume the turning path; wherein, the rice replanting trigger signal comes from the rice replanting button on the Bluetooth handle or the integrated display and control screen, and the recovery trigger signal comes from the turning button on the Bluetooth handle or the integrated display and control screen; In automatic U-turn mode, the system also supports seedling replenishment. When seedling replenishment is needed, press the seedling replenishment button on the Bluetooth handle or display screen at any position in the work row. The vehicle will move to point A or B in that row and then pause the automatic U-turn, waiting for the seedling replenishment to be completed. After the seedling replenishment is completed, press the U-turn button on the Bluetooth handle, and the vehicle will first reverse to the U-turn point before continuing the automatic U-turn operation.

[0043] In one possible implementation, the method further includes: If manual driving is detected during the replanting process, the replanting process will automatically exit.

[0044] If the rice transplanter is in the process of replanting seedlings, for example, the vehicle has responded to the replanting button signal and is moving towards point A or B of the current work row; or the vehicle has reached the endpoint and paused the automatic turning process, waiting for the replanting to be completed, then the control of the vehicle is mainly in the hands of the navigation system (automatic mode). If manual operation of the rice transplanter is detected, such as the driver applying torque exceeding a threshold (e.g., 3 N·m), manually turning the steering wheel angle exceeding a preset value, the driver pressing the brake pedal, the driver actively pressing the accelerator pedal, and the rate of position change exceeding a set value, or the handle being pushed from a neutral position to a non-neutral position (e.g., forward / reverse / lifting), it can be determined that the driver is actively operating the vehicle, creating a control conflict with the automatic navigation system and posing a risk of control contention. In this case, the navigation system can exit the replanting state and enter standby or manual operation mode, no longer participating in control.

[0045] During rice transplanting, the driver may need to perform manual operations (such as moving seedling trays or adjusting equipment) either on or off the vehicle. If the navigation system remains in automatic control during this time, a dangerous situation could arise where the driver turns the steering wheel or presses the pedals, potentially leading to loss of vehicle control or mechanical damage. Therefore, once human intervention is detected, the system unconditionally relinquishes control, ensuring that a human makes the final decision and avoiding human-machine conflict. Manual driving can indicate that the driver believes the current situation requires intervention (such as avoiding obstacles or adjusting vehicle position). The system proactively disengages, completely transferring control to the driver, allowing for seamless manual operation. Furthermore, the system automatically recognizes and disengages without requiring the driver to manually press an exit navigation button, simplifying the operational process.

[0046] One possible implementation also includes: In the automatic operation mode, in response to a navigation pause command, the vehicle is controlled to stop automatically; the vehicle speed is adjusted via a wireless communication handle, enabling supervised unmanned driving.

[0047] During automatic operation, the driver can issue a pause navigation command via Bluetooth handle or integrated display screen. The navigation system will automatically control the vehicle to decelerate to a stop without the driver needing to apply the brakes. In automatic mode, the driver can also remotely adjust the rice transplanter's speed using speed adjustment buttons (such as acceleration / deceleration buttons) on the Bluetooth handle.

[0048] One possible implementation also includes: In the absence of the start navigation command, while the driver is controlling the vehicle to travel along the planned path, if the lateral deviation, heading deviation, and vehicle speed of the rice transplanter all meet the conditions for automatic operation mode, the automatic driving navigation system of the rice transplanter automatically issues the start navigation command and controls the rice transplanter to enter automatic operation mode.

[0049] In practical applications, the driver can first manually drive the rice transplanter along the planned path. When the lateral deviation, heading deviation, and vehicle speed of the rice transplanter all meet the conditions of the automatic operation mode, the automatic driving navigation system of the rice transplanter will automatically take over the control. The driver does not need to manually click the start navigation button, nor does the rice transplanter handle need to be in the neutral position.

