A method of controlling work rate of a multi-section agricultural implement, a system and an agricultural machine

Abstract

The application discloses a kind of multi-section agricultural machine tool work rate control method, system and agricultural machine;Wherein, work rate control method includes: obtaining the prescription map data of to be operated area and user setting parameter;Wherein, prescription map data includes operation boundary and prescription map;According to agricultural machine parameter and agricultural machine real-time information, the spatial position relationship of each section center point of agricultural machine tool at current time and operation boundary and prescription map is determined, and the work rate value of each section of agricultural machine tool at next time is determined according to spatial position relationship, prescription map and user setting parameter;The work rate value of each section of agricultural machine tool at next time is issued to agricultural machine tool.The work rate control method can make multi-section agricultural machine tool real-time identification the operation and accurate operation parameter needed in different section, realize the accurate operation of multi-section agricultural machine tool, and further improve agricultural production efficiency, avoid resource waste, reduce production expenditure.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery control technology, and specifically relates to a method, system and agricultural machinery for controlling the working speed of multi-segment agricultural implements. Background Technology

[0002] Agricultural automatic control technology refers to a technological system that uses sensors, the Internet of Things, artificial intelligence, and mechanical automation to monitor, process, and automatically regulate environmental, crop growth, and equipment operation factors in agricultural production processes in real time, achieving precise, efficient, and intelligent production. Agricultural automatic control technology can be applied to all stages of agricultural production, such as planting, fertilization, spraying, and irrigation. Automatic control can reduce human intervention, improve production efficiency, optimize resource utilization (water, fertilizer, pesticides, etc.), increase crop yield and quality, and reduce the negative environmental impact of agricultural production. Among these technologies, agricultural prescription maps are a key link between "data perception" and "intelligent execution" in agricultural automatic control technology. Prescription maps can provide precision agricultural decisions for farmland management through spatial data (such as soil type, crop growth conditions, and climate conditions). Their goal is to quantify the crop management needs of different areas based on the actual conditions of each plot (such as soil fertility, moisture, and pH), thereby achieving customized planting and resource application. This technology is widely used in variable fertilization, irrigation, and planting density.

[0003] To facilitate agricultural operations, multi-segment agricultural machinery has emerged. Multi-segment agricultural machinery refers to agricultural equipment that divides traditional monolithic agricultural implements into multiple independent and controllable operating segments. Each segment can perform differentiated operations based on the farmland environment, crop needs, or prescription map instructions. For example, a multi-segment fertilizer applicator can be divided into five independent fertilization units, each corresponding to different fertilizer application rates. However, existing methods for controlling the working speed of agricultural machinery are mainly designed for monolithic implements, and there is no specific method designed for multi-segment agricultural machinery, preventing the full realization of its advantages. Summary of the Invention

[0004] To address the aforementioned problems, this invention discloses a method, system, and agricultural machinery for controlling the working speed of multi-segment agricultural implements, in order to overcome or at least partially solve the aforementioned problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention discloses a method for controlling the working speed of multi-segment agricultural machinery implements, the method comprising the following steps:

[0007] Step 01: Obtain the prescription map data and user settings parameters of the area to be worked on; wherein, the prescription map data includes the work boundary and the prescription map;

[0008] Step 02: Based on the agricultural machinery parameters and real-time information, determine the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and the prescription map at the current moment; and determine the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, the prescription map, and the user-set parameters; and,

[0009] Step 03: Send the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment.

[0010] Furthermore, determining the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and the prescription map at the current moment, based on agricultural machinery parameters and real-time agricultural machinery information, includes:

[0011] Step 21: Based on the agricultural machinery parameters, calculate the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Where k is the label of each section of the agricultural machinery;

[0012] Step 22, based on the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Based on the real-time information of the agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k ;

[0013] Step 23: Based on the response time t and the real-time speed v of the agricultural machinery, the displacement generated within the response time of each segment of the agricultural machinery is superimposed on the real-time position P. k The corrected position P of the center point of each section of the agricultural machinery is obtained. kt ;and,

[0014] Step 24, adjust the correction position P kt By comparing with the working boundary and the prescription map, the spatial positional relationship between the center point of each section of the agricultural machinery and the working boundary and the prescription map at the current moment is determined.

[0015] Further, the execution of step 22 includes:

[0016] When the heading angle of the agricultural machinery head is the same as the heading angle of the agricultural machinery implement, the real-time position P of the center of each section of the agricultural machinery implement is... k It is calculated using the following formula:

[0017]

[0018] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; x k and y kL0 represents the coordinates of the center point of the agricultural machinery implement segment k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery implement to the mounting point of the agricultural machinery head.

[0019] When the heading angle of the agricultural machinery head is different from the heading angle of the agricultural machinery implement, the real-time position P of the center of each section of the agricultural machinery implement is... k It is calculated using the following formula:

[0020]

[0021] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; β represents the heading angle of the implement; x k and y k L0 represents the coordinates of the center point of the agricultural machinery section k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery to the mounting point of the agricultural machinery head.

[0022] Furthermore, the user setting parameters include the value of the default working rate and the strategy for prescription maps outside the boundaries;

[0023] The strategies for prescription maps outside the specified boundaries include using the default working rate, maintaining the current working rate, and setting the working rate to zero.

