CN114296116B - Method, device, electronic device and readable storage medium for determining agricultural implement offset - Google Patents
Method, device, electronic device and readable storage medium for determining agricultural implement offset Download PDFInfo
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- CN114296116B CN114296116B CN202111640180.6A CN202111640180A CN114296116B CN 114296116 B CN114296116 B CN 114296116B CN 202111640180 A CN202111640180 A CN 202111640180A CN 114296116 B CN114296116 B CN 114296116B
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Abstract
本申请提供了一种农具偏移确定方法、装置、电子设备和可读存储介质，其中，该方法包括：通过打点设备采集农具移动过程中的打点数据，其中，所述农具挂接在农机上；根据所述打点数据，确定出所述农具与所述农机的中心偏移。
The present application provides a method, device, electronic device and readable storage medium for determining agricultural implement offset, wherein the method comprises: collecting dot marking data of an agricultural implement during movement by a dot marking device, wherein the agricultural implement is mounted on an agricultural machine; and determining the center offset between the agricultural implement and the agricultural machine based on the dot marking data.
Description
Technical Field
The application relates to the technical field of automated agriculture, in particular to a farm tool offset determining method, a farm tool offset determining device, electronic equipment and a readable storage medium.
Background
Automatic operation is raised in various industries, and various agricultural operations are realized. For example, the implement is moved in the ground by a walkable machine to work the implement on the ground. However, the walkable machine is not exactly the same as the path of the agricultural implement, and therefore, even if the walkable machine moves in accordance with the standard required operation path, there are cases where the agricultural implement cannot operate in accordance with the desired path. The problem of the agricultural implement not being able to follow the desired route is mainly due to the fact that there may be problems caused by the deviation of the attachment of the agricultural implement to the walkable machine.
At present, the deviation of farm tools and walkable machines is realized by some manual measurement modes, but the manual measurement is inevitably in the conditions of low efficiency and human error.
Disclosure of Invention
The application aims to provide a farm tool offset determination method, a farm tool offset determination device, electronic equipment and a readable storage medium, which can solve the problem that in the current automatic farm work, the offset measurement efficiency of farm tools and walking machines is low.
In a first aspect, the present invention provides a method for determining an agricultural implement offset, comprising:
collecting dotting data in the moving process of the farm tool through dotting equipment, wherein the farm tool is hung on the farm machine;
And determining the center offset of the farm tool and the farm machine according to the dotting data.
In an alternative embodiment, the dotting device is mounted on an agricultural implement, and the determining, according to the dotting data, that the agricultural implement is offset from the center of the agricultural implement includes:
determining a first distance between the dotting equipment and the central line of the agricultural machine according to the dotting data;
and determining the center offset of the agricultural implement and the agricultural machine according to the first distance and the second distance between the dotting equipment and the central line of the agricultural implement.
In the embodiment, the measurement of the center offset of the agricultural machine and the agricultural tool can be realized by only one dotting device, so that the requirement of the device is reduced.
In an alternative embodiment, the determining, according to the dotting data, a first distance between the dotting device and a center line of the agricultural machine includes:
Determining a first distance array according to each numerical value in the dotting data and the central line of the agricultural machine;
and carrying out weighting treatment on the first distance array to obtain a first distance between the dotting equipment and the central line of the agricultural machine.
In the above embodiment, the first distance array may be weighted, and the values in the first distance array may be screened as needed, so that the first distance between the dotting device and the center line of the agricultural machine may be relatively more accurately achieved.
In an optional embodiment, the agricultural implement is provided with a first dotting device and a second dotting device, and the dotting device is used for collecting dotting data in the moving process of the agricultural implement, and the method comprises the following steps:
collecting first dotting data of first dotting equipment in the running process of the agricultural machinery;
collecting second dotting data of the second dotting equipment in the running process of the agricultural machinery;
the method comprises the steps of determining center offset of the farm tool and the farm machine according to the dotting data, determining a third distance between the first dotting device and the center line of the farm machine according to the first dotting data, determining a fourth distance between the second dotting device and the center line of the farm machine according to the second dotting data, and determining center offset of the farm tool and the farm machine according to the third distance and the fourth distance;
or determining the central line of the farm tool according to the first dotting data and the second dotting data, and determining the central offset of the farm tool and the farm machine according to the central line of the farm tool and the central line of the farm machine.
In the above embodiment, two dotting devices may be mounted on the agricultural implement, and measurement of the center offset of the agricultural implement from the agricultural implement may be achieved without the need for additional auxiliary operations.
In an alternative embodiment, the collecting, by the dotting device, dotting data during movement of the farm implement includes:
Collecting third dotting data of a third dotting device mounted in the first orientation of the farm implement;
collecting fourth dotting data of fourth dotting equipment arranged in a second direction of the farm tool;
and determining that the center of the farm tool and the farm machine is offset according to the dotting data, wherein the method comprises the following steps:
determining a fifth distance according to the third dotting data and the central line of the agricultural machine;
determining a sixth distance according to the fourth dotting data and the central line of the agricultural machine;
and determining the center offset of the farm tool and the farm machine according to the fifth distance and the sixth distance.
