Guidance data set generation method, agricultural operation method and autonomous agricultural operation equipment

Abstract

A guidance data set generation method, an agricultural operation method and autonomous agricultural operation equipment. The guidance data set generation method comprises: acquiring a first moment at which a first execution mechanism of agricultural operation equipment performs a first agricultural operation; then, calculating real-time position information of when the first execution mechanism performs the first agricultural operation at the first moment; and finally, recording the real-time position information to form a guidance data set. In the method, during an agricultural operation, position information that corresponds to a first execution mechanism and is formed during the operation is acquired, and a guidance data set is formed.

Description

A guidance data set generation method, agricultural operation method and autonomous agricultural operation equipment Technical Field

[0001] The present invention relates to the field of agricultural technology for agricultural operations, and in particular to a method for generating a guidance data set, an agricultural operation method, and autonomous agricultural operation equipment. Background Art

[0002] For a long time, operations such as weeding, sowing, and fertilizing were performed manually, requiring a large number of workers to go to the fields to perform manual work, which was inefficient and easily caused strain on people.

[0003] To address these issues, tractors or tillers are often used to perform these operations. Tractors or tillers can be equipped with various tools, such as tillers, seed drills, harrows, spreaders, and weeders, to fulfill the tractor's needs.

[0004] Although the above-mentioned devices can realize tractor operations, there are also some problems. For example, a driver is required to drive the tractor, which makes the driver's work intensity very high.

[0005] To this end, the prior art proposes a new type of equipment, which includes a driving device, a displacement device, an obstacle detection device, a navigation device, an execution device and an automatic device for changing the height of the cutting device. It can move freely in a predefined space to achieve the operation.

[0006] During the actual operation process, the obstacle detection device can always detect the crops in the field to achieve positioning, and transmit the positioning information to the execution device, which then performs corresponding operation actions.

[0007] The above technology can realize automatic driving, and the execution device can automatically seek and locate crops to carry out subsequent operations.

[0008] However, the above technical solution still has some problems. For example, during actual operation, the plant strains between rows need to be detected and analyzed in real time. This increases the analysis process of the entire equipment, that is, the crop identification and analysis must be carried out during each operation. However, the image recognition processing step requires a lot of computing power and the image processing is time-consuming, which reduces the efficiency of the entire agricultural equipment.

[0009] To address this issue, existing technologies pre-define the location of each crop, creating a guidance map. During agricultural operations, these maps are used to perform operations. For example, during the sowing phase, sowing occurs when the crop reaches a predetermined location according to the pre-determined guidance map. This allows agricultural operations to be performed according to a predetermined trajectory, avoiding the need to calculate the location of each crop individually during the subsequent agricultural process, thereby improving agricultural efficiency.

[0010] However, there are always variations in how agricultural machinery moves through the fields, and when sowing or performing other agricultural operations. For example, during a sowing process, seeding may begin at a certain location, but the exact location where the seeds land may differ from that initial location. This can cause the actual location of the crops to deviate from the pre-defined location on the map, making it difficult to meet the production needs of precision agriculture.

[0011] Therefore, the above technical problems need to be solved. Summary of the Invention

[0012] In order to overcome the shortcomings of the existing technology, the present invention proposes a guidance data set generation method, an agricultural operation method and an autonomous agricultural operation equipment, aiming to solve the problem that the crop position pre-set by existing agricultural equipment deviates from the actual position of the crop.

[0013] In order to solve the above-mentioned technical problems, one of the basic technical solutions proposed in the present invention is: a method for generating a guidance data set for agricultural equipment to perform agricultural operations, comprising: obtaining the first moment when the first actuator of the agricultural equipment performs the first agricultural execution; calculating the real-time position information of the first actuator performing the first agricultural execution at the first moment; and recording the real-time position information to form the guidance data set.

[0014] Furthermore, the first moment is the start moment of the execution of the first agriculture.

[0015] Furthermore, the calculation of the real-time position information of the first executing mechanism performing the first agricultural execution at the first moment specifically includes: obtaining the first positioning information of the agricultural equipment at the first moment; inputting the first positioning information into the position calculation model to calculate the real-time position information.

[0016] Furthermore, the calculation model is calculated based on a positioning device on the agricultural equipment and a positional relationship between the first actuator and the positioning device. Furthermore, the position of the first actuator relative to the positioning device is fixed or adjustable; after the first actuator is adjusted, the method further includes performing a second calibration based on the assembly position of the first actuator and the agricultural equipment to adjust the actual position of the first actuator relative to the agricultural equipment.

[0017] Furthermore, after the step of obtaining the first moment at which the first executing mechanism of the agricultural equipment performs the first agricultural execution, the method further includes a first moment calibration step for calibrating the accuracy of the first moment.

[0018] Furthermore, the step of calibrating the first moment specifically includes: obtaining the initial first moment of the first actuator after issuing the execution instruction; calculating the first time when the execution object of the first actuator enters the target area from the initial position at the initial first moment; and adding the first time to the initial first moment to obtain the first moment.

