CN109615107B

CN109615107B - Agricultural machinery retrieving system and method

Info

Publication number: CN109615107B
Application number: CN201811249704.7A
Authority: CN
Inventors: 黄超; 何晓龙; 吴耀文; 贾骏俊; 刘波
Original assignee: FJ Dynamics Technology Co Ltd
Current assignee: FJ Dynamics Technology Co Ltd
Priority date: 2018-10-25
Filing date: 2018-10-25
Publication date: 2022-11-25
Anticipated expiration: 2038-10-25
Also published as: CN109615107A

Abstract

The invention provides an agricultural machinery management system and application thereof, wherein the agricultural machinery management system comprises a confirmation module and a processing module, wherein the confirmation module is used for confirming that an agricultural machinery is in an inoperable state relative to a matched control device, the processing module comprises an acquisition module and a generation module, the acquisition module is used for acquiring agricultural machinery state information, the generation module generates a recovery prompt based on the agricultural machinery state information, the agricultural machinery state information comprises agricultural machinery position information, and the agricultural machinery can be conveniently recovered by means of the agricultural machinery management system.

Description

Agricultural machinery retrieving system and method

Technical Field

The invention relates to the field of agricultural machinery, in particular to an agricultural machinery retrieving system and an agricultural machinery retrieving method.

Background

Agricultural machinery is a good helper when farmers engage in agricultural labor, and with the help of agricultural machinery, on one hand, the two hands of farmers are liberated, on the other hand, the production efficiency of agricultural labor is improved, so that agriculture has better economic return benefits.

With the trend of intelligence, agricultural machines are becoming more and more intelligent, and users do not need to control various parts of the agricultural machine to operate the whole agricultural machine, but can control the whole agricultural machine through a control panel or a control device. This also means that the farmer can achieve control of the agricultural machine near the field without being located on the agricultural machine.

Furthermore, the intelligent agricultural machine enables farmers to control the outdoor agricultural machine indoors to complete related agricultural activities without receiving wind and sunshine outdoors.

The problem is that while farmers are more and more dependent on intelligent agricultural machinery, some problems are brought along with the dependence. The association between the farmer and the agricultural machine is achieved by a control device, i.e. the agricultural machine and the control device are communicable, but as soon as the communication between the agricultural machine and the control device is interrupted, for example by an interfering signal or the communicator of the agricultural machine is damaged, the farmer will immediately lose control of the agricultural machine. More seriously, if the agricultural machine is always in a walking state, and after the communication is lost, the agricultural machine is kept in a previous state and is always in the walking state, the farmer loses the track of the agricultural machine. If the agricultural machine is not able to be retrieved in a timely manner, the agricultural machine in the uncontrolled state may cause injury to crops and even pedestrians on the roads between the farmlands. For farmers, if the agricultural machinery is lost, the agricultural machinery is also a huge economic loss.

Disclosure of Invention

An advantage of the present invention is to provide an agricultural machinery retrieving system and an agricultural machinery retrieving method, wherein the agricultural machinery retrieving system can provide a retrieving prompt for retrieving an agricultural machinery when the agricultural machinery is in an inoperable state.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and an agricultural machinery retrieving method, wherein the agricultural machinery retrieving system can provide the retrieving prompt for retrieving the agricultural machinery when the agricultural machinery is in the inoperable state relative to a paired operating device.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and an agricultural machinery retrieving method, wherein the agricultural machinery retrieving system can automatically determine whether the agricultural machinery is in the inoperable state to take measures in time.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery retrieving system can provide the position information of the agricultural machinery which is obtained last before the inoperable state.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery retrieving system can provide at least one retrieving path for retrieving the agricultural machinery.

Another advantage of the present invention is to provide an agricultural retrieving method, an agricultural retrieving system and the agricultural remote controller, wherein the retrieving path is generated between an agricultural location and a starting location, wherein the starting location can be a location where a farmer is located or other set locations.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and an agricultural machinery retrieving method, wherein the agricultural machinery retrieving system can analyze a cause of a failure of the agricultural machinery in the inoperable state.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and an agricultural machinery retrieving method, wherein the agricultural machinery retrieving system can analyze whether the cause of the failure of the agricultural machinery in the inoperable state is due to the failure of the agricultural machinery or the failure of the operating device.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery can enter a safe mode after communication with the control device is interrupted to prevent the uncontrolled agricultural machinery from damaging crops.

Another advantage of the present invention is to provide a system and a method for retrieving an agricultural machine, wherein the agricultural machine can send an alarm message after communication is interrupted, on one hand, the position is actively prompted, and on the other hand, a farmer near the agricultural machine is prompted to pay attention to the state that the agricultural machine is out of control.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery remote controller can directly send the retrieving prompt so that the farmer can retrieve the agricultural machinery in time under the prompt of the agricultural machinery remote controller.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery remote controller is capable of providing a plurality of retrieving paths based on the area where the farmer and the agricultural machinery are located.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery remote controller can provide information about the retrieving path for a farmer to confirm one of the retrieving paths.

Another advantage of the present invention is to provide an agricultural machinery retrieving system and method, wherein the agricultural machinery remote controller can provide the retrieving path meeting the requirement according to the requirement of the farmer, for example, the retrieving path with the shortest route, the retrieving path with the shortest time, and the like.

Additional advantages and features of the invention will become apparent from the following detailed description and may be realized by means of the instruments and combinations particularly pointed out in the appended claims.

In accordance with the present invention, the foregoing and other objects and advantages can be achieved by the present invention comprising:

according to one aspect of the invention, an agricultural machinery retrieving method is provided, which comprises the following steps:

(a) Confirming that an agricultural machine is in an inoperable state relative to a matched control device; and

(b) And generating a recovery prompt based on agricultural machinery state information, wherein the agricultural machinery state information comprises agricultural machinery position information.

According to an embodiment of the present invention, the step (b) is implemented as:

and generating the recovery prompt based on the agricultural machinery state information and a starting position information, wherein the recovery prompt comprises a recovery path.

According to an embodiment of the present invention, the step (a) further comprises:

sending a signal to the agricultural machine; and

and confirming that the agricultural machine is in the non-operation state relative to the paired operation and control equipment based on a feedback state of the agricultural machine.

According to an embodiment of the present invention, the step (a) is implemented as:

confirming that the agricultural machine is in the non-manipulation state relative to the paired manipulation equipment based on the receiving condition of a timing signal from the agricultural machine.

According to an embodiment of the present invention, in the above method, the step (b) further includes:

and judging whether the agricultural machine is in a communication interruption state, if not, generating the recovery prompt based on real-time position information of the agricultural machine, and if so, generating the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired before the state incapable of being controlled.

sending a signal to the agricultural machinery through another communication device; and

and judging whether the agricultural machine is in the communication interruption state or not based on a feedback state of the agricultural machine.

judging whether the agricultural machine is about to keep a static state after being incapable of being operated, if so, generating the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired before the incapable of being operated, and if not, predicting and generating an agricultural machine movement route based on the last agricultural machine position information about the agricultural machine acquired before the incapable of being operated and agricultural machine maneuvering information and generating the recovery prompt based on the agricultural machine movement route.

and judging whether the agricultural machine is in a normal working state, and if so, sending a stop signal to the agricultural machine.