In an alternative embodiment, the collecting, by the dotting device, dotting data during movement of the farm implement includes:
acquiring fifth dotting data of fifth dotting equipment in a first direction of the farm tool in the process that the farm tool runs in a first direction;
Collecting sixth dotting data of fifth dotting equipment in the first direction of the farm tool and seventh dotting data of sixth dotting equipment in the second direction of the farm tool in the process that the farm tool runs in the second direction;
acquiring eighth dotting data of sixth dotting equipment in the second direction of the farm tool in the process that the farm tool runs in a third direction;
and determining that the center of the farm tool and the farm machine is offset according to the dotting data, wherein the method comprises the following steps:
determining a first simulation handover line according to the fifth dotting data and the seventh dotting data;
determining a second simulation handover line according to the sixth dotting data and the eighth dotting data;
and determining the center offset of the farm tool and the farm machine according to the first simulation handover line and the second simulation handover line.
In the embodiment, the determination of the relative center offset of the farm tool and the farm machine can be realized without installing the dotting equipment on the farm tool, so that the demand on the farm tool is reduced.
In an optional embodiment, the determining a first simulated handover line according to the fifth dotting data and the seventh dotting data includes:
determining a first trace distance between the fifth dotting data and the seventh dotting data by taking the fifth dotting data as a reference;
Determining a second trace distance between the fifth dotting data and the seventh dotting data by taking the seventh dotting data as a reference;
and determining a first simulation handover line according to the first trace distance and the second trace distance.
In an optional embodiment, the determining, based on the fifth dotting data, a first trace distance between the fifth dotting data and the seventh dotting data includes:
fitting a first curve according to the fifth dotting data;
determining a second distance array according to the first curve and the seventh dotting data;
determining the first trace distance according to the second distance array;
The determining, based on the seventh dotting data, a second trace distance between the fifth dotting data and the seventh dotting data includes:
fitting a second curve according to the seventh dotting data;
determining a third distance array according to the second curve and the fifth dotting data;
and determining the second trace distance according to the third distance array.
In an optional embodiment, the determining a second simulated handover line according to the sixth dotting data and the eighth dotting data includes:
Determining a third trace distance between the sixth dotting data and the eighth dotting data by taking the sixth dotting data as a reference;
Determining a fourth trace distance between the sixth dotting data and the eighth dotting data by taking the eighth dotting data as a reference;
and determining a second simulation handover line according to the third trace distance and the fourth trace distance.
In an optional embodiment, the determining, based on the sixth dotting data, a third trace distance between the sixth dotting data and the eighth dotting data includes:
Fitting a third curve according to the sixth dotting data;
determining a fourth distance array according to the third curve and the eighth dotting data;
Determining the third trace distance according to the fourth distance array;
The determining, based on the eighth dotting data, a fourth trace distance between the sixth dotting data and the eighth dotting data includes:
Fitting a fourth curve according to the eighth dotting data;
Determining a fifth distance array according to the fourth curve and the sixth dotting data;
and determining the fourth trace distance according to the fifth distance array.
In an alternative embodiment, the method further comprises:
according to the center offset, determining target positions of the agricultural machinery in two adjacent rows of operation;
And controlling the agricultural machinery to run according to the target position.
In a second aspect, the present invention provides an implement offset determination apparatus comprising:
the acquisition module is used for acquiring dotting data in the moving process of the farm tool through dotting equipment, wherein the farm tool is hung on the farm machine;
and the first determining module is used for determining the center offset of the farm tool and the farm machine according to the dotting data.
In a third aspect, the invention provides an electronic device comprising a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method according to any of the preceding embodiments.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of the preceding embodiments.
The embodiment of the application has the beneficial effects that through the matching of the dotting equipment, the center offset of the farm tool and the farm machine can be further determined directly according to the dotting condition of the dotting equipment, and the center offset measurement of the farm tool and the farm machine can be realized on the basis of no manual measurement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an agricultural machine and an agricultural implement according to an embodiment of the present application;
FIG. 2 is a schematic diagram of center offset of an agricultural machine and an agricultural implement according to an embodiment of the present application;
FIG. 3 is another schematic view of an agricultural machine and an agricultural implement according to an embodiment of the present application;
Fig. 4 is a schematic block diagram of an electronic device according to an embodiment of the present application;
FIG. 5 is a flowchart of a method for determining an agricultural implement offset according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating operations of an agricultural machine and an agricultural implement involved in a process of determining an offset of an agricultural implement according to an embodiment of the present application;
FIG. 7 is another schematic diagram of operation of an agricultural machine and an agricultural implement involved in a process of determining an offset of an agricultural implement according to an embodiment of the present application;
FIG. 8 is a schematic diagram illustrating further operation of an agricultural machine and an agricultural implement involved in a process of determining an offset of an agricultural implement according to an embodiment of the present application;
FIG. 9 is another schematic diagram of operation of an agricultural machine and an agricultural implement involved in a process of determining an offset of an agricultural implement according to an embodiment of the present application;
FIG. 10 is another flow chart of a method for determining farm implement offset according to an embodiment of the present application;
FIG. 11a is a schematic illustration of an unbound center shift control agricultural machine and agricultural implement operation;
FIG. 11b is a schematic diagram of an agricultural machine and agricultural implement operation incorporating center offset control;
fig. 12 is a schematic functional block diagram of an agricultural implement offset determining apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Noun interpretation:
and the intersection line refers to the distance between the edges of two adjacent operation coverage areas formed in the operation process of the farm tool. As shown in FIG. 1, an agricultural machine 110 and an agricultural implement 120 are shown. The agricultural implement 120 is connected to the agricultural machine 110, and the agricultural implement 120 moves along with the agricultural machine 110 when the agricultural machine 110 is traveling. The first wheel movement moves along direction d1 and the work coverage area of the farm implement 120 is S1, and the second wheel movement moves along direction d2 and the work coverage area of the farm implement 120 is S2. In the example shown in fig. 1, the distance Hb1 between the edges of the work coverage area S1 and the work coverage area S2 of the handover line.