[0019] Furthermore, the recording of the real-time location information to form the guidance data set specifically includes: storing the real-time location information; obtaining a local map;

[0020] The real-time location information is recorded on the local map to form the guidance data set.

[0021] Furthermore, the first actuator is a sowing device, a transplanting device, or an image recognition system.

[0022] The present invention also proposes a device for agricultural equipment to perform agricultural operations, comprising: an acquisition module for acquiring the first moment when the first actuator of the agricultural equipment performs the first agricultural execution; a calculation module for calculating the real-time position information of the first actuator when performing the first agricultural execution at the first moment; and a recording module for recording the real-time position information to form the guidance data set.

[0023] Another aspect of the present invention provides an agricultural device, including an execution device, which includes at least one first execution mechanism and a controller. The controller is used to control the operation of the first execution mechanism, and the controller performs the following steps when working: obtaining the first moment when the first execution mechanism of the agricultural equipment performs the first agricultural execution; calculating the real-time position information of the first execution mechanism when performing the first agricultural execution at the first moment; and recording the real-time position information to form the guidance data set.

[0024] Furthermore, the present invention proposes an agricultural operation method for agricultural operations of agricultural equipment, specifically including: receiving a guidance data set; outputting a second agricultural execution instruction to a second agricultural execution agency when the location recorded in the guidance data set is reached; the second agricultural execution agency executes the second agricultural execution instruction; wherein, the guidance data set is generated by any one of the above-mentioned guidance data set generation methods for agricultural operations of agricultural equipment.

[0025] Furthermore, the agricultural operation is one of sowing operations, transplanting operations, topping operations, weeding operations, watering operations, fertilizing operations, and harvesting operations.

[0026] Finally, the present invention also proposes an autonomous agricultural operation equipment, including: an autonomous machine that can autonomously walk along the rows; an execution device for agricultural operations; the execution device executes the above-mentioned agricultural operation method.

[0027] The beneficial effects of the present invention are as follows: the technical solution of the present invention discloses a guidance data set generation method, an agricultural operation method, and an autonomous agricultural operation device. The method obtains the first moment when the first actuator of the agricultural equipment performs the first agricultural operation, then calculates the real-time position information of the first actuator when performing the first agricultural operation at the first moment, and finally records the real-time position information to form the guidance data set. The method obtains the position information of the corresponding first actuator formed during an agricultural operation and forms the guidance data set. The guidance data set can be used for subsequent operations. On the one hand, it is no longer necessary to obtain images for analysis during each operation process as in traditional agricultural operations, thereby shortening the agricultural execution time and improving the operation efficiency. More importantly, the present invention obtains the actual position of the corresponding crop during a specific agricultural operation to form a guidance data set, solving the problem that the pre-set crop position of existing agricultural equipment deviates from the actual position of the crop, thereby failing to meet the needs of precision agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a structural embodiment 1 of the agricultural equipment of the present invention; Figure 2 is a structural embodiment 2 of the agricultural equipment of the present invention; Figure 3 is a structural embodiment 3 of the agricultural equipment of the present invention; Figure 4 is a flow chart of the method for generating a guidance data set for agricultural equipment to perform agricultural operations of the present invention; Figure 5 is a structural schematic diagram of the deviation between the first moment and the actual crop; Figure 6 is one of the embodiments of the first moment calibration; Figure 7 is a position schematic diagram of the first actuator and the positioning device; Figure 8 is an assembly schematic diagram of the execution position of the first actuator and the autonomous machine; Figure 9 is a schematic diagram of the operating interface of the autonomous machine; Figure 10 is a schematic diagram of the execution position of the first actuator having lateral and longitudinal offsets relative to the autonomous machine; Figure 11 is a structural schematic diagram of the first actuator having an angular offset relative to the autonomous machine; Figure 12 is a principle block diagram of a device for agricultural equipment to perform agricultural operations; Figure 13 is a schematic diagram of an agricultural device; Figure 14 is a flow chart of an agricultural operation method. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to Figures 1 to 14. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort shall fall within the scope of protection of the present invention.

[0030] The method for generating a guidance data set for agricultural equipment to perform agricultural operations is used in the field of agricultural technology. Specifically, the agricultural equipment has positioning function, computing capability and storage function.

[0031] It should be understood that the agricultural equipment can take a variety of forms. For illustrative purposes, the present invention will illustrate three different agricultural equipment scenarios. The agricultural equipment can be used for various agricultural operations, such as sowing, weeding, watering, fertilizing, applying pesticides, transplanting, topping, and harvesting.

[0032] As shown in Figure 1, the agricultural equipment may be an autonomous machine 100 equipped with an actuator 200. For example, the autonomous machine 100 may be an unmanned tractor or robot capable of autonomously navigating between crop rows in a field. The actuator 200 may be integral with the agricultural equipment, forming a single, integrated component. During operation, the autonomous machine 100 automatically guides its movements, while the actuator 200 performs agricultural operations. The actuator 200 of this agricultural equipment is also detachable from the autonomous machine 100. However, the actuator 200 is internally mounted within the autonomous machine 100. Of course, the actuator 200 may also be a fixed, non-detachable structure. For example, some agricultural equipment may include multiple different types of actuators 200, each capable of self-positioning or calculating its position based on the position of the agricultural equipment's positioning device.