According to another aspect of the present invention, there is provided an agricultural machinery retrieval system, comprising:

the confirmation module is used for confirming that an agricultural machine is in an inoperable state relative to a matched control device; and

the processing module comprises an acquisition module and a generation module, wherein the acquisition module is used for acquiring agricultural machinery state information, the generation module generates a recovery prompt based on the agricultural machinery state information, and the agricultural machinery state information comprises agricultural machinery position information.

According to an embodiment of the invention, the generating module is configured to generate the recovery prompt based on the agricultural machinery state information and a starting position information, wherein the recovery prompt includes at least one recovery path.

According to an embodiment of the present invention, the obtaining module includes an agricultural machinery information obtaining module and a farmer information obtaining module, wherein the generating module generates the retrieving prompt based on the agricultural machinery state information obtained by the agricultural machinery information and farmer position information obtained by the farmer information, and the initial position information includes the farmer position information.

According to an embodiment of the present invention, the agricultural machinery retrieval system further includes a setting module, wherein the setting module is communicably connected to the generating module, and the generating module generates the retrieval prompt based on a set position information from the setting module as the start position information and the agricultural machinery state information.

According to an embodiment of the present invention, the confirming module includes a communication module and a judging module, wherein the judging module judges whether the agricultural machine is in the inoperable state relative to the paired control device based on a communication message about the agricultural machine from the communication module.

According to an embodiment of the present invention, the communication module is configured to obtain a timing signal from the agricultural machine, and the determining module determines whether the agricultural machine is in the inoperable state based on the timing signal.

According to an embodiment of the present invention, the communication module is configured to send a signal to the agricultural machine and receive a feedback signal from the agricultural machine, and the determining module determines whether the agricultural machine is in the inoperable state based on the feedback signal.

According to an embodiment of the present invention, the processing module further includes a fault determining module, wherein the fault determining module determines whether the agricultural machine is in a communication interruption state, if so, the generating module generates the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired by the acquiring module before the inoperable state, and if not, the generating module generates the recovery prompt based on an agricultural machine real-time position information acquired by the acquiring module.

According to an embodiment of the present invention, the processing module further includes a prompt module, wherein the prompt module is communicably connected to the failure determination module.

According to an embodiment of the present invention, the processing module further includes a re-determination module, wherein the re-determination module is communicably connected to the obtaining module, the re-determination module determines whether the agricultural machinery is to maintain a stationary state based on the agricultural machinery state information obtained before the inoperable state, and if so, the generating module generates the recovery prompt based on the agricultural machinery state information.

According to an embodiment of the present invention, the processing module further includes a predicting module, when a determination result of the re-determining module is negative, the predicting module predicts a movement path of the agricultural machine based on the agricultural machine state information, and the generating module generates the recovery prompt based on the movement path.

According to an embodiment of the invention, the agricultural machinery retrieval system is implanted in the control device.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.

Drawings

FIG. 1 is a schematic view of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

FIG. 2 is a schematic flow chart of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

FIG. 3 is a block diagram of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

FIG. 4 is a schematic view of an agricultural machine recovery system according to a preferred embodiment of the present invention.

FIG. 5 is a schematic view of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

FIG. 6 is a schematic view of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

FIG. 7 is a schematic view of an agricultural machinery retrieval system according to a preferred embodiment of the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments described below are by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1 to 3, an agricultural machinery retrieval system 1000 according to a preferred embodiment of the present invention and the operation and application of the agricultural machinery retrieval system 1000 are illustrated.

An agricultural machine can be controlled by a farmer through an operating device such as an agricultural machine remote control. The farmer can realize the control of the operation of the agricultural machine within a certain range from the agricultural machine. That is, the farmer does not need to directly operate the agricultural machine. Even, the farmer can operate the agricultural machine at home through an electronic device such as a personal computer. However, once the farmer loses contact with the agricultural machine, the farmer has difficulty in knowing where the agricultural machine is located.

It is understood that the control device for controlling the agricultural machine is not necessarily the agricultural machine remote controller, but may also be other electronic devices with control functions, such as a mobile phone, a computer, a voice assistant, and the like.

With the agricultural machinery retrieving system 1000, a farmer can retrieve the agricultural machinery out of contact with the farmer in time in the process of using the agricultural machinery, so that the agricultural machinery is prevented from being lost on one hand, and the agricultural machinery in operation is prevented from mistakenly executing a work order without supervision of the farmer on the other hand.

The agricultural machinery retrieving system 1000 comprises a confirmation module 10 and a processing module 20, wherein the processing module 20 is communicably connected to the confirmation module 10, the confirmation module 10 is used for confirming that the agricultural machinery is in an inoperable state, and when the agricultural machinery is in the inoperable state, the processing module 20 can generate a retrieving prompt to provide information for a farmer to retrieve the agricultural machinery in time. Further, the confirming module 10 is configured to confirm that the agricultural machine is in the inoperable state relative to a paired control device, and the processing module 20 provides the recovery prompt.

The agricultural machinery retrieving system 1000 further comprises a prompt module 30, wherein the prompt module 30 is communicably connected to the confirmation module 10, the confirmation module 10 confirms that the agricultural machinery is in the state incapable of being controlled, and the prompt module 30 issues a prompt to enable a farmer to timely know that the agricultural machinery is in the state incapable of being controlled, so as to facilitate shortening of the time for retrieving the agricultural machinery.

Specifically, the confirmation module 10 includes a communication module 11 and a determination module 12, where the communication module 11 is used for communication between the agricultural machine and the agricultural machine remote controller or between the agricultural machine and other control devices, the communication module 11 is used for acquiring a timing signal from the agricultural machine, and the determination module 12 determines whether the agricultural machine is in the signal interruption state based on the timing signal. For example, the agricultural machine sends a signal outwards every minute, the communication module 11 does not receive the signal within the minute, and a judgment result of the judgment module 12 is that the agricultural machine is in the signal interruption state. In other examples of the present invention, the communication module 11 is configured to send a signal to an agricultural machine and receive a feedback signal from the agricultural machine, and the determining module 12 determines whether the agricultural machine is in the signal interruption state based on the feedback signal, for example, if the communication module 11 sends a signal to the agricultural machine before a minute and should receive a feedback signal within a minute, a determination result of the determining module 12 is that the agricultural machine is in the signal interruption state.

In other examples of the present invention, instead of the agricultural machinery retrieving system 1000 actively finding that the agricultural machinery is in the inoperable state, a farmer may find that the agricultural machinery is in the inoperable state during the operation of the agricultural machinery, for example, the farmer sends a left-turn instruction through the operation device, but the operation device displays that the agricultural machinery still stays in place, where the farmer can autonomously confirm that the agricultural machinery is in the operable state, and the operation device can provide the retrieving prompt, for example, the location of the agricultural machinery.