Center offset is the distance between the center line of the agricultural machine and the center line of the agricultural implement. As shown in FIG. 2, an agricultural machine 110 and an agricultural implement 120 are shown. The center line of the agricultural machine 110 is CL1, and the center line of the agricultural implement 120 is CL2. The centerline offset is the distance di1 between the centerline CL1 of the agricultural machine 110 and the centerline CL2 of the agricultural implement 120.
The inventors have appreciated that if there is a centre offset of the agricultural machine from the agricultural implement, this may result in the work of the agricultural implement being unsatisfactory. Therefore, before agricultural work is performed using the agricultural implement, it is necessary to measure the center shift between the agricultural implement and the agricultural implement. The current measurement mode for the center offset is generally manual measurement.
For example, referring to FIG. 3, three measurements based on manual measurements may be performed by manually measuring the hand-over line distance between two adjacent passes as Hb1 and Hb2, respectively, three passes back and forth along the planned work path, and then determining whether Hb1 is on the left or right side based on standing behind the farm implement 120, filling in the navigation device to calculate the center offset, or manually calculating the center offset value.
For another example, referring to fig. 1, a two-pass measurement method based on manual measurement is to first fill in the width of the work coverage area in the navigation device, then make two passes back and forth, manually measure the handover line Hb1 between the two passes, then calculate the difference ds=s0-S1 according to the actual handover line S0 (not shown), fill in the navigation device, calculate the value of the center offset, or manually calculate the value of the center offset.
The existing calculation mode of the center offset needs to be relatively low in manual measurement efficiency, measurement errors exist in manual measurement, calculation is incorrect, manual calculation needs to be conducted by farmers, but most farmers cannot meet the condition, and navigation equipment calculation needs to be conducted manually to judge the direction, and the navigation equipment needs to be operated, so that the calculation is inconvenient. Based on the above-mentioned current situation, the embodiment of the application provides a method for determining the farm tool offset, which can automatically measure the center offset existing between the farm tool and the farm machine. The following description is made by way of several examples.
For the convenience of understanding the present embodiment, first, an electronic device for executing the farm implement offset determining method disclosed in the embodiment of the present application will be described in detail.
As shown in fig. 4, a block schematic diagram of the electronic device is shown. The electronic device 200 may include a memory 211, a processor 213. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 4 is merely illustrative and is not intended to limit the configuration of the electronic device 200. For example, the electronic device 200 may also include more or fewer components than shown in FIG. 4, or have a different configuration than shown in FIG. 4.
The above-mentioned memory 211 and the processor 213 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 213 is configured to execute executable modules stored in the memory.
The Memory 211 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 211 is configured to store a program, and the processor 213 executes the program after receiving an execution instruction, and a method executed by the electronic device 200 defined by the process disclosed in any embodiment of the present application may be applied to the processor 213 or implemented by the processor 213.
The processor 213 may be an integrated circuit chip with signal processing capabilities. The processor 213 may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a digital signal processor (DIGITAL SIGNAL processor, DSP), an Application-specific integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a discrete gate or transistor logic device, or a discrete hardware component. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The electronic device 200 for performing the farm implement offset determination method according to the embodiment of the present application may be a measurement device, and for example, the electronic device 200 may be a GNSS (Global Navigation SATELLITE SYSTEM, chinese name: global navigation satellite system) positioning device. The electronic device 200 for performing the farm tool offset determination method provided by the embodiment of the present application may be a vehicle-mounted device mounted on an agricultural machine.
The electronic device 200 in the present embodiment may be used to perform each step in each method provided in the embodiment of the present application. The implementation of the implement offset determination method is described in detail below by way of several embodiments.
Referring to fig. 5, a flowchart of a method for determining an agricultural implement offset according to an embodiment of the present application is shown. The specific flow shown in fig. 5 will be described in detail.
In step 310, dotting data in the moving process of the farm tool is collected through a dotting device.
Wherein, the dotting device can be installed at the agricultural implement, the agricultural implement articulates on the agricultural machinery.