[0033] As shown in Figure 2 , the actuator 200 and the autonomous machine 100 are detachably connected. This means that the actuator 200 and the autonomous machine 100 can be assembled and used in conjunction with each other according to actual circumstances. When different tasks are required, different actuators 200 can be replaced as needed. In this embodiment, the autonomous machine 100 autonomously moves through the rows of plants in a field, and the actuator 200 moves along with the autonomous machine 100.

[0034] As shown in Figure 3 , in other embodiments, the autonomous machine 100 and the actuator 200 are completely independent devices, each with its own power source. That is, the autonomous machine 100 can autonomously move through the rows of plants in a field, and the actuator 200 can also autonomously move through the rows of plants in a field. In this embodiment, the autonomous machine 100 can obtain its local actual position, and the actuator 200 can also locate its actual position.

[0035] The above-mentioned agricultural equipment is merely an example and is not limited thereto in practice. It may also be other forms of equipment.

[0036] It should be understood that the method for generating a guidance dataset for agricultural equipment to perform agricultural operations according to the present invention can be executed by the execution device 200 or by the autonomous machine 100 or by both of them in a coordinated manner. Example 1

[0037] As shown in Figure 4, this embodiment 1 proposes a method for generating a guidance data set for agricultural equipment to perform agricultural operations, including the following steps: obtaining the first moment when the first actuator of the agricultural equipment performs the first agricultural execution; calculating the real-time position information of the first actuator when performing the first agricultural execution at the first moment; and recording the real-time position information to form the guidance data set.

[0038] It should be understood that the guidance dataset is used by agricultural equipment or actuators during operation. When the agricultural equipment is operating, the execution position of the first actuator corresponds to the actual location of the corresponding crop. Therefore, the core of this solution is to obtain the real-time position information of the first actuator at the first moment of the corresponding first agricultural operation. This allows the actual location of the crop to be determined, thus alleviating the discrepancy between the preset position and the actual position found in existing technologies.

[0039] The first actuator can be, for example, a sowing device. When a sowing device is used, the present invention enables the actual position of the sowing device during sowing to be obtained. It should be understood that the position of the seed is the actual position of the subsequent crop. Therefore, in a specific embodiment, the first actuator is a sowing device.

[0040] It should be understood that the position of the sowing device after sowing the seeds remains unchanged. Thus, subsequent operations after sowing can use the actual position of the seeds as the crop's position. For example, operations such as watering, weeding, fertilizing, applying pesticides, topping, and harvesting after sowing can all be based on the guidance dataset of the present invention. During these operations, the corresponding actuators will use the actual position obtained during sowing as the basis for subsequent processing. This avoids the need to perform image analysis and processing on each crop during subsequent operations, reducing the difficulty of agricultural equipment execution. Furthermore, by reducing the complex steps of image analysis and processing, the speed of agricultural equipment can be increased, ultimately improving the efficiency of other agricultural operations after sowing. More importantly, the present invention generates a guidance dataset based on the actual position of the crop corresponding to a specific agricultural operation. This solves the problem of existing agricultural equipment's pre-set crop position deviating from its actual position, thus failing to meet the needs of precision agriculture production. Specifically, the actual position of the crop is obtained through a specific agricultural operation, and then a guidance dataset is generated. This guidance dataset is based on the crop's actual position, thus ensuring that the position referenced in subsequent agricultural operations is accurate, meeting the operational requirements of precision agriculture.

[0041] Of course, in addition to the sowing device, the first actuator can also be other actuators, such as a mechanism for digging sowing pits in the farmland before sowing, a transplanting mechanism, and a subsequent watering, fertilizing, and pesticide application actuator. The present invention is not limited to the sowing device. For better explanation, the image recognition system will be used as an example below. The adoption of this solution is more suitable for execution after the sowing operation has been carried out and the seeds have germinated and exposed to the surface. It should be understood that for some farms, operators have already carried out sowing operations on the fields through traditional technologies and equipment, and this technology is used as a preferred method for operations after sowing. It can meet other subsequent operation requirements through patrol operations (that is, the image recognition system of agricultural equipment is used to pre-acquire the guidance data set described in the present invention) to reduce the high requirements for the system's later computing capabilities, while also improving operation efficiency.

[0042] Specifically, when generating the guidance data set, firstly, a first moment at which the first executing mechanism of the agricultural equipment performs the first agricultural execution is obtained.

[0043] Specifically, the first moment when the first actuator performs a first agricultural operation must be accurately captured. For example, during sowing, the moment a seeding device delivers a seed into the field. Specifically, when the sowing device's delivery actuator receives an execution instruction, the moment when the delivery actuator executes the instruction is the first moment. This first moment is the start time of the first agricultural operation. Specifically, this first moment is the moment when the first actuator begins executing the instruction.

[0044] This first moment is important for obtaining the actual position of the first actuator. It should be clearly understood that a positioning device can obtain geographic location information in real time. Thus, when the first moment is obtained, the location information corresponding to the corresponding moment of the corresponding positioning device can be found. The positioning device can be, for example, a GPS positioning device or any other technology capable of achieving positioning.