The processing module 20 includes an obtaining module 21 and a generating module 22, wherein the obtaining module 21 obtains agricultural machinery state information, the agricultural machinery state information includes but is not limited to an agricultural machinery position information, and the generating module 22 generates a recovery prompt based on the agricultural machinery position information. For example, when the confirmation module 10 confirms that the agricultural machine is in the inoperable state, the generation module 22 directly informs the position of the agricultural machine to the farmer so that the farmer can start to search by himself.

The obtaining module 21 includes an agricultural machinery information obtaining module 211, wherein the agricultural machinery information obtaining module 211 is configured to obtain the status information of the agricultural machinery. Once the agricultural machine is in the inoperable state, the agricultural machine information obtaining module 211 obtains last agricultural machine state information of the agricultural machine before the agricultural machine is inoperable, which includes but is not limited to agricultural machine position information.

Further, the obtaining module 21 includes a farmer information obtaining module 212, where the farmer information obtaining module 212 is configured to obtain the position information of the farmer, for example, the confirming module 10 confirms that the farm machine is in the current position information of the farmer in the inoperable state. The generating module 22 generates the recovery prompt based on the last obtained farm machinery state information and the current location information of the farm user, where the recovery prompt includes, but is not limited to, a recovery path.

It is understood that the generating module 22 may generate a retrieving path based on the position information of an agricultural machine and a start position information, wherein the start position information may be the current position information of the farmer to generate the retrieving path to facilitate the farmer to retrieve the agricultural machine in time by himself, and the start position information may also be the position information of other retrievers, that is, the farmer may not retrieve the agricultural machine by himself, for example, after-sales dealer of the agricultural machine detects the state of the agricultural machine at a background moment, and once the agricultural machine is in the inoperable state, the after-sales dealer sets a start position to obtain a retrieving path to facilitate the after-sales dealer to retrieve the agricultural machine.

Further, the obtaining module 21 includes a map information obtaining module 213, wherein the map information obtaining module 213 is respectively communicably connected to the agricultural machinery information obtaining module 211, the farmer information obtaining module 212, and the generating module 22, the map information obtains a map information based on the current position information of the farmer and the agricultural machinery position information, and the generating module 22 plans at least one of the retrieval paths based on the agricultural machinery position information, the current position of the farmer, and the map information. For example, at least one route is directly planned between the current position of the farmer and the position of the agricultural machine based on the road information of the map information.

The agricultural machinery retrieval system 1000 further comprises a setting module 40, wherein the setting module 40 is communicatively connected to the processing module 20, wherein the setting module 40 is used for a farmer to set a route generation rule. The generating module 22 generates at least one recovery path based on the preset route generating rule. For example, the setting module 40 sets the generating module 22 to generate the retrieval path with the shortest time, or generate the retrieval path with the shortest route. The initial position may be set by the setting module 40 to generate the retrieval path according to the requirement of the user.

Further, the processing module 20 of the agricultural machinery retrieval system 1000 comprises a prediction module 23, wherein the prediction module 23 is respectively connected to the obtaining module 21 and the generating module 22 in a communication manner. The prediction module 23 is used for predicting a movement path of the agricultural machine after the agricultural machine cannot be controlled. Because the agricultural machine may be in a moving state before the agricultural machine cannot be operated, such as a walking state or a work-while-walking state, when the communication between the agricultural machine and the agricultural machine remote controller is interrupted, that is, the agricultural machine cannot continue to receive instructions from the farmer, the agricultural machine may be kept in a previous state, such as continuing to walk, and then the agricultural machine will continue to be in a position walking state before the farmer finds the agricultural machine, so that the position of the agricultural machine is deviated from the position of the last communication before the signal interruption. The prediction module 23 can predict the movement locus of the agricultural machine to facilitate the farmer to find the agricultural machine more accurately and quickly.

Specifically, the agricultural machine state information acquired by the agricultural machine state acquisition module 21 further includes agricultural machine maneuver information, which includes, but is not limited to, an agricultural machine movement rate information and an agricultural machine running direction information. The prediction module 23 is communicatively connected to the agricultural machinery state obtaining module 21 to predict and generate an agricultural machinery movement path based on the agricultural machinery position information and the agricultural machinery maneuvering information, and the generation module 22 generates a dynamic recovery path based on the current position information of the farmer and the agricultural machinery movement path.

It should be noted that the agricultural machine state obtaining module 21 is communicably connected to the communication module 11 to obtain instruction information sent by a farm machine, for example, the farm machine sends a control instruction before the agricultural machine is in the inoperable state for 5 minutes, the agricultural machine starts to operate after 10 minutes, then the agricultural machine starts to operate after 5 minutes of the agricultural machine being in the inoperable state, and the agricultural machine is in a motorized state.

That is, the agricultural machinery retrieving system 1000 can generate a dynamic retrieving path based on the moving farmer and the moving agricultural machinery to help the farmer to retrieve the agricultural machinery which loses contact in time.

That is, the position information of the agricultural machinery acquired by the acquiring module 21 may be the position information before the agricultural machinery cannot be manipulated, or may be a predicted position information.

Further, the processing module 20 of the agricultural machinery retrieving system 1000 comprises a re-determination module 24, wherein the re-determination module 24 is respectively communicably connected to the communication module 11 and the obtaining module 21, and the re-determination module 24 is configured to determine whether the agricultural machinery is to remain in a static state after being inoperable.

The re-judging module 24 is communicatively connected to the predicting module 23, if a judgment result of the re-judging module 24 is negative, that is, the agricultural machinery starts to move at a certain time or keeps moving all the time after being unable to be controlled. For example, the agricultural machine receives an instruction before being inoperable, and starts to move forward at a fixed time, so that a farmer can control the movement time length of the agricultural machine, and then after the agricultural machine is in the inoperable state, the agricultural machine cannot receive a stop instruction from the farmer after starting to move, so that the agricultural machine is kept in the movement state all the time, which increases the difficulty for the farmer to find back the agricultural machine, and the agricultural machine out of control may cause danger to surrounding farmers or crops.

Through the communication information between the agricultural machinery remote controller or other control equipment and the agricultural machinery, the re-judgment module 24 can judge whether the agricultural machinery is to be kept in a static state, for example, an instruction sent by the agricultural machinery remote controller or an instruction received by the agricultural machinery.

When the determination result of the re-determination module 24 is negative, the prediction module 23 predicts the agricultural machinery movement path or the agricultural machinery movement range based on the last agricultural machinery state information about the agricultural machinery acquired by the acquisition module 21 before the inoperable state, and the generation module 22 generates the recovery prompt based on the agricultural machinery movement path or the agricultural machinery movement range so as to facilitate the agricultural machinery to be conveniently recovered in time in the inoperable state.

It is worth mentioning that the retrieving path can be directly displayed to the farmer through a display unit or a broadcasting unit of the agricultural machinery remote controller, and the farmer can also obtain the retrieving path by means of the electronic communication equipment loaded with the relevant software program.

Further, the processing module 20 of the agricultural machinery retrieval system 1000 comprises a failure determination module 25, wherein the failure determination module 25 is respectively communicably connected to the confirmation module 10 and the generation module 22.

The fault judgment module 25 is configured to judge whether the agricultural machine is in a communication interruption state. The reason why the agricultural machine is in the non-operation state relative to the operation device may be the reason of the agricultural machine itself or the reason of the operation device itself or the agricultural machine and the operation device are in failure at the same time, so that the agricultural machine cannot be controlled by the operation device.