Alternatively, the pointing device may be a stand alone device that is not mounted on the agricultural implement.
The pointing device may be a GNSS pointing device and the implement may be a plow. The agricultural machine may be any vehicle that can travel over the ground, for example, the agricultural machine may be a tractor.
The dotting data may include the location at which the dotting device was dotting, the pitch of the dotting, etc.
The timing of collecting the dotting data may be after the agricultural machine travels one track, or after the agricultural machine travels in the current working area, or after two or three tracks.
The dotting device can perform dotting operation according to a preset rhythm when the agricultural machinery runs. For example, the positioning dotting is performed every second of the dotting device.
Alternatively, the dotting device may have a positioning function, and the dotting device may record the current position, the time of dotting, and the like when dotting. The execution equipment of the agricultural implement offset determination method provided by the embodiment of the application can be connected with the dotting equipment in a communication manner to acquire dotting data recorded by the dotting equipment in the running process of the agricultural implement.
And 320, determining the center offset of the farm tool and the farm machine according to the dotting data.
In a first embodiment, the pointing device may be mounted on any location on the farm implement, and step 320 may include steps 321 and 322.
Step 321, determining a first distance between the dotting device and the central line of the agricultural machine according to the dotting data.
In particular, it may be incorporated in the illustration of fig. 6, which shows an agricultural machine 110, an agricultural implement 120, and a pointing device 130. During travel of the agricultural machine 100, the agricultural implement 120 moves along with the agricultural machine 110, and during movement of the agricultural implement 120, the dotting device 130 periodically clicks. In the example shown in fig. 6, the dotting device 130 clicks include P1, P2, P3,...
In the above example, the first distance of the pointing device 130 from the centerline CL1 of the agricultural machine 110 may be determined based on the distances of the points P1, P2, P3, pn to the centerline CL1 of the agricultural machine 110.
In an embodiment, step 321 may include step a and step b.
And a step a, determining a first distance array according to each numerical value in the dotting data and the central line of the agricultural machine.
Taking the example shown in fig. 6 as an example, the distance of each point P1, P2, P3, & Pn from the centerline CL1 of the agricultural machine 110 can be determined, resulting in a first distance array comprising n distances.
And b, carrying out weighting treatment on the first distance array to obtain a first distance between the dotting equipment and the central line of the agricultural machine.
Optionally, the weights of the distances of the first distance array may be equal, and the sum of the weights of the distances is equal to one, that is, the distances of the first distance array may be averaged to obtain the first distance between the dotting device and the center line of the agricultural machine.
Alternatively, the weights of the distances of the first distance array may not be exactly equal, and the sum of the weights of the distances is equal to one. For example, there may also be a weighting of the partial distances equal to zero. For example, the weights of the maximum distance and minimum distance in the first distance array are equal to zero, and other distance weights may be equal.
Alternatively, the weights of the distances of the first distance array may not be equal, and the sum of the weights of the distances is equal to one. For example, the weights of the distances corresponding to the first and last points are the smallest, and the weights of the distances corresponding to the intermediate points are relatively set to larger values.
And step 322, determining that the center of the agricultural implement is offset from the center of the agricultural machine according to the first distance and the second distance between the dotting equipment and the center line of the agricultural implement.
The second distance may be a value that is pre-stored in the execution device, for example.
For example, a difference between the second distance and the first distance is calculated and the difference is determined as a center offset of the agricultural implement from the agricultural machine.
In the above embodiment, only one dotting device is required to achieve the measurement of the center shift.
In a second embodiment, the agricultural implement may have a first pointing device and a second pointing device mounted thereon. On this basis, step 310 may include collecting first dotting data of the first dotting device during the travel of the agricultural machine, and collecting second dotting data of the second dotting device during the travel of the agricultural machine.
On this basis, step 320 may include steps 323 to 325.
Step 323, determining a third distance between the first dotting device and the central line of the agricultural machine according to the first dotting data.
In particular, it may be incorporated in the illustration of fig. 7, which shows an agricultural machine 110, an agricultural implement 120, a first pointing device 131 and a second pointing device 132.
The first dotting device 131 dotts including Pl1, pl2, pl3, pln, and the second dotting device 132 dotts including Pr1, pr2, pr3, prn.
In the example shown in fig. 7, a third distance of the first pointing device from the centre line of the agricultural machine may be determined from the distance of the respective points Pl1, pl2, pl 3.
Alternatively, the third distance may be determined by reference to the previous determination of the first distance.
Step 324, determining a fourth distance between the second dotting device and the center line of the agricultural machine according to the second dotting data.
In the example shown in fig. 7, a fourth distance of the second pointing device from the center line CL1 of the agricultural machine may be determined based on the distance of the respective points Pr1, pr2, pr 3.
Alternatively, the fourth distance may be determined by referring to the previous determination of the first distance.
And step 325, determining that the center of the farm tool is offset from the center of the farm machine according to the third distance and the fourth distance.
For example, a difference between the third distance and the fourth distance may be calculated first, and one half of the difference may be taken as the center offset of the agricultural implement from the agricultural machine.