[0045] The first moment can be obtained by a clock, which can accurately record the moment when the first executing mechanism (such as a sowing device) executes the first agricultural operation.

[0046] There will be some differences between the position corresponding to the moment when the first actuator performs the first agricultural execution and the actual execution position. As shown in Figure 5, taking sowing as an example, the sowing device 10 executes the sowing instruction at time t1, and it takes time for the seed 001 to fall from the sowing device 10 to the field, that is, there is a delay. Therefore, the moment when the seed falls to the ground will be t2, so there is a time difference T between time t2 and time t1. During this time difference T, the agricultural equipment will continue to move forward a distance L1, which will result in a deviation in the actual position when time t1 is used as the first moment. Therefore, in some embodiments, the step of obtaining the first moment when the first actuator of the agricultural equipment performs the first agricultural execution also includes a first moment calibration step for calibrating the accuracy of the first moment. This first moment calibration step ensures a more accurate moment when the seed falls to the ground, and thus ensures the precise position where the seed falls to the ground. This method can better achieve precise positioning.

[0047] In detail, as shown in FIG6 , this figure shows one embodiment of the first moment calibration step.

[0048] The calibration step specifically includes: obtaining the initial first moment after the first actuator issues an execution instruction; calculating the first time when the execution object of the first actuator enters the target area from the initial position at the initial first moment; and adding the first time to the initial first moment to obtain the first moment.

[0049] Specifically, the actual first moment is obtained by calculating the time it takes for the first actuator's execution target to move from its initial position at the first moment to the target area (field surface). The actual first moment is t2 mentioned above.

[0050] Specifically, when the first execution mechanism receives an execution instruction, it will perform the operation within a specified time. For example, when a seeding device receives a seed and plays it, the device will execute it at the time specified in the execution instruction. The specific execution time is the initial first time. Specifically, the execution instruction can specify that the execution is executed immediately after the instruction is sent, or it can be executed after a set time after the instruction is sent. Regardless of the execution method, the time when the instruction is executed is the initial first time.

[0051] Taking the sowing device as an example, the calculation of the first time when the execution object of the first actuator enters the target area from the initial position at the initial first moment can be specifically implemented by the following method. For example, if the height of the seed of the sowing device relative to the field at the sowing device is H, then the time T for it to fall from the height H to the field can be calculated by free fall. The height H can be detected by a height sensor. The specific height sensor can be set at the first actuator. The height sensor can be set at a position at the same height as the seed, or at a position deviated from the seed. For example, the height sensor is located above the seed 001 and the distance is h, or the height sensor is located below the seed and the distance is h. In this way, the actual height detected by the height sensor from the field surface minus or plus h is the height H.

[0052] Specifically, T can be calculated using the following formula: , where H is the height of the seed relative to the field surface at the sowing device, and g is the acceleration due to gravity. The time T described above is merely an example; various calculation methods exist, and variations in the specific calculation method and logic are all considered within the scope of this invention.

[0053] Of course, when the first actuator is a different agricultural actuator, its calculation method will be different. However, if the time T calculation method of different actuators is different, they should all fall within the scope of protection of the present invention. The core of this embodiment is to improve positioning accuracy through the first moment calibration step. All agricultural technologies that use this step should fall within the scope of protection of the present invention.

[0054] After obtaining the time T, t2 = t1 + T. The first moment obtained in this way is a more accurate moment.

[0055] In another embodiment, to reduce the number of steps required during the operation of the agricultural equipment, the time T can be set to a set value. For example, the time T' can be calculated based on the average height H' of the first actuator relative to the field surface. This time T' is then used as the first time. The first time is then calculated by adding the first time T' to the initial first time.

[0056] In other embodiments, the first moment may be obtained by adding a preset error adjustment time value to the moment after the first execution instruction is issued, thereby ensuring the accuracy of the first moment.

[0057] This technology can accurately obtain the actual location of crops, provide a basis for subsequent agricultural execution, and meet the needs of precision agricultural operations.

[0058] After the first moment is determined, real-time location information of the first agricultural operation performed at the first moment is obtained.

[0059] In a specific embodiment, the calculation of the real-time position information of the first actuator performing the first agricultural execution at the first moment specifically includes: obtaining the first positioning information of the agricultural equipment at the first moment; inputting the first positioning information into the position calculation model to calculate the real-time position information.

[0060] The calculation models are various and can be implemented in different scientific ways. It is unacceptable to circumvent the protection scope of the present invention by simply setting a specific calculation formula.

[0061] Typically, there is a positional deviation between the first actuator and the execution position and the positioning device of the agricultural equipment. In practice, it is difficult to ensure that the position located by the positioning device is the actual position of the agricultural execution. Therefore, this embodiment can achieve accurate acquisition of the real-time actual position.

[0062] Taking a sowing device as an example, under actual conditions, the position of the seeds in the sowing device is different from that of the positioning device of the agricultural equipment. Therefore, in this embodiment, the calculation model is based on the positioning device on the agricultural equipment and the position relationship of the first actuator relative to the positioning device.