When the fault determining module 25 determines that the agricultural machine is in the communication interruption state, the generating module 22 generates the recovery prompt based on the last agricultural machine state information about the agricultural machine, which is acquired by the acquiring module 21 before the inoperable state; when the fault determining module 25 determines that the agricultural machine is not in the communication interruption state, the generating module 22 generates the retrieving prompt based on the real-time position information of the agricultural machine acquired by the acquiring module 21.

Specifically, when the agricultural machine is in the communication interruption state, the agricultural machine recovery system 1000 cannot acquire real-time position information from the agricultural machine, and the agricultural machine cannot be controlled by the control device because of the communication interruption, so that the processing module 20 of the agricultural machine recovery system 1000 generates at least one recovery path based on last agricultural machine state information and start position information about the agricultural machine acquired by the acquisition module 21 before the communication interruption or before the control is impossible. The starting position information includes the farmer position information, and the farmer position information may be from the farmer information obtaining module 212. The start position information may also be a set position information from the setting module 40.

The manner of determining whether the agricultural machine is in the communication interruption state by the fault determining module 25 may be as follows, which is only an example.

The determining module 12 of the confirming module 10 determines that the agricultural machinery is in the inoperable state, the communication module 11 sends a signal from the agricultural machinery to another communication device, if the communication module 11 receives a feedback signal from another communication device, the communication function of the agricultural machinery is in a normal state, and the fault determining module 25 determines that the agricultural machinery is not in the communication interrupted state. The reason for the failure may be that the remote controller of the agricultural machine or a control device for controlling the agricultural machine by a farmer, such as a mobile phone loaded with an associated APP. If the communication module 11 does not receive a feedback signal from another communication device, the agricultural remote controller may be in a state of communication interruption.

Alternatively, the fault determining module 25 may control another control device to send a signal to the agricultural machine and receive a feedback signal from the agricultural machine, for example, the agricultural machine may execute related operations according to the signal, and the fault determining module 25 determines that the agricultural machine is not in the communication interruption state. If the agricultural machine is in a normal communication state and the agricultural machine remote control machine is in an abnormal communication state, the farmer can utilize other control equipment to control the agricultural machine again, so that the agricultural machine does not need to be retrieved.

The prompt module 30 is communicably connected to the failure determination module 25, and the prompt module 30 issues a prompt based on a failure determination result of the failure determination module 25.

It can be understood that the reason why the agricultural machine is in the non-operation state is one of the reasons why the agricultural machine is in the non-operation state, and the control unit of the agricultural machine, or a working unit or a walking unit, is in an abnormal state, so that the agricultural machine is in the non-operation state.

In other examples of the present invention, the re-determination module 24 is communicatively coupled to the failure determination module 25.

When the failure determination module 25 determines that the agricultural machinery is in the communication interruption state, the re-determination module 24 continues to determine whether the agricultural machinery is to remain stationary after the non-operable state, and when a determination result of the re-determination module 24 is negative, the prediction module 23 predicts and generates the agricultural machinery movement path or the agricultural machinery movement range based on the last agricultural machinery state information about the agricultural machinery acquired before the non-operable state, and the generation module 22 generates the retrieval prompt based on the agricultural machinery movement path or the agricultural machinery movement range so as to facilitate the agricultural machinery to be retrieved in time in the non-operable state.

When the fault determining module 25 determines that the agricultural machine is not in the communication interruption state, the generating module 22 generates the retrieving prompt based on the real-time position information of the agricultural machine acquired by the acquiring module 21.

Optionally, the agricultural machinery retrieval system 1000 is implanted in the manipulation device to enable a user to manage the agricultural machinery through the manipulation device.

According to another aspect of the present invention, there is provided an agricultural machinery retrieving method, wherein the agricultural machinery retrieving method comprises the steps of:

According to some embodiments of the invention, the step (b) is implemented as:

It is understood that the starting position information may be current position information of a farmer, or may be designated position information, for example, although the farmer operates and controls the farm machinery located at the position B at the position a, after the farm machinery loses contact, the farm machinery once located at the position B can be found back at the position C or another preset position by a third party.

According to some embodiments of the invention, the step (a) further comprises:

sending a signal to the agricultural machine; and

According to some embodiments of the invention, the step (a) is performed as:

It can be understood that the reason why the agricultural machinery retrieving system 1000 does not receive a signal from the agricultural machinery may be that the agricultural machinery itself fails, for example, a communication unit fails so that a control signal cannot be transmitted to the agricultural machinery, so that the agricultural machinery is in an inoperable state, or that the control device itself fails, for example, a communication unit of the control device fails so that a control signal cannot be transmitted to the agricultural machinery. The cause of the failure of the agricultural machine itself may also be varied.

According to some embodiments of the invention, in the above method, the step (b) further comprises:

and judging whether the agricultural machine is in a communication interruption state, if not, directly acquiring real-time position information of the agricultural machine, and if so, generating the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired before the state incapable of being controlled.

sending a signal to the agricultural machine through another communication device; and

judging whether the agricultural machine is about to keep a static state after being out of operation, if so, generating the recovery path based on the last agricultural machine state information about the agricultural machine acquired before the out of operation state, if not, predicting and generating an agricultural machine movement route based on the last agricultural machine position information about the agricultural machine acquired before the out of operation state and agricultural machine maneuvering information, and generating the recovery path based on the agricultural machine movement route.

It can be understood that, the normal operation state of the agricultural machine herein means that, after a normally operating control device is replaced, the agricultural machine can be replaced to operate and control the control device normally.

According to some embodiments of the invention, wherein in the above method, the step (b) further comprises:

and judging whether the agricultural machine is in a normal working state, and if so, sending a prompt signal.

The prompt signal is used for prompting a farmer to replace the control equipment, and the reason of the fault may be the control equipment.

sending a working instruction to the agricultural machine through another communication device; and

and judging whether the agricultural machine is in a normal working state or not based on a feedback state of the agricultural machine.

judging whether the agricultural machine is in a communication interruption state, if not, generating the recovery prompt based on real-time position information of the agricultural machine, if so, continuously judging whether the agricultural machine is to protect a static state after being incapable of being operated, if so, generating the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired before the incapable of being operated, and if not, predicting and generating an agricultural machine movement route based on the last agricultural machine position information about the agricultural machine acquired before the incapable of being operated and agricultural machine maneuvering information and generating the recovery prompt based on the agricultural machine movement route.

Referring to fig. 4 and with continued reference to fig. 1-3, an application of the agricultural recovery system 1000 in accordance with the above-described embodiments is illustrated.

After the confirmation module 10 confirms that the agricultural machine is in the inoperable state, the agricultural machine is still in continuous operation, and the fault judgment module 25 of the processing module 20 judges that the agricultural machine is in a communication interruption state, so that the agricultural machine cannot communicate with the outside, and executes the original instruction to continuously maintain the operation state.