[0024] Furthermore, the execution of determining the working rate value of each segment of the agricultural machinery at the next moment based on the spatial positional relationship, the prescription map, and the user-set parameters includes:

[0025] When the correction position P of the section center point of the agricultural machinery implement kt When the agricultural machinery is located outside the working boundary, the working speed of that section at the next moment is set to zero.

[0026] When the correction position P of the section center point of the agricultural machinery implement kt When located within the working boundary, first construct a spatial index tree based on the prescription map; then create a system with the correction position P. kt A rectangular region G0 is defined with its center and a length equal to 0.1 times the grid size in the prescription map or less than 1 cm. Then, the spatial index tree is used to query all nodes O0 intersecting the rectangular region G0 in the space, forming a node list. Finally, the node list containing the correction position P is selected. kt The accurate node; if the node list contains the correction position P ktIf the accurate node is not found, the working rate value corresponding to the accurate node in the spatial index tree is used as the working rate value of the agricultural machinery for the next moment in that segment; if the node list does not contain the correction position P, then... kt If the exact node is found, the working rate value of the agricultural machinery in that section at the next moment is determined according to the strategy of inside the prescription map within the boundary.

[0027] Furthermore, the execution of constructing a spatial index tree based on the prescription map includes:

[0028] When the prescription map is a polygonal prescription map (vector map), a spatial index tree is constructed based on the polygonal regions of the prescription map, the bounding rectangles of the polygonal regions, and the working rate values ​​in the prescription map;

[0029] When the prescription map is a raster prescription map, the position coordinates of each grid in the prescription map are first calculated based on the fixed point coordinates and offset values ​​in the prescription map; then, adjacent grids with the same working rate value are merged into a polygonal region; finally, a spatial index tree is constructed based on the merged polygonal region, the bounding rectangle of the polygonal region, and the working rate value in the prescription map.

[0030] Furthermore, the execution of step 03 includes:

[0031] When the working rate response mode of the agricultural machinery is segmented response rate, the working rate value of each segment of the agricultural machinery at the next moment is directly sent to the corresponding agricultural machinery segment.

[0032] When the working rate response mode of the agricultural machinery is a single rate response of the whole machine, the working rate value of each segment of the agricultural machinery at the next moment is calculated according to the width ratio of each segment of the agricultural machinery in the agricultural machinery, and a total working rate value R is sent to the agricultural machinery.

[0033] The operating rate value R satisfies the following formula:

[0034]

[0035] Among them, R i This indicates the working speed of each section of the agricultural machinery; w i represents the width of each section of the agricultural machinery implement; n represents the number of sections of the agricultural machinery implement.

[0036] Another aspect of the present invention discloses a working speed control system for multi-segment agricultural machinery implements. The control system is applied to the aforementioned working speed control method for multi-segment agricultural machinery implements. The working speed control system includes:

[0037] The acquisition module is used to acquire prescription map data and user-set parameters of the area to be worked on; wherein, the prescription map data includes the work boundary and the prescription map;

[0038] The control module determines the spatial relationship between the center point of each section of the agricultural machinery and the working boundary and the prescription map at the current moment, based on the agricultural machinery parameters and real-time agricultural machinery information, and determines the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, the prescription map and the user setting parameters.

[0039] The distribution module is used to distribute the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment.

[0040] Furthermore, the operating speed control system also includes:

[0041] The display module is used to display the boundaries of the work area, the real-time location of the agricultural machinery, and the work area depicted in different colors.

[0042] In another aspect, the present invention discloses an agricultural machine, the agricultural machine comprising:

[0043] Processor; and

[0044] Memory for storing the executable instructions of the processor;

[0045] The processor executes the executable instructions to enable the agricultural machinery to implement the multi-segment agricultural machinery implementation speed control method described above.

[0046] The advantages and beneficial effects of this invention are:

[0047] In the working rate control method of the present invention, the spatial positional relationship between the center point of each section of the agricultural machinery and the working boundary and prescription map at the current moment is first determined by agricultural machinery parameters and real-time agricultural machinery information. Then, the working rate value of each section of the agricultural machinery at the next moment is determined by the spatial positional relationship, prescription map and user-set parameters, so that each section of the agricultural machinery can be automatically matched with the prescription map, and the operation and precise operation parameters required for different sections can be identified in real time, so as to realize the precise operation of multi-section agricultural machinery, thereby improving agricultural production efficiency, avoiding resource waste and reducing agricultural production expenses. Attached Figure Description

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0049] Figure 1This is a diagram illustrating the implementation steps of a multi-segment agricultural machinery operating speed control method in one embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure of an agricultural machine in one embodiment of the present invention;

[0051] Figure 3 This is a rendering of a grid prescription map in one embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the working speed control system for multi-segment agricultural machinery in another embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of an agricultural machine in another embodiment of the present invention.

[0054] In the diagram: 1. Agricultural machinery head; 2. Agricultural machinery antenna; 3. Agricultural machinery implements; 4. Section center; 5. Agricultural machinery central shaft; 6. Mounting point. Detailed Implementation

[0055] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0056] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0057] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, components with the same structure or function are shown only schematically, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one."

[0058] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0060] One embodiment of the present invention provides a method for controlling the working rate of multi-segment agricultural machinery. In actual operation, the working rate can be the fertilization rate, irrigation rate, pesticide application rate, or sowing rate of the agricultural machinery, specifically determined according to the work content to be performed by the agricultural machinery.