[0050] Specifically, the lateral deviation meeting the automatic operation mode trigger condition can be that the lateral deviation is less than the first deviation threshold, for example, a deviation of <5cm, indicating that the vehicle is close to the target path; the heading deviation meeting the automatic operation mode trigger condition can be that the heading deviation is less than the second deviation threshold, for example, a heading deviation of <3°, indicating that the vehicle is aligned with the target path; the vehicle speed meeting the automatic operation mode trigger condition is that the vehicle speed is less than the speed threshold, for example, a speed of <3km / h, indicating that it is in a low-speed online state.

[0051] Through the aforementioned automatic switching process, the driver does not need to be distracted by clicking the start navigation button on the screen while driving. They can simply focus on driving the vehicle towards the target route, avoiding abrupt transitions between manual and automatic driving. This ensures the system takes over when the vehicle is in a good position, reducing steering wheel vibration or path jumps. Furthermore, it is more user-friendly for drivers unfamiliar with navigation systems, such as the elderly, as the navigation system automatically recognizes the vehicle's status and takes over.

[0052] This approach addresses the issues of inflexible human-machine collaboration and fragmented processes in existing agricultural machinery automatic driving systems by employing a dual-mode control logic. In manual mode, navigation precisely controls steering, while the driver retains absolute control over vehicle speed and implements. In automatic mode, it seamlessly takes over the entire vehicle and can perform a series of complex actions with a single click, such as deceleration, implement lifting, U-turns, and replanting. Under certain conditions, manual operation can automatically switch to automatic operation. This directly results in flexible and safe human-machine interaction and a highly integrated and intelligent workflow, significantly reducing labor intensity while preserving the driver's right to intervene safely, thus significantly improving overall operational efficiency.

[0053] Existing navigation systems mainly rely on a single satellite system for positioning. In paddy field environments, factors such as satellite obstruction, multipath interference, vehicle bumps, and tire slippage can easily lead to decreased positioning accuracy, course drift, and short-term loss of lock, making it difficult to meet the centimeter-level continuous navigation accuracy requirements for rice transplanting operations.

[0054] In this embodiment, for example, a UM982 series board + IMU + dual-antenna / single-antenna dual-mode combined navigation solution can be used to solve the problem of insufficient positioning accuracy in paddy field environments, representing a fundamental hardware and software technology barrier. For example, the CPU uses a mainstream ARM chip, supporting FreeRTOS or Linux systems. The GNSS module can be a UMD982 / UM982 / UM982C series module; the PPS second pulse signal is connected to the ARM chip's interrupt pin. The IMU module is a 6-axis IMU with temperature compensation, cross-axis coupling compensation, and scale factor calibration. Based on the above hardware, the software architecture is developed as follows... Figure 2 As shown, the hardware driver acquires and obtains data from the IMU and receiver; the data service performs data acquisition, storage, and time synchronization; the initial alignment algorithm uses accelerometer measurements of the gravity vector for static initialization and uses track direction and IMU yaw rate for dynamic initialization; the core algorithm layer includes IMU mechanical orchestration, ESKF prediction (error state Kalman filter prediction), and positioning fusion solution. Deep fusion of IMU and GNSS data is achieved, using IMU data for high-frequency updates of attitude, velocity, and position, and using GNSS data for low-frequency correction.

[0055] In this way, to address the issues of satellite signal loss and inaccurate / unstable positioning caused by vehicle bumps in paddy field environments, a generic patchwork solution was not adopted. Instead, the UMD982 board, IMU, and ARM chip were deeply integrated, and a unified time reference was established using PPS (Pulse Per Second). This allows for continuous compensation of high-frequency IMU data in conjunction with the ESKF deep fusion algorithm when GNSS signals are briefly lost, ensuring continuous positioning and guaranteeing high-precision, high-reliability positioning in complex paddy field environments.

[0056] Existing Bluetooth interaction solutions for agricultural machinery typically rely on the Linux input subsystem or fixed device mapping mechanisms. These solutions suffer from poor compatibility between Bluetooth devices from different manufacturers, as well as issues such as insufficient connection stability, weak recovery capabilities after disconnection, and complex device adaptation.