The re-judging module 24 continuously judges whether the agricultural machinery is to be kept in a static state after the agricultural machinery is in the non-controllable state, for example, a communication unit of the agricultural machinery is configured to receive an external signal at regular time, after the signal is not received, the agricultural machinery which is already in the non-controllable state is automatically switched from the operating state to a safe state, and then a judgment result of the re-interpreting module is that the agricultural machinery is to be kept in the static state after the agricultural machinery is in the non-controllable state.

For another example, a communication unit of the agricultural machine receives a control command, starts operation at 9 o 'clock, and when at 8 o' clock and 50 o 'clock, the agricultural machine is already in the inoperable state, then from 9 o' clock, the agricultural machine will start moving operation, the agricultural machine will leave the original position, the prediction module 23 predicts and generates an agricultural machine movement path or an agricultural machine movement range based on an agricultural machine position information of the last agricultural machine state information before the inoperable state and the control command, which are acquired by the acquisition module 21, and the agricultural machine movement path and the agricultural machine movement range can change in real time along with the time change, for example, at 9 o 'clock 05 o' clock, a predicted position of the agricultural machine is a first position, and at 9 o 'clock 10 o' clock, a predicted position of the agricultural machine is a second position.

Further, the prediction module 23 may also predict and generate the agricultural machinery movement path or the agricultural machinery movement range in combination with the local geographic information of the map obtaining module 21 of the obtaining module 21.

For example, if the agricultural machine is traveling on a road before the inoperable state, and the agricultural machine continues to travel on the same side after the inoperable state, but there is a wider river ahead, then the range of motion of the agricultural machine predicted by the prediction module 23 may be the river region because the agricultural machine may fall directly into the river.

The generating module 22 generates the recovery path directly based on the last agricultural machinery state information and a starting position information before the inoperable state, which are acquired by the acquiring module 21.

Referring to fig. 5 and with continued reference to fig. 1-3, an application of the agricultural recovery system 1000 in accordance with the above-described embodiments is illustrated.

After the confirmation module 10 confirms that the agricultural machine is in the inoperable state, the agricultural machine is still in continuous operation, and the fault judgment module 25 of the processing module 20 judges that the agricultural machine is not in a communication interruption state, that is, the agricultural machine is in a normal communication state but is in the inoperable state at the same time.

The agricultural machinery information obtaining module 211 of the obtaining module 21 obtains real-time position information of the agricultural machinery directly based on a positioning unit and a communication unit of the agricultural machinery, so that the generating module 22 directly generates the retrieval path based on the real-time position information of the agricultural machinery and the initial position information.

It will be appreciated that in such a situation, the communication unit and the positioning unit of the agricultural machine are in a normal operating state, and the reason why the agricultural machine is in the inoperative state may be that a control unit or a walking unit or a working unit of the agricultural machine is out of order.

With reference to fig. 6 and with continuing reference to fig. 1-3, an agricultural remote control is illustrated in accordance with a preferred embodiment wherein the agricultural recovery system 1000 is mounted or partially mounted to the agricultural remote control.

The agricultural machinery remote controller is connected to the agricultural machinery in a communication mode, a farmer sends an operation instruction to the agricultural machinery by controlling the agricultural machinery remote controller, and the agricultural machinery executes the operation instruction from the farmer. It is worth mentioning that, through the agricultural machinery remote controller, after the contact between the agricultural machinery and the agricultural machinery remote controller is interrupted, the agricultural machinery remote controller can provide a prompt for a farmer to help the farmer to find the agricultural machinery remote controller in time.

The agricultural machinery remote controller comprises a remote control main body 100 and the agricultural machinery retrieving system 1000, wherein the agricultural machinery retrieving system 1000 is arranged on the remote control main body 100 and the agricultural machinery retrieving system 1000 is communicably connected to the remote control main body 100.

The agricultural machinery retrieving system 1000 comprises a confirmation module 10, a processing module 20, a prompting module 30 and a setting module 40, wherein the confirmation module 10 is communicably connected to the agricultural machinery, the confirmation module 10 is communicably connected to the processing module 20, and the setting module 40 is communicably connected to the processing module 20. The confirming module 10 is configured to confirm whether the agricultural machine is in a communication interruption state, and the processing module 20 is configured to generate a recovery prompt, for example, a recovery path, when the agricultural machine is in the communication state. The setting module 40 is used for a farmer to set the working modes of the confirmation module 10 and the processing module 20. The prompting module 30 is communicatively connected to the confirmation module 10 or the prompting module 30 is communicatively connected to the processing module 20 or the prompting module 30 is communicatively connected to the confirmation module 10 and the processing module 20, respectively. The prompt module 30 is capable of issuing a prompt.

The confirmation module 10 includes a communication module 11 and a judgment module 12, wherein the judgment module 12 is communicably connected to the communication module 11, the communication module 11 is configured to obtain communication information between the agricultural machinery and the agricultural machinery remote controller 1, the judgment module 12 obtains a judgment result based on the communication information, and the judgment result is that a signal interruption state exists between the agricultural machinery and the agricultural machinery remote controller 1, and the processing module 20 provides a recovery prompt.

The processing module 20 includes an obtaining module 21, a generating module 22 and a predicting module 23, wherein the generating module 22 is communicatively connected to the obtaining module 21, and the predicting module 23 is communicatively connected to the obtaining module 21 and the generating module 22, respectively. The obtaining module 21 is configured to obtain state information of the agricultural machine and position information of a farmer, and the generating module 22 generates a retrieving prompt based on the information obtained by the obtaining module 21.

The obtaining module 21 includes an agricultural machinery information obtaining module 211, a farmer information obtaining module 212 and a map information obtaining module 213, wherein the agricultural machinery information obtaining module 211 is configured to obtain the status information of the agricultural machinery, the farmer information obtaining module 212 is configured to obtain the location information of the farmer, and the map information obtaining module 213 is configured to obtain map information of the position of the agricultural machinery or the farmer. It is understood that the information obtained by the obtaining module 21 is not necessarily the position information of the farmer. By the setting module 40, a starting point of the recovery path generation can be redefined by a farmer or other operators, and an ending point is the position of the agricultural machinery or the possible position of the agricultural machinery.

When the agricultural machinery and the agricultural machinery remote controller are in the signal interruption state and the agricultural machinery is in a motion state or is about to be in a motion state, the generating module 22 predicts and generates a motion path about the agricultural machinery based on the state information of the agricultural machinery acquired by the agricultural machinery information acquiring module 211, and the generating module 22 generates the recovery prompt based on the motion path and the information acquired by the acquiring module 21.

The processing module 20 further includes a failure determination module 25, wherein the failure determination module 25 is communicably connected to the obtaining module 21, the communication module 11 and the generating module 22, the failure determination module 25 determines whether the agricultural machine is in a communication interruption state, if so, the generating module 22 generates the recovery prompt based on the last agricultural machine state information about the agricultural machine acquired by the obtaining module 21 before the inoperable state, and if not, the generating module 22 generates the recovery prompt based on an agricultural machine embodiment position information acquired by the obtaining module 21.