By the embodiment, the determination of the center offset between the agricultural machine and the agricultural tool can be realized based on the operation of the dotting equipment without additionally measuring the installation position of the dotting equipment, so that the convenience of measuring the center offset can be improved.
If the dotting equipment cannot be installed on the farm tool, the dotting equipment can perform dotting along the operation trace of the farm tool. On this basis, the following describes the manner in which the center offset of the agricultural implement from the agricultural machine is measured when the dotting device cannot be mounted on the agricultural implement.
In an alternative embodiment, if the first dotting device is mounted on a first edge of the agricultural implement and the second dotting device is mounted on a second edge of the agricultural implement, step 320 may include determining a center line of the agricultural implement based on the first dotting data and the second dotting data, and determining a center offset of the agricultural implement from the agricultural implement based on the center line of the agricultural implement and the center line of the agricultural implement.
Illustratively, the first dotting device is mounted at a first edge of the agricultural implement and the second dotting device is mounted at a second edge of the agricultural implement, the midpoint of the first and second dotting devices being the center of the agricultural implement.
The determining the center line of the farm tool according to the first dotting data and the second dotting data can comprise determining a center point set according to all points in the first dotting data and all points in the second dotting data, fitting out a straight line according to the center point set, and taking the straight line as the center line of the farm tool.
Illustratively, the center points in the center point set may be determined according to a first target point in the first dotting data and a second target point in the second dotting data, which is the same as the first target point in dotting time.
In a third embodiment, step 310 may include collecting third dotting data for a third dotting device mounted in a first orientation of an agricultural implement and collecting fourth dotting data for a fourth dotting device mounted in a second orientation of the agricultural implement.
Alternatively, the third dotting device and the fourth dotting device may be the same device.
Specifically, the agricultural machinery 110 and the agricultural tool 120 are shown in fig. 8. In one round of operation, the farm tool 120 generates a work trace Ol and a work trace Or.
The points produced by the dotting device at the work trace Ol are denoted as Pl1, pl2, pl3,.. Pln, respectively, and the points produced by the dotting device at the work trace Or are denoted as Pr1, pr2, pr3,...
Wherein, points Pl1, pl2, pl3,.. Pln may represent the third dotting data described above, and points Pr1, pr2, pr3,..prn may represent the fourth dotting data.
On this basis, step 320 may include steps 326 through 328.
And step 326, determining a fifth distance according to the third dotting data and the central line of the agricultural machine.
In the example shown in fig. 8, a fifth distance of the first pointing device from the center line CL1 of the agricultural machine may be determined from the distances of the respective points Pl1, pl2, pl 3.
Alternatively, the fifth distance may be determined by referring to the previous determination of the first distance.
And 327, determining a sixth distance according to the fourth dotting data and the central line of the agricultural machine.
In the example shown in fig. 8, a sixth distance of the second pointing device from the center line CL1 of the agricultural machine may be determined based on the distance of the respective points Pr1, pr2, pr 3.
Alternatively, the sixth distance may be determined by referring to the previous determination of the first distance.
And step 328, determining that the center of the farm tool is offset from the center of the farm machine according to the fifth distance and the sixth distance.
For example, a difference between the fifth distance and the sixth distance may be calculated first, and one half of the difference may be taken as the center offset of the agricultural implement from the agricultural machine.
In a fourth embodiment, step 310 may include collecting fifth dotting data of a fifth dotting device of a first orientation of an agricultural implement during travel of the agricultural implement in a first direction, collecting sixth dotting data of the fifth dotting device of the first orientation of the agricultural implement during travel of the agricultural implement in a second direction, and collecting seventh dotting data of the sixth dotting device of the second orientation of the agricultural implement during travel of the agricultural implement in a third direction.
Referring specifically to fig. 9, the agricultural machine 110 drives the agricultural implement 120 to perform three operations, and two operation traces can be generated in each operation. Wherein the first pass produces the trace L1, the second pass produces the traces L2 and R1, and the third pass produces the trace R2. The dotting device may punch a dot on the job trace L1, the job trace L2, the job trace R1, and the job trace R2, respectively, and then the dots L11, L12, L1n, the dots R11, R12, R1n, the dots L21, L22, the dots L2n, and the dots R21, R22, the dots R2n may be obtained.
In the example shown in fig. 9, points L11, L12,..l 1n may be represented as fifth dotting data, points L21, L22,..l 2n may be represented as sixth dotting data, points R11, R12,..r 1n may be represented as seventh dotting data, and points R21, R22,..r 2n represent eighth dotting data.
Alternatively, the fifth dotting device and the sixth dotting device may be the same device, and the same dotting device performs dotting on each of the job traces. Of course, a plurality of independent dotting devices may be provided, and each dotting device may be configured to punch a respective job trace.
On this basis, step 320 may include steps 329 through 3211.
Step 329, determining a first analog handover line according to the fifth dotting data and the seventh dotting data.
Illustratively, this step 329 may include a step c, a step d, and a step e.
And c, determining a first trace distance between the fifth dotting data and the seventh dotting data by taking the fifth dotting data as a reference.