[0061] like Figure 1 As shown, the operating rate control method includes the following steps:

[0062] Step 01: Obtain the prescription map data and user settings parameters for the area to be worked on; the prescription map data includes the work boundary and the prescription map.

[0063] Specifically, the prescription map data and user-set parameters of the work area can be obtained through a data port, input buttons, or wireless / wired transmission. For example, the user-set parameters of the work area can be determined by a computer, and then the prescription map data and user-set parameters of the work area can be sent to the agricultural machinery wirelessly. Alternatively, the user-set parameters can be directly input on the central control panel inside the agricultural machinery. It should be noted that the work boundary usually only includes the outer boundary. When the work boundary includes both the outer and inner boundaries, the inner boundary area contained within the outer boundary needs to be removed. In this embodiment, the prescription map includes the corresponding working rate value, data scaling factor, unit, and data range, etc.; wherein, the working rate is the fertilization rate, the irrigation rate of the agricultural machinery, the pesticide application rate of the agricultural machinery, or the sowing rate of the agricultural machinery.

[0064] User-defined parameters include the default operating rate and strategies for operations within the prescription map but outside its boundaries. These strategies include using the default operating rate, maintaining the current operating rate, and setting the operating rate to zero. In other words, there are three operating modes to choose from for operations within the prescription map area. For example, when agricultural machinery is performing fertilization, the operating rate is the fertilization rate. User-defined parameters include the default fertilization rate, and strategies for operations within the prescription map but outside its boundaries include using the default fertilization rate, maintaining the current fertilization rate, and setting the fertilization rate to zero.

[0065] Step 02: Based on the agricultural machinery parameters and real-time information, determine the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment, and determine the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, prescription map and user setting parameters.

[0066] Specifically, firstly, based on agricultural machinery parameters and real-time information, the coordinates of the center point of the agricultural machinery section at the current moment are determined; then, the coordinates of the center point of the agricultural machinery section at the current moment are compared with the work boundary and prescription map to determine the spatial relationship between the center point of the agricultural machinery section at the current moment and the work boundary and prescription map; finally, based on this spatial relationship, the prescription map, and user-set parameters, the working rate value of the agricultural machinery section at the next moment is determined, realizing the identification and confirmation of the working rate values ​​of different sections of the agricultural machinery at the next moment, so as to ensure that each section of the agricultural machinery can execute different working rates according to actual needs.

[0067] Among them, the spatial positional relationship can be divided into three types: ① The center point of the agricultural machinery section at the current moment is located within the prescription map; ② The center point of the agricultural machinery section at the current moment is located within the working boundary outside the prescription map; ③ The center point of the agricultural machinery section at the current moment is located outside the working boundary.

[0068] It should be noted that the term "agricultural machinery" in this application refers to the entire agricultural machinery vehicle. For example... Figure 2 As shown, the agricultural machinery includes a machine head 1, an antenna 2, and implements 3. The antenna 2 is mounted on the machine head 1 and is used for receiving and transmitting communication signals. The tail of the machine head 1 has a mounting point 6, through which the implements 3 are fixed to the machine head 1. The machine head 1 provides the driving power for the implements 3 and enables them to move.

[0069] Step 03: Send the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment.

[0070] Specifically, after the working rate value of each section of the agricultural machinery is determined at the next moment, the working rate value is sent to the agricultural machinery so that each section of the agricultural machinery executes the corresponding working rate value.

[0071] In this way, by adopting the above-mentioned working rate control method, multi-segment agricultural machinery can improve resource utilization efficiency (for example, through precision fertilization, precision irrigation, and precision pesticide application, the efficiency of water, fertilizer, and pesticide use can be significantly improved, reducing waste), increase operational output and quality (through precise management measures, crops can obtain optimal growth conditions, thereby improving crop yield and quality), reduce environmental impact (reduce the excessive use of fertilizers, seeds, and water resources), save operating costs, reduce driver fatigue, and reduce operational difficulty.

[0072] In summary, the working rate control method of this embodiment first determines the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment through agricultural machinery parameters and real-time agricultural machinery information; then, it determines the working rate value of each section of the agricultural machinery at the next moment through the spatial relationship, prescription map, and user-set parameters, so that each section of the agricultural machinery can be automatically matched with the prescription map, and the operations and precise working parameters required for different sections can be identified in real time. Therefore, this embodiment can issue the correct task instructions at the correct time, realize the precise operation of multi-segment agricultural machinery, thereby improving agricultural production efficiency, avoiding resource waste, and reducing agricultural production expenses.

[0073] In this embodiment, determining the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment, based on agricultural machinery parameters and real-time agricultural machinery information, includes:

[0074] Step 21: Based on the agricultural machinery parameters, calculate the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Among them, agricultural machinery parameters include the number of sections of agricultural machinery implements and the width of each section of agricultural machinery implements.

[0075] See Figure 2 Since the central axis of the agricultural machinery implement 3 is always aligned with the central axis of the agricultural machinery head 1 when it is mounted, the distance L from the center 4 of each section of the agricultural machinery implement 3 to the central axis 5 can be calculated based on the number of sections of the agricultural machinery implement 3 and the width of each section. k The calculation formula is as follows:

[0076]

[0077] Where n is the number of sections of the agricultural machinery; w is the width of each section of the agricultural machinery, in meters; k is the label of each section of the agricultural machinery, and the value of k ranges from [1, n]; it should be noted that L k There are positive and negative values, when L k When L is negative, it indicates that the section of the agricultural machinery is located to the left of the central axis of the machinery. k When the value is positive, it indicates that the section of the agricultural machinery is located to the right of the machinery's central axis. For example, L1 represents the distance from the center of the first section to the machinery's central axis, and L2 represents the distance from the center of the second section to the machinery's central axis.