[0057] In this embodiment, the Bluetooth controller supports the configuration of navigation on / off, seedling replenishment, one-click turning, line pushing, and acceleration / deceleration functions. The button information of the Bluetooth controller is read through the integrated display and control screen, and the corresponding functions are executed according to different buttons, thus constructing a protection network at the interaction level.

[0058] The Bluetooth connectivity solution is built on Linux + BlueZ + libdbus-1, using pure DBus communication to achieve automatic scanning, connection, GATT discovery, and input monitoring of BLE Bluetooth keyboards / gamepads. The overall architecture is suitable for embedded Linux platforms, and the overall process is as follows: Figure 3 As shown.

[0059] In this way, to address the issues of poor compatibility and frequent disconnections in traditional Bluetooth solutions, the system input subsystem is bypassed. The native data of the Bluetooth controller is read directly through the DBus protocol and GATT method and encapsulated into a standard dynamic library, which enables automatic reconnection and improves device compatibility and connection stability.

[0060] In this embodiment, after the driver issues the work path on the integrated display and control screen, the position of the rice transplanter handle can be detected. Only when the rice transplanter handle is in the neutral position will the driver respond to the received start navigation command and control the rice transplanter to enter the automatic operation mode. This ensures that the driver has actively released the handle operation before the automatic mode is started, eliminating the safety hazard of mode misjudgment caused by accidental touch of electronic buttons, and realizing safe and reliable human-machine interaction. After entering the automatic operation mode, the rice transplanter's automatic driving navigation system takes over the steering wheel control and vehicle control, controlling the rice transplanter to drive automatically at a first speed, and automatically executing implement control and planting horse according to the field conditions. This system achieves automated operation, addressing the low human-machine collaboration efficiency caused by existing systems that only control the steering wheel, vehicle speed, and implements while still requiring manual operation. It enables fully automated operation, from path tracking to complete vehicle control. In automatic operation mode, the system monitors the rice transplanter's pitch angle in real time. When the pitch angle exceeds a first threshold, the transplanter is controlled to travel at a second speed lower than the first speed. This allows for real-time sensing of changes in the vehicle's pitch attitude and proactive speed reduction, effectively preventing wheel slippage and ensuring uniform planting depth. It also solves the problem of lacking terrain adaptability and easily getting stuck when traveling at a constant speed, while maintaining operational safety and efficiency. Thus, it enables safe initiation of automatic driving mode, coordinated vehicle control, and terrain-adaptive speed adjustment in complex paddy field environments.

[0061] Figure 4 A schematic diagram of an automatic driving navigation system for a rice transplanter provided in this application is shown. This automatic driving navigation system can implement the aforementioned automatic driving navigation method for rice transplanters. The navigation system includes hardware modules, software modules, and functional modules. Specifically, the hardware modules include a positioning antenna, an integrated display and control screen, an electric steering wheel, an IMU (Inertial Measurement Unit), and a Bluetooth handle. The positioning antenna is connected to the UMD982 positioning board integrated within the integrated display and control screen to receive and analyze satellite signals. The electric steering wheel is used to receive steering control commands and drive the rice transplanter to turn. The IMU is used to collect real-time attitude data of the rice transplanter and fuse it with positioning data to achieve high-precision navigation. The integrated display and control screen is connected to the vehicle controller via a CAN bus, encapsulates the determined vehicle actions into control messages, and sends them to the vehicle for execution. These actions include gear control, acceleration / deceleration control, and implement lifting / lowering control. The Bluetooth handle is wirelessly connected to the integrated display and control screen via the BLE protocol, transmitting button signals to the navigation software.

[0062] The software modules include a display and control module, a positioning module, and an application module. The display and control module has a built-in Bluetooth module to enable wireless interaction with external devices and display of work status. The positioning module includes a combined navigation module and a dual-antenna unit, which integrates satellite positioning and inertial measurement data to output the position, heading, and attitude information of the rice transplanter. The application module includes a decision-making module, a control module, and a whole-machine interaction module. The decision-making module has a built-in vehicle speed control unit, the control module outputs steering commands, and the whole-machine interaction module enables data interaction and work process management between the modules.