[0063] Taking Figure 7 as an example, the positioning device 30 is installed on the autonomous machine 100, while the first actuator 10 is installed on the actuator 200. As shown in Figure 7, using a Cartesian coordinate system as a reference, the position of the positioning device 30 is defined as (X0, Y0), and the position of the first actuator 10 is defined as (X1, Y1). In reality, the relative positions of the positioning device 30 and the first actuator 10 are known in advance, as they are fixed or adjustable. Once the position of the positioning device 30 is known, the position of the first actuator 10 (X1, Y1) can be calculated. Specifically, if the relative position is set to (ΔX, ΔY), then the position of the first actuator 10 (X1, Y1) = (X0, Y0) ± (ΔX, ΔY). Specifically, the calculation model performs calculations based on the logic that (X1, Y1) = (X0, Y0) ± (ΔX, ΔY).

[0064] Of course, the position of the first actuator relative to the positioning device is fixed or adjustable. After the first actuator is adjusted, the method further includes performing a second calibration based on the assembly position of the first actuator and the agricultural equipment to adjust the actual position of the first actuator relative to the agricultural equipment.

[0065] When the position is fixed, the relative position is a fixed value. When the position is adjustable, the relative position (ΔX, ΔY) may be adjusted when the first actuator 10 is replaced or adjusted. In this case, the actual relative position (ΔX, ΔY) can be measured and input into the system for adjustment.

[0066] Specifically, the second calibration step can be implemented as follows: It should be understood that since the position of the first actuator 10 changes each time it is adjusted, a corresponding value can be input based on the position of the first actuator 10 relative to the autonomous machine 100 for adjustment. Of course, this value is pre-set, that is, it is set for each different first actuator 10 at the factory. As shown in Figure 8 , the actuation position of the first actuator 10 is 101, and the installation position of the first actuator 10 is 102. The distance L2 between the actuation position 101 and the installation position 102 is fixed. When the installation position 102 is installed in the mounting position 1001 of the autonomous machine 100, the position of the actuation position 101 relative to the autonomous machine 100 is fixed. This embodiment is particularly suitable for situations where the first actuator 10 is arranged along the direction of motion (X-axis) of the autonomous machine 100. Since the installation position 1001 of the autonomous machine 100 is fixed relative to the positioning device 30, its specific position is preset in the system. Therefore, once the position between installation location 102 and execution location 101 is determined, the position of execution location 101 relative to positioning device 30 can be determined. As shown in FIG9 , which illustrates the operation of autonomous machine 100 in some specific scenarios, the operation interface of autonomous machine 100 includes text input locations 1002 for different installation locations 1001. Each text input location 1002 is defined with a specific calculation formula for calculating the specific position of positioning device 30 and execution location 101. When a specific distance L2 is entered into a text input location 1002, the position of execution location 101 relative to positioning device 30 is automatically calculated.

[0067] In another embodiment, as shown in Figure 10 , the offset between the actuating position 101 of the first actuator 10 and its mounting position 102 is (X01, Y01). This means that the actuating position 101 of the first actuator 10 may be located on either side of the first actuator 10's motion direction, resulting in a lateral (Y-axis) offset between the actuating position 101 and the mounting position 1001. Therefore, the position of the actuating position 101 relative to the mounting position 1001 needs to be calibrated. During assembly, the mounting position 102 will be axially mounted at the mounting position 1001 of the autonomous machine 100. At this point, the offset between the actuating position 101 and the mounting position 1001 is (X01, Y01). Therefore, when the first actuator 10 is replaced, (X01, Y01) is entered into the text input position 001. The autonomous machine 100 can then calculate the position of the actuating position 101 relative to the positioning device 30.

[0068] However, in some embodiments, the execution position 101 of the first actuator 10 moves relative to the position of the autonomous machine 100 during execution. Therefore, it is necessary to obtain the position of the first actuator 10 relative to the positioning device 30 in real time during a specific agricultural operation. As shown in Figure 11, the mounting position 102 of the first actuator 10 is mounted at the mounting position 1001 of the autonomous machine 10. The distance L2 between the mounting position 102 and the execution position 101 is fixed and set at the factory. During the specific adjustment process, the offset angle α of the first actuator 10 relative to the mounting position 1001 at the first moment of the first agricultural operation is obtained. The offset angle α and the distance L2 are transmitted to the autonomous machine 10. The autonomous machine 10 then calculates the specific position of the execution position 101 based on the positioning device 30, the offset angle α, and the distance L2. The relative position of the mounting position 1001 and the positioning device 30 is fixed, the distance between the mounting position 1001 and the execution position 102 is fixed, and the offset angle α is also obtainable. Therefore, based on this data, a conventional mathematical calculation model can be constructed to calculate the specific location of execution position 101. This specific location serves as the real-time position information of the first actuator performing the first agricultural operation at the first moment. Of course, the solution described in this technical solution can include a calibration step at the first moment to ensure more accurate crop location. Of course, in this embodiment, the execution position 101 is the corresponding crop position.