[0078] Specifically, based on the number of sections of the agricultural machinery and the width of each section, the distance L from the center of each section to the central axis of the agricultural machinery is calculated. k For example, when the number of sections of the agricultural machinery is 6 and the width of each section is 1m, according to the above formula, L4 = 2 * 1m + 1 / 2m = 2.5m is calculated.

[0079] Step 22, based on the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Based on real-time information from agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k .

[0080] Specifically, step 22 includes:

[0081] When the heading angle of the agricultural machinery head is the same as the heading angle of the agricultural machinery implements, the real-time position P of the center of each section of the agricultural machinery implements is... k It is calculated using the following formula:

[0082]

[0083] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; x k and y k This indicates the coordinates of the center point of the agricultural machinery implement segment k, i.e., the real-time position P of the center point of that segment. k .like Figure 2 As shown, L0 represents the distance from the agricultural machinery antenna 2 to the central axis 5 of the agricultural machinery, in meters; L1 represents the distance between the projection of the agricultural machinery antenna 2 onto the central axis 5 of the agricultural machinery and the mounting point 6 on the head of the agricultural machinery, in meters; L2 represents the distance from the center of the agricultural machinery implement 3 to the mounting point 6 on the head of the agricultural machinery, in meters; L k This indicates the distance from the center 4 of each section of the agricultural machinery 3 to the central axis 5 of the agricultural machinery. It should be noted that L0 can have positive and negative values. When L0 is negative, it means that the agricultural machinery antenna is located on the left side of the central axis of the agricultural machinery. When L0 is positive, it means that the agricultural machinery antenna is located on the right side of the central axis of the agricultural machinery.

[0084] When the heading angle of the agricultural machinery head is different from the heading angle of the agricultural machinery implements, the real-time position P of the center of each section of the agricultural machinery implements is as follows: k It is calculated using the following formula:

[0085]

[0086] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; β represents the heading angle of the implement; x k and y k This indicates the coordinates of the center point of the agricultural machinery component segment k, i.e., the real-time position P of the center point of that segment. k .like Figure 2 As shown, L0 represents the distance from the agricultural machinery antenna 2 to the central axis 5 of the agricultural machinery, in meters; L1 represents the distance between the projection of the agricultural machinery antenna 2 onto the central axis 5 of the agricultural machinery and the mounting point 6 on the head of the agricultural machinery, in meters; L2 represents the distance from the center of the agricultural machinery implement 3 to the mounting point 6 on the head of the agricultural machinery, in meters; L kL0 represents the distance from the center 4 of each section of the agricultural machinery 3 to the central axis 5 of the agricultural machinery. Similarly, L0 has positive and negative values. When L0 is negative, it means that the agricultural machinery antenna is located on the left side of the central axis of the agricultural machinery. When L0 is positive, it means that the agricultural machinery antenna is located on the right side of the central axis of the agricultural machinery.

[0087] It should be noted that when the tractor unit and implement are rigidly connected, their movements are synchronized, and they have the same heading angle. However, when the tractor unit and implement are hinged, the steering of the implement lags behind, causing the heading angle of the tractor unit to differ from that of the implement. The heading angle can be measured using a GPS navigator and a magnetic compass, or any other device capable of measuring navigation angles.

[0088] Step 23: Based on the response time t and real-time speed v of the agricultural machinery, the displacement generated within the response time of each section of the agricultural machinery is superimposed on the real-time position P. k The corrected position P of the center point of each section of the agricultural machinery is obtained. kt The correction position P kt This refers to the position of each section of the agricultural machinery after its response, ensuring the accuracy of the work performed by each section. The calibration position P of the center point of each section of the agricultural machinery. kt The calculation formula is as follows:

[0089]

[0090] Where, x kt and y kt The coordinates of the center point of each section of the agricultural machinery are represented by the calibration position P. kt α represents the heading angle of agricultural machinery.

[0091] When agricultural machinery is working, the implements are constantly moving, meaning they have a certain speed. During the time it takes for each section of the implement to complete its response and execute its corresponding action (response time), the position of the implement's center point will shift. Therefore, it is necessary to superimpose the positional shifts of each section of the implement during the response time onto the real-time position P. k The above is used to obtain the specific position of the center point of each section of the agricultural machinery when it performs the corresponding action. The positional movement of each section of the agricultural machinery during the response time can be calculated using the response time t, the real-time speed v of the agricultural machinery, and the heading angle of the agricultural machinery.

[0092] The response time t of agricultural machinery is related to the control system of the agricultural machinery and can be obtained through system parameters; the real-time speed v of agricultural machinery can be measured by a speed sensor; for example, the real-time speed v of agricultural machinery can be specifically measured by a magnetoelectric speed sensor.

[0093] Step 24, adjust the calibration position P kt By comparing with the work boundary and prescription map, the spatial positional relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment is determined.