[0063] Functional modules include: assisted driving function, U-turn planning function, Bluetooth remote control function, and rice transplanter interruption function; assisted driving function includes speed control and direction control, enabling the rice transplanter to drive automatically along the planned trajectory; U-turn planning function includes one-click U-turn function and automatic U-turn function, enabling the rice transplanter to turn around in the field without manual intervention, and the implements can be automatically raised and lowered before and after the U-turn; Bluetooth remote control function is used for remote control, and the handle can realize navigation stop and start, speed increase and decrease, one-click U-turn, pause / resume operation of rice transplanter interruption function, and row movement functions; rice transplanter interruption function is used for intelligent control of interruption and resumption of rice transplanting operation.

[0064] The above are embodiments of the method proposed in this application. Based on the same inventive concept, embodiments of this application also provide an automatic driving navigation control device for a rice transplanter, the structure of which is as follows: Figure 5 As shown.

[0065] Figure 5 This is a schematic diagram of the internal structure of an automatic navigation control device for a rice transplanter, provided as an embodiment of this application. Figure 5 As shown, the device includes: At least one processor 501; And a memory 502 that is communicatively connected to at least one processor; The memory 502 stores instructions that can be executed by at least one processor. The instructions are executed by at least one processor 501 so that at least one processor 501 can execute the above-described automatic navigation control method for rice transplanters.

[0066] In one possible implementation, the processor can, in response to the driver issuing a work path on the integrated display and control screen of the rice transplanter, detect the position status of the rice transplanter handle; when the rice transplanter handle is in a neutral position, in response to receiving a start navigation command, control the rice transplanter to enter an automatic operation mode, wherein, in the automatic operation mode, the rice transplanter's automatic driving navigation system takes over the steering wheel control and overall vehicle control of the rice transplanter, controls the rice transplanter to drive automatically at a preset first speed, and performs implement control and planting motor control according to the field conditions; monitors the pitch angle of the rice transplanter; when the pitch angle is greater than a first threshold, controls the rice transplanter to drive at a second speed, wherein the second speed is lower than the first speed.

[0067] Some embodiments of this application provide corresponding to Figure 1 A non-volatile computer storage medium stores computer-executable instructions, which are configured to execute the above-mentioned automatic driving navigation control method for rice transplanters.

[0068] In one possible implementation, the aforementioned computer-executable instructions are configured to execute actions in response to the driver issuing a work path on the integrated display and control screen of the rice transplanter, detecting the position status of the rice transplanter handle; when the rice transplanter handle is in a neutral position, in response to receiving a start navigation command, controlling the rice transplanter to enter an automatic operation mode, wherein, in the automatic operation mode, the rice transplanter's automatic driving navigation system takes over the steering wheel control and overall vehicle control of the rice transplanter, controls the rice transplanter to drive automatically at a preset first speed, and executes implement control and planting motor control according to the field conditions; monitors the pitch angle of the rice transplanter; when the pitch angle is greater than a first threshold, controls the rice transplanter to drive at a second speed, wherein the second speed is lower than the first speed.

[0069] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for IoT devices and media are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0070] The systems, media, and methods provided in this application are one-to-one correspondences. Therefore, the systems and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the systems and media will not be repeated here.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for automatic navigation control of a rice transplanter, characterized in that, The method includes: In response to the driver issuing the work path on the integrated display and control screen of the rice transplanter, the position status of the rice transplanter handle is detected; When the rice transplanter handle is in the neutral position, in response to receiving the start navigation command, the rice transplanter is controlled to enter the automatic operation mode. In the automatic operation mode, the rice transplanter automatic driving navigation system takes over the steering wheel control and vehicle control of the rice transplanter, controls the rice transplanter to drive automatically at a preset first speed, and performs implement control and planting motor control according to the field conditions. Monitor the pitch angle of the rice transplanter; When the pitch angle is greater than a first threshold, the rice transplanter is controlled to travel at a second speed, wherein the second speed is lower than the first speed.