[0069] The offset angle α can be obtained by an angle detector provided on the first actuator 10. This angle detector can be implemented using a variety of different technologies, such as an angle gyroscope. The angle gyroscope can be connected to the autonomous robot via a wired or wireless connection. Specifically, the angle detector detects the current offset angle α in real time and transmits it to the autonomous robot. The autonomous robot can then calculate the real-time position of the execution position 102 based on the offset angle α.

[0070] It should be noted that the real-time location information of the first agricultural operation at the first moment can be matched with the first moment. Specifically, the positioning device 30 can obtain a piece of location information in real time, and each piece of location information corresponds to a moment. For example, if the positioning device 30 obtains real-time location information at the second moment, and at this time, for the positioning device 30, the second moment corresponds to the first moment of the first agricultural operation, then the real-time location information of the positioning device 30 is the real-time location information of the first actuator corresponding to the first moment of the first agricultural operation. This makes it very convenient to obtain the position of the first actuator.

[0071] Of course, some issues should be considered, such as the first moment and the second moment not being completely consistent. For example, if the first moment is 12:23:37:03 and the second moment is 12:23:36:58, the two cannot be completely matched. In this case, a time difference can be allowed. For example, the time difference with the first moment is set to △t. The position corresponding to the second moment closest to △t is the real-time position information of the first moment. The △t is self-set, for example, 0.05 seconds. Of course, this △t is customizable and is set according to different crops and positioning accuracy requirements. Any change in the setting value of △t should fall within the scope of protection of the present invention.

[0072] When the actual real-time position of the first actuator 10 is obtained, the real-time position information will be recorded to form the guidance data set. When the autonomous robot is constantly walking, the position of each seed or crop will be recorded, so that the position information obtained can be continuously obtained.

[0073] The guidance data set can be in a table format to facilitate automatic indexing for later use. Of course, it is not limited to this. It can be stored by any suitable technical means to facilitate automatic indexing by the system. Any method that can store data for automatic indexing during later execution is acceptable.

[0074] In some embodiments, the guidance dataset may be a map.

[0075] Specifically, recording the real-time location information to form the guidance data set includes: storing the real-time location information; obtaining a local map; and recording the real-time location information on the local map to form the guidance data set.

[0076] That is, in this embodiment, the guidance data set is presented in the form of a map.

[0077] It should be clear that the local map can be obtained in real time or pre-stored. For example, remote server data can be obtained through the Internet to obtain an up-to-date map. It can also be pre-stored in the agricultural equipment.

[0078] In practice, each real-time location information will be written to the corresponding local map. That is, the real-time location information is matched with the location information on the local map, and the real-time location information is marked on the local map to highlight it. Of course, the specific method for writing the real-time location information to the local map can be implemented using existing technologies, and this will not be described in detail in this disclosure. There are many different ways to do this, and any method can be used to record the real-time location information on the local map. Therefore, the technology disclosed in this disclosure should not be considered insufficient.

[0079] In another embodiment, the first actuator may be an image recognition system.

[0080] Specifically, the method for generating a guidance data set for agricultural equipment to perform agricultural operations includes: obtaining the first moment when the image recognition system of the agricultural equipment performs the first agricultural execution; calculating the real-time position information of the image recognition system performing the first agricultural execution at the first moment; and recording the real-time position information to form the guidance data set.

[0081] It should be clearly known that the graphic recognition system described in this embodiment may be an image recognition system of existing agricultural equipment; wherein the first agricultural execution may be a photo-taking moment of the image recognition system.

[0082] That is, the image recognition system of the agricultural equipment is used to obtain the position of the scanned crop relative to the positioning device of the agricultural equipment.

[0083] When acquiring the crop image, the corresponding first moment is simultaneously acquired. The real-time position information is then calculated. Specifically, at the first moment when the image of the crop is acquired by the image recognition system, the agricultural equipment will record the position information of the agricultural equipment corresponding to the first moment in real time. The specific position of the crop is calculated based on the position of the crop relative to the positioning device and the position information of the agricultural equipment at the first moment. The specific calculation method is as described above and will not be repeated here. The difference between this embodiment and the above-mentioned sowing device-based embodiment is that the first agricultural execution is an image recognition system, and the position of the corresponding crop and the first moment of obtaining the crop image are obtained through the graphic recognition system.

[0084] In agricultural production, inspection operations are often used, that is, using image recognition to identify the growth status of crops. This method uses the inspection function of crops to obtain the location guidance data of crops in the field, providing support for subsequent operations.

[0085] In summary, this embodiment determines the first moment when the first executing mechanism performs the first agricultural execution, and then obtains the real-time position information of the first moment to finally form a guidance data set, which can be used for subsequent agricultural executions, reducing the execution process during subsequent agricultural operations, and thus realizing the requirements of precision agricultural operations. Example 2

[0086] As shown in Figure 12, the present invention also proposes a device for agricultural equipment to perform agricultural operations, and the agricultural operation includes: an acquisition module for acquiring the first moment when the first actuator of the agricultural equipment performs the first agricultural execution; a calculation module for calculating the real-time position information of the first actuator when performing the first agricultural execution at the first moment; and a recording module for recording the real-time position information to form the guidance data set.