The processing module 20 further includes a re-judging module 24, wherein the re-judging module 24 is communicably connected to the acquiring module 21, the re-judging module 24 judges whether the agricultural machinery is to maintain a stationary state based on the agricultural machinery state information acquired before the incapability, and if so, the generating module 22 generates the recovery prompt based on the agricultural machinery state information.

The prediction module 23 is communicatively connected to the acquisition module 21, the communication module 11 and the generation module 22. The prediction module 23 is communicably connected to the re-judgment module 24, and when a judgment result of the re-judgment module 24 is negative, the prediction module 23 predicts a movement path or a movement range of the agricultural machine based on the agricultural machine state information, and the generation module 22 generates the recovery prompt based on the movement path or the movement range.

Further, the remote control body 100 of the agricultural machinery comprises a signal receiving unit 110, a signal transmitting unit 120, a processing unit 130, an input unit 140 and an output unit 150, wherein the signal receiving unit 110, the signal transmitting unit 120, the input unit 140 and the output unit 150 are respectively connected to the processing unit 130 in a communication manner. The agricultural retrieving system 1000 is communicatively connected to the signal receiving unit 110, the signal transmitting unit 120, the processing unit 130, the input unit 140, and the output unit 150, respectively.

The communication module 11 of the confirmation module 10 may be integrated or partially integrated with the signal receiving unit 110 or the signal transmitting unit 120, and the determination module 12 of the confirmation module 10 may be integrated or partially integrated with the processing unit 130. The obtaining module 21 of the processing module 20 is integrated or partially integrated with the signal receiving unit 110 and the signal transmitting unit 120. The acquisition module 21 is communicably connected to the agricultural machine. The generation module 22 and the prediction module 23 of the processing module 20 are integrated or partially integrated in the processing unit 130. The prompting module 30 is integrated or partially integrated with the prompting module 30.

The signal receiving unit 110 is configured to receive signals from other external communication devices, the signal transmitting unit 120 is configured to transmit signals to other external communication devices, the input unit 140 is configured to allow a farmer to input an operation instruction, and the output unit 150 is configured to output the operation instruction outwards so that the farmer can know the state of the agricultural machinery in time.

The input unit 140 and the output unit 150 may be a touch display screen. The input unit 140 may also be a voice receiver, and the output unit 150 may also be a voice output device.

The farmer inputs an instruction through the input unit 140, and generates an execution instruction after the identification and processing of the processing unit 130, and the signal transmitting unit 120 transmits the execution instruction to the agricultural machinery so that the execution instruction is executed. The signal receiving unit 110 receives a feedback signal or working state data from the agricultural machinery, and after the processing of the processing unit 130, the output unit 150 outputs relevant information to facilitate subsequent operation and control of the farmer.

When the signal transmitting unit 120 of the agricultural machine remote controller 1 transmits a signal to the agricultural machine but the signal receiving unit 110 does not receive a feedback signal from the agricultural machine, the agricultural machine remote controller 1 and the agricultural machine are in a signal interruption state, for example, after the agricultural user sends a relevant operation instruction, the output unit 150 of the agricultural machine remote controller 1 does not observe that the advancing direction of the agricultural machine changes, and then the agricultural machine remote controller 1 and the agricultural machine are in a signal interruption state, the agricultural user cannot control the agricultural machine, and the agricultural machine may continue to advance in the original direction, and may encounter obstacles or cause injury to crops. The farmer needs to find the agricultural machinery in time.

The judging module 12 is communicably connected to the signal receiving unit 110 and the signal transmitting unit 120, wherein the prompting module 30 is communicably connected to the judging module 12, and the failure judging module 25 is communicably connected to the judging module 12.

Based on a signal information transmitted by the signal transmitting unit 120 and a signal information received by the signal receiving unit 110, the determining module 12 determines whether the remote controller of the agricultural machinery and the agricultural machinery are in an inoperable state, and if so, the determining module 12 obtains a determination result that the remote controller of the agricultural machinery 1 and the agricultural machinery are in an inoperable state. Based on the judgment result, the prompt module 30 sends an alarm signal to prompt the farmer, so that the farmer can take measures to find back the agricultural machinery as soon as possible.

In some examples of the invention, the prompting module 30 is integrated or partially integrated with the output unit 150, and the output unit 150 outputs the alarm signal.

Based on the determination result, the signal transmitting unit 120 retransmits a signal to another communicable device, if the signal receiving unit 110 receives a corresponding feedback signal, the failure determining module 25 obtains a determination result that the agricultural remote controller can maintain normal communication with the outside, if the signal receiving unit 110 does not receive a corresponding feedback signal, the failure determining module 25 obtains a determination result that the agricultural remote controller cannot maintain normal communication with the outside, the failure determining module 25 is communicably connected to the remote controller determining module 12, and generates a failure analysis report based on the determination result of the determining module 12. Based on the former situation, the communication function of the agricultural machinery remote controller is in a normal state, and the reason that the agricultural machinery remote controller and the agricultural machinery are in the signal interruption state may be that the agricultural machinery breaks down. Based on the latter situation, the communication function of the agricultural machinery remote controller is in an abnormal state, and the reason why the agricultural machinery remote controller and the agricultural machinery are in the signal interruption state may be that the agricultural machinery remote controller fails or that the agricultural machinery remote controller and the agricultural machinery fail at the same time.

It can be understood that whether the agricultural machine and the agricultural machine remote controller are in a communication unblocked state can also be judged by the mode that the agricultural machine sends a signal to the agricultural machine remote controller at regular time. For example, the agricultural machinery remote controller receives a signal from the agricultural machinery at regular time and once every 5 minutes, but does not receive the signal again within 6 minutes of the last time the signal is received, so that the agricultural machinery and the agricultural machinery remote controller are in a signal interruption state.

Referring to fig. 7 and with continued reference to fig. 1-3, an agricultural machine 2 is illustrated in accordance with a preferred embodiment.

The agricultural machine 2 includes an agricultural machine main body 200 and an agricultural machine retrieving system 1000, wherein the agricultural machine retrieving system 1000 is provided to the agricultural machine main body 200, and the agricultural machine retrieving system 1000 is used for managing the state of the agricultural machine main body 200.

The agricultural machinery retrieval system 1000 includes a confirmation module 10 and a processing module 20, wherein the processing module 20 is communicatively connected to the confirmation module 10. The confirmation module 10 is configured to confirm that the agricultural machine 2 is in an inoperable state relative to an operation device, such as an agricultural machine remote controller, and the processing module 20 generates a processing strategy for the agricultural machine main body 200 to execute after the agricultural machine 2 is in the inoperable state.

Further, the agricultural machinery retrieval system 1000 comprises a prompting module 30 and a setting module 40, wherein the prompting module 30 is communicably connected to the processing module 20, and the setting module 40 is communicably connected to the confirming module 10 and the processing module 20. The prompting module 30 is configured to issue a prompt, and the setting module 40 is configured to set a confirmation manner of the confirming module 10 or a processing rule of the processing module 20.

The main body 200 of the agricultural machine comprises a walking unit 210 and a working unit 220, wherein the walking unit 210 drives the working unit 220 to move, the walking unit 210 is used for moving, and the working unit 220 is used for working on crops or soil.

The walking unit 210 and the working unit 220 are each communicatively and controllably connected to the agricultural recovery system 1000.