[0094] Specifically, the corrected position P of the center point of each section of the agricultural machinery is calculated. kt Then, it is necessary to determine the correction position P. kt The spatial relationship between the agricultural machinery and the work boundary and the prescription map is crucial; that is, determining whether the center point of each section of the agricultural machinery is within the prescription map, within the work boundary outside the prescription map, or outside the work boundary at the current moment. Only then can the actions that each section of the agricultural machinery needs to perform be determined based on this spatial relationship.

[0095] In this embodiment, the user-defined parameters include the default working rate value and the strategy of prescription map outside the boundary.

[0096] Among them, the strategies for working outside the prescription map within the boundary include using the default working rate, maintaining the current working rate, and working rate of zero. That is, there are three working modes to choose from for jobs in the area outside the prescription map within the boundary, and the user can set which working mode to use.

[0097] That is, users can set the corrected position of the center point of a section of agricultural machinery within the working boundary outside the prescription map, and the section of the agricultural machinery will execute a certain working mode (the working mode can be selected from the default working speed, maintaining the current working speed, and the working speed). This approach allows for flexible adjustment of the working strategies of each section of the agricultural machinery to meet different working needs.

[0098] The execution of determining the working rate value of each section of agricultural machinery at the next moment based on spatial location relationships, prescription maps, and user-set parameters includes:

[0099] When the correction position P of the section center point of the agricultural machinery is kt When the agricultural machinery is located outside the working boundary, its working speed for that section at the next moment is set to zero. That is, the correction position P of the center point of a certain section of the agricultural machinery... kt When the agricultural machinery is located outside the working boundary, it will stop working in that section at the next moment.

[0100] When agricultural machinery turns, or when the width of the working area is less than the width of the machinery itself, a portion of the machinery will be outside the working boundary. In this situation, if all sections of the machinery operate normally, the sections outside the working boundary will perform unproductive work, resulting in unnecessary waste. Therefore, the correction position P of the center point of each section of the agricultural machinery is crucial. ktIf the agricultural machinery is located outside the working boundary, its working speed for that section will be zero at the next moment. This will stop the agricultural machinery section outside the working boundary from working, effectively preventing resource waste.

[0101] When the correction position P of the section center point of the agricultural machinery is kt When located within the working boundary, first construct a spatial index tree based on the prescription map; then create a tree with the correction position P. kt A rectangular region G0 is defined with its center and a length equal to 0.1 times the grid size in the prescription map or less than 1 cm. Then, a spatial index tree is used to query all nodes O0 that intersect the rectangular region G0 in space, forming a node list. Finally, nodes containing the correction position P are selected from the node list. kt The accurate node. If the node list contains the correction position P. kt If the corrected position P is not found in the node list, the working rate value corresponding to that corrected node in the spatial index tree is used as the working rate value of the agricultural machinery for the next time step in that segment; if the node list does not contain the corrected position P, then the corrected position P is not found in the node list. kt If the exact node is determined, the working rate value of the agricultural machinery in the next moment is determined according to the strategy of inside the boundary prescription map outside the boundary. That is, according to the strategy of inside the boundary prescription map outside the boundary set by the user, it is determined whether the agricultural machinery in the next moment adopts the default working rate, maintains the current working rate, or has a working rate of zero (i.e., stops working).

[0102] The spatial index tree enables fast spatial queries by organizing the bounding rectangles of spatial data into a hierarchical tree structure. Its construction process can directly index the bounding boxes of geometric objects to meet the needs of batch data preprocessing scenarios.

[0103] Additionally, the execution of building a spatial index tree based on the prescription map includes:

[0104] When the prescription diagram is a polygonal prescription diagram, a spatial index tree is constructed based on the polygonal region of the prescription diagram, the bounding rectangle of the polygonal region, and the working rate value in the prescription diagram.

[0105] When the prescription map is a raster prescription map, the position coordinates of each grid in the prescription map are first calculated based on the fixed-point coordinates and offset values ​​in the prescription map. Then, adjacent grids with the same working rate value are merged into polygonal regions. Finally, a spatial index tree is constructed based on the merged polygonal regions, the bounding rectangles of the polygonal regions, and the working rate values ​​in the prescription map. As an embodiment of this application, the grid size is generally fixed and related to the spatial resolution. Typically, the grid resolution in the agricultural field can range from a few meters to several hundred meters. For example, see... Figure 3The diagram uses six colors to represent six different operating rate values. Adjacent grid cells with the same operating rate value are merged to form six polygons of different colors. It should be noted that the long grid bars in the diagram are formed by splicing together multiple normal-sized grid cells, resulting in varying lengths of the long grid bars.

[0106] Step 03 includes the following:

[0107] When the working rate response mode of agricultural machinery is segmented response rate, the working rate value of each segment of the agricultural machinery at the next moment is directly sent to the corresponding agricultural machinery segment. Segmented response rate means that each segment of the agricultural machinery can be controlled independently. The normally operating segment can use the corresponding working rate value, and the working rate of the closed segment is 0. The segments do not affect each other.

[0108] When the working rate response mode of agricultural machinery is a single rate response for the entire machine, the working rate value of each segment of the agricultural machinery at the next moment is calculated according to the width ratio of each segment in the agricultural machinery, and this total working rate value R is sent to the agricultural machinery. The single rate response for the entire machine in this application refers to the machinery responding to external commands or performing actions at a fixed and uniform rate regardless of changes in working status, load, or area during operation.