For example, the distance between each point of the seventh dotting data and the first reference line may be determined by using the online line of the fifth dotting data as the first reference line, and the first trace distance may be determined based on the distance between each point of the seventh dotting data and the first reference line.
In an alternative implementation manner, a first curve can be fitted according to the fifth dotting data, a second distance array is determined according to the first curve and the seventh dotting data, and the first trace distance is determined according to the second distance array.
The first curve may be used as the first reference line described above.
Alternatively, the first curve may be a straight line fitted from each point in the fifth dotting data. In one example, the first curve may be expressed as: al1 X+Bl1 y+c=0.
Then, distances from each point R11, R12,..r 1n to the straight line al1×x+bl1×y+c=0 in the seventh dotting data are calculated as a second distance array.
And then determining the first trace distance according to the second distance array.
For example, the values of the second distance array may be weighted and summed to obtain the first trace spacing. For example, the extremum in the second distance array may be removed first, and then the average value of the remaining values may be calculated, and the average value may be used as the first trace pitch.
And d, determining a second trace distance between the fifth dotting data and the seventh dotting data by taking the seventh dotting data as a reference.
For example, a line where the seventh dotting data is located may be taken as the second reference line, a distance from each point of the fifth dotting data to the second reference line may be determined, and the second trace distance may be determined based on the distance from each point of the fifth dotting data to the second reference line.
In an alternative implementation manner, a second curve can be fitted according to the seventh dotting data, a third distance array is determined according to the second curve and the fifth dotting data, and the second trace distance is determined according to the third distance array.
The second curve may be used as the second reference line described above.
Alternatively, the second curve may be a straight line fitted to each point according to the seventh dotting data. In one example, the second curve may be expressed as: ar1 X+Br1 y+c=0.
Then, distances from the respective points L11, L12, & gt, L1n to the straight line Ar 1X x+br1X y+c=0 in the seventh dotting data are calculated as a third distance array.
And then determining a second trace distance according to the third distance array.
For example, the values of the third distance array may be weighted and summed to obtain the second trace spacing. For example, the extremum in the third distance array may be removed first, and then the average value of the remaining values may be calculated, and the average value may be used as the second trace pitch.
And e, determining a first simulation handover line according to the first trace distance and the second trace distance.
Alternatively, the average of the first trace pitch and the second trace pitch may be taken as the first simulated handover line.
Step 3210, determining a second simulated handover line according to the sixth dotting data and the eighth dotting data.
Step 3210 may include step f, step g, and step h.
And f, determining a third trace distance between the sixth dotting data and the eighth dotting data by taking the sixth dotting data as a reference.
For example, the distance between each point of the eighth dotting data and the third reference line may be determined by using the online line of the sixth dotting data as the third reference line, and the third trace distance may be determined based on the distance between each point of the eighth dotting data and the third reference line.
In an alternative implementation manner, a third curve can be fitted according to the sixth dotting data, a fourth distance array is determined according to the third curve and the eighth dotting data, and the third trace distance is determined according to the fourth distance array.
The third curve may be used as the third reference line described above.
Alternatively, the third curve may be a straight line fitted from each point in the sixth dotting data. In one example, the third curve may be expressed as: a12+b12 y+c=0.
Then, distances from each point R21, R22, & gt, R2n to the straight line a21×x+b21×y+c=0 in the eighth dotting data are calculated as a fourth distance array.
And then determining a third trace distance according to the fourth distance array.
Illustratively, the values of the fourth distance array may be weighted and summed to obtain the first your trace spacing. For example, the extremum in the fourth distance array may be removed first, and then the average value of the remaining values may be calculated, and the average value may be used as the third trace pitch.
And g, determining a fourth trace distance between the sixth dotting data and the eighth dotting data by taking the eighth dotting data as a reference.
For example, the distance between each point of the sixth dotting data and the fourth reference line may be determined by using the online line of the eighth dotting data as the fourth reference line, and then the fourth trace distance may be determined based on the distance between each point of the sixth dotting data and the fourth reference line.
In an optional implementation manner, a fourth curve may be fitted according to the eighth dotting data, a fifth distance array may be determined according to the fourth curve and the sixth dotting data, and the fourth trace pitch may be determined according to the fifth distance array.
The fourth curve may be used as the fourth reference line described above.
Alternatively, the fourth curve may be a straight line obtained by fitting points according to the eighth dotting data.
In one example, the fourth curve may be expressed as: ar2 X+Br2 y+c=0.
Then, distances from each point R21, R22, R2n to the straight line Ar 2X x+br2X y+c=0 in the eighth dotting data are calculated as a fifth distance array.
And then determining a fourth trace distance according to the fifth distance array.
For example, the values of the fifth distance array may be weighted and summed to obtain the fourth trace spacing. For example, the extremum in the fifth distance array may be removed first, and then the average value of the remaining values may be calculated, and the average value may be used as the fourth trace pitch.
And h, determining a second simulation handover line according to the third trace distance and the fourth trace distance.
Alternatively, the average of the third trace pitch and the fourth trace pitch may be calculated, and the average may be used as the second simulated handover line.