The confirmation module 10 includes a communication module 11 and a judgment module 12, wherein the judgment module 12 is communicatively connected to the communication module 11. The communication module 11 is used for communicating the agricultural machinery main body 200 with the outside, and the judgment module 12 is used for judging whether the agricultural machinery 2 is in the state of incapability of control.

For example, the communication module 11 is configured to send a signal outwards and receive a feedback signal from the outside, and the determining module 12 determines whether the agricultural machine 2 loses contact with the outside based on the feedback signal, for example, the communication module 11 sends a signal outwards but does not receive the feedback signal within a preset time, and a determination result of the determining module 12 is that the agricultural machine 2 is in the inoperable state.

In other examples of the present invention, the communication module 11 is configured to receive a timing signal from the outside, and the agricultural machine 2 determining module 12 determines whether the agricultural machine 2 loses contact with the outside based on the timing signal, for example, the communication module 11 receives an outside communication signal every one minute, but does not receive the timing signal again after receiving the timing signal for 10 minutes, and a determination result of the determining module 12 is that the agricultural machine 2 is in the inoperable state.

It can be understood that the possible reason why the agricultural machine 2 is in an inoperable state is that the agricultural machine 2 itself fails or an external communication device communicating with the agricultural machine 2 fails so that a farmer cannot keep communication with the agricultural machine 2.

When the determining module 12 determines that the agricultural machine 2 is in the inoperable state, the prompting module 30 can send a prompt to prompt a farmer near the agricultural machine 2 to pay attention to avoid danger.

It is worth mentioning that a prompt message sent by the prompt module 30 may include a contact manner of the owner of the agricultural machine 2 so that a farmer who notices that the agricultural machine 2 is out of control can actively connect to the owner of the agricultural machine 2, so that the agricultural machine 2 is maintained in time.

The processing module 20 includes an obtaining module 21 and a generating module 22, where the obtaining module 21 is configured to obtain state information of an agricultural machine 2 of the agricultural machine 2, the state information includes state information of the present agricultural machine 2 and instruction information received before the inoperable state, the generating module 22 generates an execution strategy based on the state information of the agricultural machine 2, and the operating unit 220 and the traveling unit 210 execute the execution strategy.

Further, the processing module 20 includes a prediction module 23, where the prediction module 23 is configured to predict a movement trajectory of the walking unit 210 after the non-operation state, because for the agricultural machine 2, the non-operation state may be due to a fault of the agricultural machine 2 itself or a fault of the operation device itself, once the agricultural machine 2 has the fault of the agricultural machine 2 itself, the agricultural machine 2 may not communicate with the outside due to the fault of the communication module 11, the operation unit 22 may have the fault so that the operation cannot be normally performed, or the walking unit 21 may have the fault so that the walking unit 21 cannot drive the operation unit 22 to walk, so that the farmer cannot observe the movement trajectory of the agricultural machine 2 from the operation device.

The agricultural machine 2 further comprises a control unit 230, wherein the control unit 230 is communicatively connected to the agricultural retrieving system 1000 and the walking unit 21 and the working unit 22 are controllably connected to the control unit 230, respectively. It is also possible that the control unit 230 fails so that the farmer's instructions cannot be executed.

Once the walking unit 21 cannot be controlled and the walking unit 21 starts to move in a certain motion state according to a previous control instruction in the non-operation state, and the communication module 11 is in a normal working state, the prediction module 23 may predict a motion trajectory of the agricultural machine 2 and send a prediction result to the farmer or the operation device through the communication module 11 so that the farmer can retrieve the agricultural machine 2 in time.

The processing module 20 further includes a re-judging module 24, wherein the re-judging module 24 is configured to judge whether the walking unit 210 of the agricultural machine main body 200 is to maintain a static state in the non-operation state, and if not, the generating module 22 generates an execution strategy to switch the agricultural machine 2 from an operation module to a safety module based on a judgment result of the re-judging module 24. If yes, the generating module 22 switches the agricultural machine 2 from an operation module to an energy saving mode based on a determination result of the re-determining module 24 and the state information of the agricultural machine 2 acquired by the acquiring module 21, so as to save energy.

The processing module 20 further includes a failure determining module 25, wherein the failure determining module 25 is communicatively connected to the communication module 11, the obtaining module 21, and the generating module 22. The fault judgment module 25 is configured to judge whether the agricultural machine 2 is in a communication interruption state.

The manner of determining whether the agricultural machine 2 is in the communication interruption state by the fault determination module 25 may be as follows, and is only an example here.

The determining module 12 of the confirming module 10 determines that the agricultural machine 2 is in the inoperable state, the fault determining module 25 sends a signal from the agricultural machine 2 to another communication device, if the communication module 11 receives a feedback signal from another communication device, the communication function of the agricultural machine 2 is in a normal state, and the fault determining module 25 determines that the agricultural machine 2 is not in the communication interruption state. The reason for the failure may be that the remote controller of the farm machine or a control device for controlling the farm machine 2 by a farmer, for example, a mobile phone loaded with an associated APP. If the communication module 11 does not receive a feedback signal from another communication device, the remote controller of the agricultural machine may be in a state of communication interruption, or it may be that the communication module 11 of the agricultural machine 2 is in an abnormal operating state.

Alternatively, the fault determining module 25 controls another control device to send a signal to the agricultural machine 2 and receive a feedback signal from the agricultural machine 2, for example, the agricultural machine 2 can execute related operations according to the signal, and the fault determining module 2525 determines that the agricultural machine 2 is not in the communication interruption state. If the agricultural machinery 2 is in a normal communication state and the agricultural machinery remote controller is in an abnormal communication state, the farmer can utilize other control equipment to control the agricultural machinery 2 again, so that the agricultural machinery 2 does not need to be retrieved. Further, the agricultural machine 2 sends a prompt signal to the farmer to prompt the farmer that the agricultural machine remote controller fails, for example, sends a prompt signal to a mobile phone of the farmer. According to another aspect of the present invention, there is provided a method of operating an agricultural machine 2, wherein the method comprises the steps of:

(a) Confirming that an agricultural machine 2 is in an inoperable state relative to a matched control device; and

(b) And generating an execution strategy based on the state information of the agricultural machine 2.

According to an embodiment of the present invention, in the above method, the step (a) further includes:

sending a signal to the control device; and

and confirming that the agricultural machine 2 is in the non-manipulation state relative to the matched manipulation device based on a feedback state of the manipulation device.

and confirming that the agricultural machine 2 is in the non-operation state relative to the operation and control device based on the receiving condition of a timing signal from the operation and control device.

judging whether the agricultural machine 2 is in a communication interruption state or not; and

if yes, an execution strategy is generated based on state information of the agricultural machine 2.

if not, a prompt signal is sent outwards.

judging whether the agricultural machine 2 is in a communication interruption state or not;

if yes, continuously judging whether the agricultural machine 2 is to keep a static state; and

if not, switching to a safe mode, and if so, switching to an energy-saving mode.

Those skilled in the art will appreciate that the embodiments of the invention illustrated in the drawings and described above are merely exemplary and not limiting of the invention.