[0087] Among them, the methods executed by the acquisition module, calculation module and recording module are the same as the generation method expressed in Example 1 above, so they are not repeated in this embodiment, but this should not be used to conclude that the technical solution disclosed in the present invention is insufficient.

[0088] Similarly, the present invention determines the first moment when the first executing mechanism performs the first agricultural execution, and then obtains the real-time position information of the first moment to finally form a guidance data set, which can be used for subsequent agricultural executions, thereby reducing the execution process during subsequent agricultural operations and realizing the requirements of precision agricultural operations. Example 3

[0089] As shown in Figure 13, another aspect of the present invention proposes an agricultural device, including an execution device 200, which includes at least one first execution mechanism 10 and a controller 20. The controller 20 is used to control the operation of the first execution mechanism 10. When the controller 20 is working, it performs the following steps: obtaining the first moment when the first execution mechanism of the agricultural equipment performs the first agricultural execution; calculating the real-time position information of the first execution mechanism when performing the first agricultural execution at the first moment; and recording the real-time position information to form the guidance data set.

[0090] The specific steps executed by the controller 20 when working are the same as the generation method expressed in the above embodiment 1, and therefore are not repeated in this embodiment, but this should not be used to conclude that the technical solution disclosed in the present invention is insufficient.

[0091] Similarly, the present invention determines the first moment when the first executing mechanism performs the first agricultural execution, and then obtains the real-time position information of the first moment to finally form a guidance data set, which can be used for subsequent agricultural executions, thereby reducing the execution process during subsequent agricultural operations and realizing the requirements of precision agricultural operations.

[0092] It should be noted that in some embodiments, each of the first actuators 10 includes a built-in controller 20, capable of executing the aforementioned steps and achieving agricultural execution. In other embodiments, the controller 20 is built into the agricultural equipment itself, enabling unified management and control of multiple first actuators 10. Specifically, the first actuators 10 and controller 20 can be integrated into the same device or separately configured. The configuration of the first actuators 10 and controller 20 can be similar to the three different agricultural equipment scenarios listed above. Example 4

[0093] Furthermore, as shown in Figure 14, the present invention proposes an agricultural operation method for agricultural operations of agricultural equipment, specifically including: receiving a guidance data set; outputting a second agricultural execution instruction to a second agricultural execution agency when the location recorded in the guidance data set is reached; the second agricultural execution agency executes the second agricultural execution instruction; wherein, the guidance data set is generated by any one of the above-mentioned guidance data set generation methods for agricultural operations of agricultural equipment.

[0094] That is, the agricultural operation method is implemented based on the above-mentioned method for generating a guidance data set for agricultural equipment to perform agricultural operations.

[0095] Agricultural operations are performed throughout the entire growth period of crops, such as sowing, transplanting, weeding, watering, fertilizing, pesticide application, and harvesting.

[0096] In modern agriculture, precision farming is a growing trend. Therefore, this embodiment performs precision farming operations after obtaining a single crop location dataset. This eliminates the need to analyze each crop individually during the farming process, ensuring that subsequent agricultural operations are guided by a single map (a set of guidance data). This allows for faster movement of self-propelled machines and improves overall efficiency.

[0097] Specifically, the movement of the autonomous machine 100 drives the movement of the actuator. The second actuator in the actuator performs the operation. It should be understood that when the second actuator performs the operation, it is necessary to locate the crop to prevent errors. For example, during weeding operations, it is important to avoid weeding the crop. Therefore, the guidance dataset of the present invention can easily achieve positioning and avoid accidentally weeding the crop.

[0098] Specifically, when the location recorded in the guidance dataset is reached, a second agricultural execution instruction is output to the second agricultural execution mechanism. It is clear that this step is performed based on the guidance dataset. For example, during fertilization, the positioning device 30 of the agricultural equipment continuously detects its real-time location during movement. When the corresponding real-time location matches the location information recorded in the guidance dataset, the second agricultural instruction is output. This second agricultural instruction is executed by the second agricultural execution mechanism.

[0099] Specifically, when determining whether the location information matches, two execution scenarios can be considered. The first scenario involves the detection of a match between the real-time location and a location recorded in the guidance dataset. In this case, the system determines the match and outputs a second execution instruction. Alternatively, if the real-time location and the guidance dataset do not completely match, a tolerance is set. If the real-time location and a location recorded in the guidance dataset are within this tolerance, a second agricultural instruction is output. In the case of a specific operation, this second agricultural instruction is a specific operation instruction, such as a fertilization instruction.

[0100] In another embodiment, when the detected real-time location is outside of a location in the guidance dataset, an agricultural execution instruction, such as a weeding operation, can be output. This is because weeding is performed in an area outside of the location in the guidance dataset. Of course, to prevent accidental crop damage, a second agricultural instruction can be set to be issued outside a certain range of the location in the guidance dataset. For example, the second agricultural instruction will only be issued if the location is within 1 cm of the location.