2. The method according to claim 1, characterized in that, After detecting the position of the rice transplanter handle, the method further includes: When the rice transplanter handle is in a non-neutral position, in response to receiving a start navigation command, the rice transplanter is controlled to enter manual operation mode; In the manual operation mode, the rice transplanter's automatic driving navigation system controls the rice transplanter's steering wheel, and the driver controls the rice transplanter's overall speed, implement lifting and lowering, and the start and stop of the planting motor.

3. The method according to claim 1, characterized in that, After monitoring the pitch angle of the rice transplanter, the method further includes: If the rate of change of the pitch angle is greater than the second threshold, or if the duration of the pitch angle being greater than the third threshold exceeds the fourth threshold, the rice transplanter is controlled to perform an emergency stop braking.

4. The method according to claim 1, characterized in that, Before detecting the position status of the rice transplanter handle in response to the driver issuing the work path on the integrated display and control screen of the rice transplanter, the method further includes: In response to the power-on start of the rice transplanter, the system reads messages from the positioning antenna, the electric steering wheel, and the inertial measurement unit via the CAN bus of the controller area network, and checks whether the number of satellites received by the positioning antenna is normal and the signal is stable, and whether the connection of the electric steering wheel is stable, in order to complete the navigation initialization. Navigation parameters are set and saved through the integrated display and control screen, wherein the navigation parameters include at least one of the following: differential mode, differential authentication certificate, rice transplanter overall parameters, rice transplanter control parameters, width parameters, and row connection width parameters.

5. The method according to claim 1, characterized in that, The method further includes: In response to receiving a one-click U-turn signal at any position in the current work row, the system plans a U-turn path to the adjacent work row and controls the rice transplanter to travel along the U-turn path. When performing a U-turn in the automatic operation mode, the rice transplanter is controlled to travel at a third speed and enter a non-operation state. After the U-turn is completed, the rice transplanter is controlled to return to the automatic operation mode. The third speed is lower than the first speed. The one-click U-turn signal is when the driver clicks the U-turn button on the integrated display screen or Bluetooth handle.

6. The method according to claim 1, characterized in that, The method further includes: When the rice transplanter is in automatic turning mode, in response to receiving a turning trigger signal, a turning path to the adjacent working row is planned, the rice transplanter is controlled to travel along the turning path, and the rice transplanter is controlled to travel at a third speed and put into a non-working state. After the turning is completed, the rice transplanter is controlled to resume the automatic working mode, and the third speed is lower than the first speed. The turning-off trigger signal is an automatic trigger signal generated when the rice transplanter travels to a set distance from the preset navigation line reference point.

7. The method according to claim 1, characterized in that, The method further includes: In automatic turning mode, in response to the seedling replanting trigger signal, the rice transplanter is controlled to travel from the turning starting point to the end point of the current working row, and the current turning process is paused to wait for the seedling replanting to be completed; In response to the recovery trigger signal, the rice transplanter is controlled to reverse back to the original turning starting point and then resume the turning path; wherein, the rice replanting trigger signal comes from the rice replanting button on the Bluetooth handle or the integrated display and control screen, and the recovery trigger signal comes from the turning button on the Bluetooth handle or the integrated display and control screen.

8. The method according to claim 1, characterized in that, The method further includes: In the absence of the start navigation command, while the driver is controlling the vehicle to travel along the planned path, if the lateral deviation, heading deviation, and vehicle speed of the rice transplanter all meet the conditions for automatic operation mode, the automatic driving navigation system of the rice transplanter automatically issues the start navigation command and controls the rice transplanter to enter automatic operation mode.

9. An automatic driving navigation control device for a rice transplanter, characterized in that, The device includes: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform an automatic navigation control method for a rice transplanter as described in any one of claims 1-8.

10. A computer storage medium storing computer-executable instructions, characterized in that, When the computer-executable instructions are executed, they implement the automatic driving navigation control method for a rice transplanter as described in any one of claims 1-8.

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