Step 3211, determining a center offset of the farm implement from the farm machine according to the first simulated handover line and the second simulated handover line.
For example, the difference between the first simulated interface line and the second simulated interface line may be calculated first and a quarter of the difference may be taken as the center offset of the implement from the agricultural machine.
Through the above steps, the determination manner of the center offset of the agricultural machine and the agricultural tool can be known, in this embodiment, the driving route of the agricultural machine can be adaptively adjusted by the center offset, so that the operation position of the agricultural tool can better meet the requirements, and in particular, referring to fig. 10, the agricultural tool offset determination method may further include step 330 and step 340 on the basis of step 310 and step 320.
And 330, determining the target positions of the agricultural machinery in two adjacent rows of operation according to the center offset.
For example, the target position may be determined from a center offset of the agricultural machine from the agricultural implement.
For example, if the implement is offset to the left as compared to the implement, the determined target location is to the right of the desired work location. For example, if the implement is offset to the right as compared to the implement, the determined target position is to the left of the desired work position.
And 340, controlling the agricultural machinery to run according to the target position.
11A and 11b, the operation of adjusting the agricultural machinery in combination with the center shift data is different from the operation of controlling the agricultural machinery in combination with the center shift data.
Optionally, when it is determined that there is indeed a center offset between the farm implement and the farm machine according to step 320, an offset hint message may be output for the operator to control the farm machine to operate according to the offset hint message.
In fig. 11a, three work traces are respectively operated by the agricultural machine 110 and the agricultural tool 120 according to the directions d3, d4 and d5, and the distances between the center lines of the agricultural machine 110 in two adjacent works are the same. In two adjacent runs, the resulting handover lines are Hb3 and Hb4, respectively, it is apparent that handover line Hb3 is larger than handover line Hb4.
In fig. 11b, three traces of operations of the agricultural machine 110 and the agricultural machine 120 are operated according to the directions d6, d7, and d8, respectively, and the distances between the center lines of the agricultural machine 110 may be the same in two adjacent operations. In two adjacent operations, the cross-over lines formed are Hb5 and Hb6, respectively, and cross-over line Hb3 is equal to cross-over line Hb4.
In the method for determining the deviation of the agricultural implement provided by the embodiment of the application, the deviation of the agricultural implement from the center of the agricultural implement can be further determined directly according to the dotting condition of the dotting equipment through the cooperation of the dotting equipment, and the measurement of the deviation of the center of the agricultural implement from the agricultural implement can be realized on the basis of no manual measurement.
Based on the same application conception, the embodiment of the application further provides a farm tool offset determining device corresponding to the farm tool offset determining method, and since the principle of solving the problem by the device in the embodiment of the application is similar to that of the embodiment of the farm tool offset determining method, the implementation of the device in the embodiment of the application can be referred to the description in the embodiment of the method, and the repetition is omitted.
Fig. 12 is a schematic functional block diagram of an agricultural implement offset determining apparatus according to an embodiment of the present application. The respective modules in the farm implement offset determination device in the present embodiment are configured to perform the respective steps in the above-described method embodiments. The implement offset determination device includes an acquisition module 410 and a first determination module 420, each of which is shown below.
The collection module 410 is configured to collect, by using a dotting device, dotting data during a moving process of an agricultural implement, where the agricultural implement is hung on the agricultural machine.
The first determining module 420 is configured to determine, according to the dotting data, a center offset between the farm implement and the farm machine.
In a possible implementation, the first determining module 420 includes a distance determining unit and an offset determining unit.
The distance determining unit is used for determining a first distance between the dotting equipment and the central line of the agricultural machine according to the dotting data;
And the deviation determining unit is used for determining the center deviation of the agricultural implement and the agricultural machine according to the first distance and the second distance between the dotting equipment and the central line of the agricultural implement.
In a possible embodiment, the distance determining unit is configured to:
Determining a first distance array according to each numerical value in the dotting data and the central line of the agricultural machine;
and carrying out weighting treatment on the first distance array to obtain a first distance between the dotting equipment and the central line of the agricultural machine.
In a possible implementation manner, the agricultural implement is provided with a first dotting device and a second dotting device, and the acquisition module 410 can be used for acquiring first dotting data of the first dotting device in the running process of the agricultural machine;
The first determining module 420 may be configured to determine, according to the first dotting data, a third distance between the first dotting device and a center line of the agricultural machine; determining a fourth distance between the second dotting device and the central line of the agricultural machine according to the second dotting data; determining the center offset of the farm tool and the farm machine according to the third distance and the fourth distance;
The first determining module 420 may be further configured to determine a center line of the agricultural implement according to the first dotting data and the second dotting data, and determine a center offset between the agricultural implement and the agricultural machine according to the center line of the agricultural implement and the center line of the agricultural machine.
In one possible embodiment, the acquisition module 410 may be configured to acquire third dotting data of a third dotting device mounted in a first orientation of an agricultural implement;
The first determining module 420 may be configured to determine a fifth distance according to the third dotting data and a center line of the agricultural machine, determine a sixth distance according to the fourth dotting data and the center line of the agricultural machine, and determine a center offset between the agricultural implement and the agricultural machine according to the fifth distance and the sixth distance.