[0109] The formula for calculating the operating rate value R is as follows:

[0110]

[0111] Among them, R i w represents the working speed of each section of agricultural machinery. i This represents the width of each section of the agricultural machinery implement, and n represents the number of sections of the agricultural machinery implement.

[0112] In this way, the method of issuing working rate values ​​is determined based on the working rate response mode of agricultural machinery, making the execution of work in each section of agricultural machinery more precise.

[0113] In another embodiment of the present invention, a working speed control system for multi-segment agricultural machinery is provided. This control system is applied to the working speed control method for multi-segment agricultural machinery described in the above embodiments. The working speed control system may include multiple functional sub-modules composed of program code segments. The working speed control system can be divided into multiple functional sub-modules according to the functions it performs. For example... Figure 4 As shown, the operating speed control system includes:

[0114] The acquisition module is used to acquire prescription map data and user-set parameters for the area to be worked on; the prescription map data includes the work boundary and the prescription map.

[0115] The control module is used to determine the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment, based on the agricultural machinery parameters and real-time information. It also determines the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, prescription map and user-set parameters.

[0116] The distribution module is used to distribute the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment.

[0117] This working rate control system can control multi-segment agricultural machinery to identify the operations and precise operating parameters required for different segments in real time, enabling precise operation of multi-segment agricultural machinery, thereby improving agricultural production efficiency, avoiding resource waste, and reducing production expenses.

[0118] In some embodiments, the control module is specifically used to: calculate the distance L from the center of each section of the agricultural machinery to the central axis of the agricultural machinery based on the agricultural machinery parameters. k Where k is the label of each section of the agricultural machinery; based on the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Based on real-time information from agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k Based on the response time t and real-time speed v of the agricultural machinery, the displacement generated within the response time of each section of the agricultural machinery is superimposed on the real-time position P. k The corrected position P of the center point of each section of the agricultural machinery is obtained. kt ; Correct position P kt By comparing with the work boundary and prescription map, the spatial positional relationship between the center point of each section of the agricultural machinery and the work boundary and prescription map at the current moment is determined.

[0119] In some embodiments, the distance L from the center of each section of the agricultural machinery to the central axis of the machinery is used. k Based on real-time information from agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k The execution includes:

[0120] When the heading angle of the agricultural machinery head is the same as the heading angle of the agricultural machinery implements, the real-time position P of the center of each section of the agricultural machinery implements is... k It is calculated using the following formula:

[0121]

[0122] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; x k and y kL0 represents the coordinates of the center point of the agricultural machinery section k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery to the mounting point of the agricultural machinery head.

[0123] When the heading angle of the agricultural machinery head is different from the heading angle of the agricultural machinery implements, the real-time position P of the center of each section of the agricultural machinery implements is as follows: k It is calculated using the following formula:

[0124]

[0125] Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; β represents the heading angle of the implement; x k and y k L0 represents the coordinates of the center point of the agricultural machinery section k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery to the mounting point of the agricultural machinery head.

[0126] In some embodiments, user-defined parameters include a default operating rate value and a strategy for prescription maps outside the bounds.

[0127] Among them, the strategies for prescriptions outside the boundary include using the default working rate, maintaining the current working rate, and having a working rate of zero.

[0128] In some embodiments, the control module is further configured to:

[0129] When the correction position P of the section center point of the agricultural machinery is kt When the agricultural machinery is located outside the working boundary, the working speed of that section at the next moment is set to zero.

[0130] When the correction position P of the section center point of the agricultural machinery is kt When located within the working boundary, first construct a spatial index tree based on the prescription map; then create a tree with the correction position P. kt A rectangular region G0 is defined with its center and a length equal to 0.1 times the grid size in the prescription map or less than 1 cm. Then, a spatial index tree is used to query all nodes O0 that intersect the rectangular region G0 in space, forming a node list. Finally, nodes containing the correction position P are selected from the node list. kt The accurate node. If the node list contains the correction position P. kt If the corrected position P is not found in the node list, the working rate value corresponding to that corrected node in the spatial index tree is used as the working rate value of the agricultural machinery for the next time step in that segment; if the node list does not contain the corrected position P, then the corrected position P is not found in the node list. ktIf the exact node is found, the working rate value of the agricultural machinery in that section at the next moment is determined according to the strategy of inside the boundary and outside the prescription map.

[0131] The execution of building a spatial index tree based on the prescription map includes:

[0132] When the prescription diagram is a polygonal prescription diagram, a spatial index tree is constructed based on the polygonal region of the prescription diagram, the bounding rectangle of the polygonal region, and the working rate value in the prescription diagram.

[0133] When the prescription map is a raster prescription map, first calculate the position coordinates of each grid in the prescription map based on the fixed point coordinates and offset values ​​in the prescription map; then merge adjacent grids with the same working rate value into polygonal regions; finally, construct a spatial index tree based on the merged polygonal regions, the bounding rectangle of the polygonal regions, and the working rate values ​​in the prescription map.

[0134] In some embodiments, the sending module is specifically used for:

[0135] When the working rate response mode of the agricultural machinery is segmented response rate, the working rate value of each segment of the agricultural machinery at the next moment is directly sent to the corresponding agricultural machinery segment.