It can thus be seen that the objects of the invention are sufficiently well-attained. The embodiments for explaining the functional and structural principles of the present invention have been fully illustrated and described, and the present invention is not limited by changes based on the principles of these embodiments. Accordingly, this invention includes all modifications encompassed within the scope and spirit of the following claims.

Claims

1. The agricultural machinery retrieving method is characterized by comprising the following steps:

(a) Confirming that an agricultural machine is in an inoperable state relative to a matched control device, acquiring a communication interruption state of the agricultural machine, and analyzing whether the reason of the failure of the agricultural machine in the inoperable state is due to the failure of the agricultural machine or the failure of the control device according to the communication interruption state; if the communication state of the agricultural machine is detected to be normal, generating a retrieving prompt based on real-time position information of the agricultural machine, and if the communication state of the agricultural machine is detected to be abnormal, executing the step (b); wherein the state of incapability of manipulation comprises that the agricultural machine is in a state of incapability of being controlled by the manipulation equipment; and

(b) Judging whether the agricultural machine is to be kept in a static state after the agricultural machine cannot be controlled according to a command sent by the control device and received by the agricultural machine before the agricultural machine is in the non-controllable state, specifically, the agricultural machine is configured to receive an external signal at regular time, automatically switches the agricultural machine which is in the non-controllable state from an operation state to a safety state after the signal cannot be received, and determines that the agricultural machine is to be kept in the static state after the agricultural machine is in the non-controllable state; if not, predicting and generating an agricultural machinery movement route based on the last agricultural machinery position information and agricultural machinery maneuvering information about the agricultural machinery before the agricultural machinery cannot be operated, and generating a retrieving prompt based on the agricultural machinery movement route and the initial position information; if the agricultural machinery movement information comprises agricultural machinery movement speed information and agricultural machinery running direction information, the initial position information comprises farmer position information, third party position information or preset position information, and the recovery prompt comprises at least one recovery path.

2. The agricultural machine recovery method of claim 1, wherein the step (a) further comprises: sending a signal to the agricultural machine; and

3. The agricultural machinery retrieval method according to claim 1, wherein the step (a) is carried out as: confirming that the agricultural machine is in the non-manipulation state relative to the paired manipulation equipment based on the receiving condition of a timing signal from the agricultural machine.

4. The agricultural machinery retrieval method according to claim 3, wherein in the above method, the step (b) further comprises: sending a signal to the agricultural machine through another communication device; and

and judging whether the agricultural machine is in a communication interruption state or not based on a feedback state of the agricultural machine.

5. The agricultural machinery recovery method according to any one of claims 1 to 3, wherein in the above method, the step (b) further comprises: and judging whether the agricultural machine is in a normal working state, and if so, sending a stop signal to the agricultural machine.

6. Agricultural machinery system of retrieving, its characterized in that includes:

the confirmation module is used for confirming that an agricultural machine is in an inoperable state relative to a matched control device, acquiring a communication interruption state of the agricultural machine and analyzing whether the reason of the failure of the agricultural machine in the inoperable state is caused by the failure of the agricultural machine or the failure of the control device according to the communication interruption state; if the communication state of the agricultural machine is detected to be normal, generating a retrieving prompt based on real-time position information of the agricultural machine, and if the communication state of the agricultural machine is detected to be abnormal, executing corresponding operation by a processing module; wherein the state of incapability of manipulation comprises that the agricultural machine is in a state of incapability of being controlled by the manipulation equipment; the processing module comprises an acquisition module and a generation module, wherein the acquisition module is used for acquiring agricultural machinery state information, initial position information and a preset route generation rule, the generation module dynamically generates a recovery prompt based on the agricultural machinery state information, the initial position information and the preset route generation rule, the agricultural machinery state information comprises the last agricultural machinery position information or predicted position information about the agricultural machinery before the agricultural machinery cannot be operated, the initial position information comprises farmer position information, third party position information or preset position information, and the recovery prompt comprises at least one recovery path; the processing module further comprises a re-judging module, wherein the re-judging module is communicably connected to the acquiring module, the re-judging module judges whether the agricultural machine is to be kept in a static state based on the agricultural machine state information acquired before the received non-manipulatable state before the agricultural machine is in the non-manipulatable state, specifically, the agricultural machine is configured to receive a signal from the outside at regular time, automatically switch from an operating state to a safe state after the signal is not received, and determine that the agricultural machine is to be kept in the static state after the non-manipulatable state; if not, predicting and generating an agricultural machinery movement route based on the last agricultural machinery position information and agricultural machinery maneuvering information about the agricultural machinery before the agricultural machinery cannot be operated, and generating a retrieving prompt based on the agricultural machinery movement route and the initial position information; if yes, generating the recovery prompt based on the last agricultural machinery state information about the agricultural machinery acquired before the non-operation state, wherein the agricultural machinery maneuvering information comprises agricultural machinery movement rate information and agricultural machinery running direction information, wherein the initial position information comprises farmer position information, third party position information or preset position information, the recovery prompt comprises at least one recovery path, wherein the agricultural machinery is configured to receive an external signal at regular time, the agricultural machinery which is already in the non-operation state is automatically switched from an operation state to a safety state after the signal is not received, and the agricultural machinery is determined to be in the static state after the non-operation state.

7. The agricultural machinery retrieval system according to claim 6, wherein the obtaining module comprises an agricultural machinery information obtaining module and a farmer information obtaining module, wherein the generating module generates the retrieval prompt based on the agricultural machinery state information obtained by the agricultural machinery information and farmer position information obtained by the farmer information, wherein the initial position information comprises the farmer position information.

8. The agricultural machinery retrieval system according to claim 6, wherein the agricultural machinery retrieval system further comprises a setting module, wherein the setting module is communicably connected to the generating module, and the generating module generates the retrieval prompt based on a set position information from the setting module as the start position information and the agricultural machinery state information.

9. The agricultural machinery retrieval system according to any one of claims 6 to 8, wherein the confirmation module comprises a communication module and a judgment module, wherein the judgment module judges whether the agricultural machinery is in the inoperable state relative to the paired operation device based on a communication information about the agricultural machinery from the communication module.

10. The agricultural machinery retrieval system of claim 9, wherein the communication module is configured to obtain a timing signal from the agricultural machinery, and the determination module determines whether the agricultural machinery is in the inoperable state based on the timing signal.

11. The agricultural machinery recovery system of claim 9, wherein the communication module is configured to send a signal to the agricultural machinery and receive a feedback signal from the agricultural machinery, and the determination module determines whether the agricultural machinery is in the inoperable state based on the feedback signal.

12. The agricultural machinery retrieval system of claim 6, wherein the processing module further comprises a prompting module, wherein the prompting module is communicatively coupled to the failure determination module.

13. The agricultural machinery recovery system of claim 12, wherein the processing module further comprises a prediction module, when a determination of the re-determination module is negative, the prediction module predicts a movement path of the agricultural machinery based on the agricultural machinery state information, and the generation module generates the recovery prompt based on the movement path.

14. The agricultural machine recovery system of any one of claims 10 to 13, wherein the agricultural machine recovery system is implanted in the steering device.