[0101] When the second agricultural instruction is issued, the second agricultural execution agency executes the second agricultural execution instruction to achieve specific agricultural operations, such as watering, weeding, fertilizing, harvesting, spraying pesticides, etc.

[0102] This embodiment reduces the execution process of subsequent agricultural operations by referencing the guidance data set as the execution basis, thereby achieving the requirements of precision agricultural operation operations and improving operation efficiency. Example 5

[0103] As shown in FIG3 , the present invention further proposes an autonomous agricultural operation device, comprising: an autonomous machine 100 capable of autonomously walking along the rows; an execution device 200 for agricultural operations; the execution device executes the above-mentioned agricultural operation method.

[0104] The agricultural operation method performed by this autonomous agricultural operation equipment is the same as described above and will not be elaborated here, but this cannot be used to conclude that the disclosure of this embodiment is insufficient.

[0105] This embodiment reduces the execution process of subsequent agricultural operations by referencing the guidance data set as the execution basis, thereby achieving the requirements of precision agricultural operation operations and improving operation efficiency.

[0106] Finally, the present invention proposes a computer-readable storage medium, on which a guidance data set generation program or an agricultural operation program is stored. When the guidance data set generation program or the agricultural operation program is executed by a processor, the steps of any of the above-mentioned guidance data set generation methods or agricultural operation methods for agricultural equipment to perform agricultural operations are implemented.

[0107] The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. It should be noted that a person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the storage medium may include but is not limited to: magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).

[0108] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0109] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0110] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for generating a guidance data set for agricultural equipment to perform agricultural operations, characterized in that: Acquire a first moment when a first actuator of the agricultural equipment performs a first agricultural operation; calculate real-time position information of the first actuator performing the first agricultural operation at the first moment; and record the real-time position information to form the guidance data set.

2. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 1, characterized in that: The first moment is the start moment of the first agricultural execution.

3. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 1, characterized in that: The calculating of the real-time position information of the first executing mechanism performing the first agricultural execution at the first moment specifically includes: obtaining the first positioning information of the agricultural equipment at the first moment; and inputting the first positioning information into the position calculation model to calculate the real-time position information.

4. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 3, characterized in that: The calculation model is calculated based on a positioning device on the agricultural equipment and a positional relationship of the first actuator relative to the positioning device.

5. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 4, characterized in that: The position of the first actuator relative to the positioning device is fixed or adjustable; after the first actuator is adjusted, a second calibration step is also included based on the assembly position of the first actuator and the agricultural equipment to adjust the actual position of the first actuator relative to the agricultural equipment.

6. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 1, characterized in that: The step of obtaining the first moment at which the first actuator of the agricultural equipment performs the first agricultural operation further includes a first moment calibration step for calibrating the accuracy of the first moment.

7. A method for generating a guidance data set for agricultural equipment to perform agricultural operations as claimed in claim 6, characterized in that: The step of calibrating the first moment specifically includes: obtaining the initial first moment of the first actuator after issuing an execution instruction; calculating the first time when the execution object of the first actuator enters the target area from the initial position at the initial first moment; adding the initial first moment to the first time to obtain the first moment.

8. The method for generating a guidance data set for agricultural equipment to perform agricultural operations according to claim 1, characterized in that: The recording of the real-time location information to form the guidance data set specifically includes: storing the real-time location information; acquiring a local map; and recording the real-time location information on the local map to form the guidance data set.

9. The method for generating a guidance data set for agricultural equipment to perform agricultural operations according to claim 1, characterized in that: The first actuator is a sowing device, a transplanting device or an image recognition system.

10. A device for agricultural equipment to perform agricultural operations, characterized in that: include: An acquisition module, used for acquiring a first moment when a first execution mechanism of the agricultural equipment performs a first agricultural execution; A calculation module, used for calculating the real-time position information of the first executing mechanism performing the first agricultural execution at the first moment; The recording module is used to record the real-time location information to form the guidance data set.

11. An agricultural device, comprising an execution device, the execution device comprising at least one first execution mechanism (10) and a controller (20), the controller (20) being used to control the operation of the first execution mechanism (10), characterized in that: The controller (20) performs the following steps when in operation: obtaining a first moment at which a first actuator of the agricultural equipment performs a first agricultural operation; calculating real-time position information of the first actuator performing the first agricultural operation at the first moment; and recording the real-time position information to form the guidance data set.

12. An agricultural operation method for agricultural operation of agricultural equipment, characterized in that: Receiving a guidance data set; outputting a second agricultural execution instruction to a second agricultural execution agency when reaching the position recorded in the guidance data set; the second agricultural execution agency executes the second agricultural execution instruction; wherein the guidance data set is generated by a guidance data set generation method for agricultural equipment to perform agricultural operations as described in any one of claims 1 to 9.

13. An agricultural operation method according to claim 12, characterized in that: The agricultural operation is one of sowing operation, transplanting operation, topping operation, weeding operation, watering operation, fertilizing operation and harvesting operation.

14. An autonomous agricultural operation device comprising: Autonomous machines, which can autonomously move along the rows; implements, which are used for agricultural operations; The execution device executes the agricultural operation method as described in claim 13.

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