[0136] When the agricultural machinery's working rate response mode is a single rate response for the entire machine, the working rate values ​​of each segment of the machinery at the next moment are calculated into a total working rate value R based on the width ratio of each segment within the machinery, and then sent to the machinery. The formula for calculating the working rate value R is as follows:

[0137]

[0138] Among them, R i w represents the working speed of each section of agricultural machinery. i This represents the width of each section of the agricultural machinery implement, and n represents the number of sections of the agricultural machinery implement.

[0139] In addition, such as Figure 4 As shown, the operating speed control system also includes:

[0140] The display module is used to display the boundaries of the work area, the real-time location of the agricultural machinery, and the work area depicted in different colors.

[0141] The display module shows field boundaries, the real-time location of the agricultural machinery, and the worked areas outlined in different colors according to the real-time speed, allowing the driver to understand the work situation in real time. It can operate normally even in low visibility conditions, such as fog or rain, and the driver can still understand the machinery's working status through the display module.

[0142] It is understood that the above-described multi-segment agricultural machinery operating rate control system can realize all the steps of the multi-segment agricultural machinery operating rate control method provided in the foregoing embodiments. The relevant explanations regarding the multi-segment agricultural machinery operating rate control method also apply to the multi-segment agricultural machinery operating rate control system, and will not be repeated here.

[0143] In one specific embodiment, during the fertilizer spreading operation, the working rate control system acquires the location information of the agricultural machinery in real time and maps it to the system's built-in prescription map file, reading the target fertilizer spreading amount data (target working rate) corresponding to that location. This target working rate is sent in a specific message according to the ISOBUS (International Standards Organization Agricultural and Forestry Machinery Bus) protocol, and transmitted via the CAN bus to the ISOBUS fertilizer spreader that supports variable rate adjustment. Finally, the fertilizer spreader controller automatically adjusts the turntable speed according to the received target working rate to achieve real-time working rate adjustment.

[0144] In another embodiment of the present invention, an agricultural machine is provided, such as... Figure 5 As shown, the agricultural machinery includes:

[0145] One or more processors (or processing units); may also include one or more memories coupled to the processor for storing executable instructions of the processor, and may also include a communication module coupled to the processor. The processor executes the executable instructions to enable the agricultural machinery to implement the multi-segment agricultural implement working speed control method as described in the foregoing embodiments.

[0146] A communication module can be used to communicate with other devices or apparatuses, such as sending or receiving data and / or signals. A communication module may have at least one communication module for communication. A communication module may include any interface necessary for communicating with other devices. Exemplarily, a communication module may be a transceiver, circuit, bus, module, or other type of communication module.

[0147] The processor may include, but is not limited to, one or more of the following: a general-purpose computer, a special-purpose computer, a microcontroller, a digital signal processor (DSP), or a controller-based multi-core controller architecture. The device may have multiple processors, such as application-specific integrated circuit (ASIC) chips, which are time-dependent on a clock synchronized with the main processor.

[0148] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: read-only memory (ROM), electrically programmable read-only memory (EPROM), flash memory, hard disk, compact disc (CD), digital video disc (DVD), or other magnetic and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: random access memory (RAM), or other volatile memories that do not persist during the duration of a power outage.

[0149] A computer program consists of computer-executable instructions that are executed by an associated processor. Programs can be stored in ROM. A processor can perform any appropriate action and processing by loading the program into RAM.

[0150] Possible implementations of this application can be achieved through a program, enabling the communication device to execute any of the processes discussed in the foregoing embodiments. Possible implementations of this application can also be achieved through hardware or a combination of software and hardware.

[0151] In some implementations, the program may be tangibly contained in a computer-readable storage medium, which may include in a device (such as in memory) or other storage device accessible by the device. The program may be loaded from the computer-readable storage medium into RAM for execution. The computer-readable storage medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc.

[0152] The above description is merely a specific embodiment of the present invention. Under the teachings of the present invention, those skilled in the art can make other improvements or modifications based on the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of the present invention, and the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the working speed of multi-segment agricultural machinery implements, characterized in that, The operating rate control method includes the following steps: Obtain prescription map data and user settings parameters for the area to be worked on; wherein, the prescription map data includes the work boundary and the prescription map; Based on agricultural machinery parameters and real-time agricultural machinery information, determine the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and the prescription map at the current moment, and determine the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, the prescription map and the user setting parameters; The working speed values ​​of each section of the agricultural machinery at the next moment are sent to the agricultural machinery.

2. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 1, characterized in that, The step of determining the spatial relationship between the center point of each section of the agricultural machinery and the work boundary and the prescription map at the current moment, based on agricultural machinery parameters and real-time agricultural machinery information, includes: Based on the agricultural machinery parameters, the distance L from the center of each section of the agricultural machinery to the central axis of the machinery is calculated. k Where k is the label of each section of the agricultural machinery; Based on the distance L from the center of each section of the agricultural machinery to the central axis of the machinery. k Based on the real-time information of the agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k ; Based on the response time t and the real-time speed v of the agricultural machinery, the displacement generated within the response time of each segment of the agricultural machinery is superimposed on the real-time position P. k The corrected position P of the center point of each section of the agricultural machinery is obtained. kt ;and, The correction position P kt By comparing with the working boundary and the prescription map, the spatial positional relationship between the center point of each section of the agricultural machinery and the working boundary and the prescription map at the current moment is determined.

3. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 2, characterized in that, The distance L from the center of each section of the agricultural machinery to the central axis of the machinery is described. k Based on the real-time information of the agricultural machinery, the real-time position P of the center point of each section of the agricultural machinery is calculated. k The execution includes: When the heading angle of the agricultural machinery head is the same as the heading angle of the agricultural machinery implement, the real-time position P of the center of each section of the agricultural machinery implement is... k It is calculated using the following formula: Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; x k and y k L0 represents the coordinates of the center point of the agricultural machinery implement segment k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery implement to the mounting point of the agricultural machinery head. When the heading angle of the agricultural machinery head is different from the heading angle of the agricultural machinery implement, the real-time position P of the center of each section of the agricultural machinery implement is... k It is calculated using the following formula: Where x and y represent the coordinates of the agricultural machinery antenna; α represents the heading angle of the agricultural machinery head; β represents the heading angle of the implement; x k and y k L0 represents the coordinates of the center point of the agricultural machinery section k; L1 represents the distance from the agricultural machinery antenna to the central axis of the agricultural machinery; L2 represents the distance from the projection of the agricultural machinery antenna on the central axis of the agricultural machinery to the mounting point of the agricultural machinery head; L2 represents the distance from the center of the agricultural machinery to the mounting point of the agricultural machinery head.

4. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 2, characterized in that, The user-defined parameters include the default working rate value and the strategy for prescription maps outside the boundaries; The strategies for prescription maps outside the specified boundaries include using the default working rate, maintaining the current working rate, and setting the working rate to zero.

5. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 4, characterized in that, The execution of determining the working rate value of each segment of the agricultural machinery at the next moment based on the spatial position relationship, the prescription map, and the user-set parameters includes: When the correction position P of the section center point of the agricultural machinery implement kt When the agricultural machinery is located outside the working boundary, the working speed of that section at the next moment is set to zero. When the correction position P of the section center point of the agricultural machinery implement kt When located within the working boundary, first construct a spatial index tree based on the prescription map; then create a system with the correction position P. kt A rectangular region G0 is defined with its center and a length 0.1 times the grid size in the prescription map or less than 1 cm. Then, all nodes O0 intersecting the rectangular region G0 in the space are queried using the spatial index tree, forming a node list. Finally, the node list containing the correction position P is selected. kt The accurate node; if the node list contains the correction position P kt If the accurate node is not found, the working rate value corresponding to the accurate node in the spatial index tree is used as the working rate value of the agricultural machinery for the next moment in that segment; if the node list does not contain the correction position P, then... kt If the exact node is found, the working rate value of the agricultural machinery in that section at the next moment is determined according to the strategy of inside the prescription map within the boundary.

6. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 5, characterized in that, The execution of constructing a spatial index tree based on the prescription map includes: When the prescription diagram is a polygonal prescription diagram, a spatial index tree is constructed based on the polygonal region of the prescription diagram, the bounding rectangle of the polygonal region, and the working rate value in the prescription diagram; When the prescription map is a raster prescription map, the position coordinates of each grid in the prescription map are first calculated based on the fixed point coordinates and offset values ​​in the prescription map; then, adjacent grids with the same working rate value are merged into a polygonal region; finally, a spatial index tree is constructed based on the merged polygonal region, the bounding rectangle of the polygonal region, and the working rate value in the prescription map.

7. The method for controlling the working speed of multi-segment agricultural machinery implements according to claim 1, characterized in that, The step of sending the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment includes: When the working rate response mode of the agricultural machinery is segmented response rate, the working rate value of each segment of the agricultural machinery at the next moment is directly sent to the corresponding agricultural machinery segment. When the working rate response mode of the agricultural machinery is a single rate response of the whole machine, the working rate value of each segment of the agricultural machinery at the next moment is calculated according to the width ratio of each segment of the agricultural machinery in the agricultural machinery, and a total working rate value R is sent to the agricultural machinery. The operating rate value R satisfies the following formula: Among them, R i This indicates the working speed of each section of the agricultural machinery; w i represents the width of each section of the agricultural machinery implement; n represents the number of sections of the agricultural machinery implement.

8. A working speed control system for multi-segment agricultural machinery implements, characterized in that, The control system is applied to the working speed control method for multi-segment agricultural machinery as described in any one of claims 1 to 7, and the working speed control system comprises: The acquisition module is used to acquire prescription map data and user-set parameters of the area to be worked on; wherein, the prescription map data includes the work boundary and the prescription map; The control module determines the spatial relationship between the center point of each section of the agricultural machinery and the working boundary and the prescription map at the current moment, based on the agricultural machinery parameters and real-time agricultural machinery information, and determines the working rate value of each section of the agricultural machinery at the next moment based on the spatial relationship, the prescription map and the user setting parameters. The distribution module is used to distribute the working speed values ​​of each section of the agricultural machinery to the agricultural machinery at the next moment.

9. The working speed control system for multi-segment agricultural machinery implements according to claim 8, characterized in that, The operating speed control system also includes: The display module is used to display the boundaries of the work area, the real-time location of the agricultural machinery, and the work area depicted in different colors.

10. An agricultural machine, characterized in that, The agricultural machinery includes: Processor; and Memory for storing the executable instructions of the processor; The processor executes the executable instructions to enable the agricultural machinery to implement the working speed control method for multi-segment agricultural implements as described in any one of claims 1 to 7.

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