In a possible implementation manner, the acquisition module 410 may be configured to acquire fifth dotting data of a fifth dotting device in a first direction of an agricultural implement during a travel of the agricultural implement in a first direction, acquire sixth dotting data of the fifth dotting device in the first direction of the agricultural implement during a travel of the agricultural implement in a second direction, and acquire seventh dotting data of the sixth dotting device in the second direction of the agricultural implement during a travel of the agricultural implement in a third direction;
The first determining module 420 may include a first determining unit, a second determining unit, and a third determining unit.
The first determining unit is used for determining a first simulation handover line according to the five dotting data and the seventh dotting data;
The second determining unit is used for determining a second simulation handover line according to the sixth dotting data and the eighth dotting data;
And the third determining unit is used for determining the center offset of the farm tool and the farm machine according to the first simulation handover line and the second simulation handover line.
In a possible implementation manner, the first determining unit comprises a first determining subunit, a second determining subunit and a third determining subunit.
A first determining subunit, configured to determine a first trace distance between the fifth dotting data and the seventh dotting data based on the fifth dotting data;
A second determining subunit, configured to determine a second trace distance between the fifth dotting data and the seventh dotting data based on the seventh dotting data;
and the third determining subunit is used for determining the first simulation handover line according to the first trace distance and the second trace distance.
In a possible implementation manner, a first determining subunit is configured to fit a first curve according to the fifth dotting data, determine a second distance array according to the first curve and the seventh dotting data, and determine the first trace distance according to the second distance array;
The second determining subunit is configured to fit a second curve according to the seventh dotting data, determine a third distance array according to the second curve and the fifth dotting data, and determine the second trace distance according to the third distance array.
In a possible implementation manner, the second determining unit comprises a fourth determining subunit, a fifth determining subunit and a sixth determining subunit.
A fourth determining subunit, configured to determine a third trace distance between the sixth dotting data and the eighth dotting data based on the sixth dotting data;
a fifth determining subunit, configured to determine a fourth trace distance between the sixth dotting data and the eighth dotting data based on the eighth dotting data;
and the sixth determining subunit is configured to determine a second simulated handover line according to the third trace pitch and the fourth trace pitch.
In a possible implementation manner, a fourth determining subunit is configured to fit a third curve according to the sixth dotting data, determine a fourth distance array according to the third curve and the eighth dotting data, and determine the third trace distance according to the fourth distance array;
the fifth determining subunit is configured to fit a fourth curve according to the eighth dotting data, determine a fifth distance array according to the fourth curve and the sixth dotting data, and determine the fourth trace distance according to the fifth distance array.
In a possible implementation manner, the farm tool offset determining device provided by the embodiment of the application further includes:
The second determining module is used for determining the target positions of the agricultural machinery in two adjacent rows of operation according to the center offset;
and the control module is used for controlling the agricultural machinery to run according to the target position.
In addition, the embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program which is executed by a processor to execute the steps of the farm tool offset determining method in the embodiment of the method.
The computer program product of the farm tool offset determining method provided by the embodiment of the present application includes a computer readable storage medium storing program codes, where the program codes include instructions for executing the steps of the farm tool offset determining method described in the above method embodiment, and the detailed description of the method embodiment will be omitted.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
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| CN111257895A (en) * | 2020-01-17 | 2020-06-09 | 华南农业大学 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
| CN111998852A (en) * | 2020-07-17 | 2020-11-27 | 无锡卡尔曼导航技术有限公司 | Method for automatically adjusting cross-over of agricultural machinery |
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| US8898010B2 (en) * | 2013-01-11 | 2014-11-25 | Here Global B.V. | Deviation detection in mobile transit systems |
| CN106774297B (en) * | 2016-11-15 | 2019-12-03 | 广州中海达定位技术有限公司 | A method and device for automatic path planning of agricultural machinery and an agricultural machinery capable of automatic path planning |
| CN109993410B (en) * | 2019-03-01 | 2023-12-05 | 北京农业信息技术研究中心 | Agricultural machinery subsoiling operation quality evaluation method and device |
| CN110333727A (en) * | 2019-08-01 | 2019-10-15 | 上海钛米机器人科技有限公司 | Robot path planning method, device, equipment and medium |
| CN112665506B (en) * | 2020-12-31 | 2022-09-13 | 广州极飞科技股份有限公司 | Method, device, equipment and storage medium for detecting installation deviation of positioning device |
| CN214473980U (en) * | 2021-01-20 | 2021-10-22 | 深圳冰河导航科技有限公司 | Agricultural machine for measuring ground gradient based on GNSS satellite antenna |
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| CN111257895A (en) * | 2020-01-17 | 2020-06-09 | 华南农业大学 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
| CN111998852A (en) * | 2020-07-17 | 2020-11-27 | 无锡卡尔曼导航技术有限公司 | Method for automatically adjusting cross-over of agricultural machinery |
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