CN110132215B - Method for automatically acquiring operating width of agricultural machine and method for acquiring operating area of agricultural machine - Google Patents

Method for automatically acquiring operating width of agricultural machine and method for acquiring operating area of agricultural machine Download PDF

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CN110132215B
CN110132215B CN201910353990.XA CN201910353990A CN110132215B CN 110132215 B CN110132215 B CN 110132215B CN 201910353990 A CN201910353990 A CN 201910353990A CN 110132215 B CN110132215 B CN 110132215B
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agricultural machine
travel path
width
boundary
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CN110132215A (en
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王涛涛
秦硕
姚远
吴迪
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Fengjiang Intelligent Technology Research Institute Changzhou Co ltd
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
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    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic

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Abstract

The invention provides an agricultural machinery breadth automatic acquisition method and an agricultural machinery operation area acquisition method, wherein the agricultural machinery operation breadth automatic acquisition method comprises the following steps: the method comprises the steps that a running track of the agricultural machine in an operation area and the running track of the agricultural machine are obtained based on a positioning unit of the agricultural machine, and a processing unit automatically obtains the distance between parallel parts of the running track of the agricultural machine to serve as the operation width of the agricultural machine.

Description

Method for automatically acquiring operating width of agricultural machine and method for acquiring operating area of agricultural machine
Technical Field
The invention relates to the field of agricultural machine operation, in particular to an agricultural machine operation breadth automatic acquisition method and an agricultural machine operation area acquisition method.
Background
At present, in the field of agricultural machinery, the informatization of agriculture is the development direction of the future. In the past agriculture, farmers could only judge the development of agricultural activities by experience, for example, by observing the growth state of crops in the field and by visual information, to judge what treatments the crops need to be treated, for example, watering, fertilizing, or disinsecting. Obviously, such a method is very inefficient and raises the agricultural threshold, requiring farmers to have sufficient experience to be able to effectively manage the farmland.
Agricultural informatization can reduce the threshold of agriculture, and farmers who lack experience with the assistance of informatization can also complete effective management of farmlands and crops.
One of the important prerequisites for agricultural informatization is to obtain enough information and then perform informatization supervision on agricultural activities. Agricultural machines capable of moving within a field to perform farming operations are one of the important sources of obtaining agricultural related information.
The operating width of the agricultural machine is one of important parameters of agricultural machine information, and in the current agricultural machine information acquisition, the operating width of the agricultural machine is generally acquired manually, so that the efficiency is low and the accuracy cannot be guaranteed. For example, when an operation part of an agricultural machine can be replaced by a different operation part, the operation width of the same agricultural machine may be different in different periods, and at this time, the manual modification and entry mode will increase the error rate of data acquisition, and finally affect the operation of the whole agricultural information management system.
Disclosure of Invention
An object of the present invention is to provide an agricultural machine operation width automatic acquisition method and an agricultural machine operation area acquisition method, in which an operation width of an agricultural machine can be automatically acquired.
Another object of the present invention is to provide an agricultural machine work width automatic acquisition method and an agricultural machine work area acquisition method, wherein the work width of the agricultural machine can be acquired based on the travel path of the agricultural machine.
Another object of the present invention is to provide an agricultural machine operation width automatic acquisition method and an agricultural machine operation area acquisition method, wherein the operation width of the agricultural machine can be obtained by constructing a trajectory equation based on a travel path of the agricultural machine.
Another object of the present invention is to provide an agricultural machine operation width automatic acquisition method and an agricultural machine operation area acquisition method, wherein the use of the agricultural machine operation width automatic acquisition method is not limited to the boundary of the operation area required by the agricultural machine.
Another object of the present invention is to provide an agricultural machine working width automatic acquisition method and an agricultural machine working area acquisition method, wherein the agricultural machine working width automatic acquisition method acquires a working width based on a distance between parallel portions of a travel path of the agricultural machine.
Another object of the present invention is to provide an agricultural machine operation width automatic acquisition method and an agricultural machine operation area acquisition method, wherein the operation width acquired by the agricultural machine operation width automatic acquisition method may be an average operation width of the agricultural machine in an operation field.
Another object of the present invention is to provide an agricultural machine operation width automatic acquisition method and an agricultural machine operation area acquisition method, wherein the operation width acquired based on the agricultural machine operation width automatic acquisition method is beneficial to acquiring an agricultural machine operation area with higher accuracy.
According to one aspect of the invention, the invention provides an automatic acquisition method of the operating width of an agricultural machine, which comprises the following steps:
acquiring a running track of an agricultural machine in an operation area based on a positioning unit of the agricultural machine; and
based on the running track of the agricultural machine, a processing unit automatically acquires the distance between the parallel parts of the running track of the agricultural machine as the operation width of the agricultural machine.
According to an embodiment of the invention, the method for automatically acquiring the operating width of the agricultural machine further comprises the following steps:
acquiring two coordinates based on the running track of the agricultural machine, wherein the two coordinates are respectively positioned on the running track parts of the parallel agricultural machine; and
and calculating the distance between the two coordinates to be used as the operation width of the agricultural machine.
According to an embodiment of the invention, the method for automatically acquiring the operating width of the agricultural machine further comprises the following steps:
constructing at least two track equations based on the running tracks of the agricultural machinery, wherein the running tracks corresponding to each track equation are partially parallel; and
and calculating the distance of the parallel running track parts based on the track equation to serve as the operation width of the agricultural machine.
According to an embodiment of the invention, the method for automatically acquiring the operating width of the agricultural machine further comprises the following steps:
constructing a track equation based on the running track of the agricultural machine; and
and calculating the distance from at least one coordinate point of the parallel part of the running track of the agricultural machine corresponding to the track equation based on the track equation to serve as the operation width of the agricultural machine.
According to an embodiment of the present invention, in the method, the driving track of the agricultural machine is an S-shape.
According to an embodiment of the invention, in the method the agricultural machine is driven along a first work row in the work area and is steered to drive along a second work row, wherein at least part of the first work row and at least part of the second work row are in parallel.
According to an embodiment of the present invention, the method for automatically acquiring the operating width of the agricultural machine further comprises the following steps:
respectively constructing a track equation based on the first operation line and the second operation line; and
calculating a distance between the parallel portion of the first and second work lines based on the trajectory equation.
According to an embodiment of the invention, in the method the agricultural machine is driven along an n-1 th work line in the work area, and is steered to drive along the n work lines, wherein at least part of the n-1 th work line is parallel to at least part of the n work lines, wherein n ≧ 2.
According to an embodiment of the present invention, the method for automatically acquiring the operating width of the agricultural machine further comprises the following steps:
at least one track equation is constructed based on the n-1 operation line and the n operation line; and
calculating the (n-1) th line of action and the institute based on the trajectory equationThe distance between the nth operation lines is used for obtaining the operation width W of the agricultural machinen。
According to an embodiment of the present invention, in the above method, a linear trajectory equation is fitted when the n-1 th line portion parallel to the n-th line is a curve.
According to an embodiment of the invention, the shape of the working area is rectangular, circular or triangular.
According to an embodiment of the present invention, the working area is a rectangular working area, and the working area has a first corner, a second corner, a third corner and a fourth corner, wherein the agricultural machinery starts to work from the first corner, the second corner, the third corner or the fourth corner.
According to an embodiment of the invention, the working area has a first boundary, a second boundary, a third boundary and a fourth boundary, wherein the first boundary and the third boundary are arranged opposite each other and the second boundary and the fourth boundary are arranged opposite each other, wherein at least a part of the first working line is parallel to the first boundary.
According to another aspect of the present invention, the present invention provides an agricultural machinery working area obtaining method, which includes the following steps:
in the nth operation line R of the agricultural machinery in an operation areanAnd a previous work activity R of the agricultural machinen-1The latter operation behavior Rn+1Wherein the n-1 st operation line Rn-1The n-th operation line RnAnd the n +1 th operation line Rn+1The method comprises the following steps of arranging in parallel, and acquiring a running track of an agricultural machine in an operation area based on a positioning unit of the agricultural machine;
acquiring the operation line R of the agricultural machine at the n-1 th operation line based on the running track of the agricultural machinen-1And the n-th operation line RnAs the farm machine is on the n-th work line RnThe real-time operation width; and
and the operation area of the agricultural machine on the nth operation line is obtained by multiplying the operation width by the running path of the agricultural machine on the nth operation line.
According to an embodiment of the present invention, in the method, the method further includes the following steps:
the n-1 operation line R based on the agricultural machinen-1And the n-th operation line RnAcquiring two coordinates; and
and calculating the distance between the two coordinates to be used as the operation width of the agricultural machine.
According to an embodiment of the present invention, in the method, the method further includes the following steps:
the n-1 operation line R based on the agricultural machinen-1And the n-th operation line RnConstructing at least two trajectory equations; and
and calculating the distance between the adjacent operation rows based on the track equation to serve as the operation width of the agricultural machine.
According to an embodiment of the present invention, in the method, the method further includes the following steps:
based on the agricultural machinery in the n-1 operation line Rn-1Constructing a track equation by the running track; and
calculating the R of the agricultural machinery on the nth operation linenTo the n-1 th operation line Rn-1The distance of the corresponding track equation is used as the distance R of the agricultural machinery on the nth operation linenThe working width of (2).
According to an embodiment of the present invention, in the method, coordinate points P are sequentially acquired while the agricultural machine is located on the nth work travel1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn)，Pn+1(xn+1,yn+1) And further comprising the steps of:
get about previous job row Rn-1Y ═ f (x);
calculating each coordinate point P1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn) Distances to Y ═ f (x), respectively, to obtain d1 to dnTo be used as the operation width of the agricultural machinery; and
obtaining the n-th row (R) of the agricultural machinery by accumulating the working area of each single sectionnThe real-time operation area M is more than or equal to 2):
M＝M1+M2+M3+…+Mnwherein each adjacent track point Pn(xn，yn) And Pn+1(xn+1,yn+1) Single section working area of room
Figure BDA0002044814580000051
According to one embodiment of the present invention, the previous operation row Rn-1Is obtained by smooth curve fitting.
According to an embodiment of the present invention, when the agricultural machine is located in the first operation row R1The working area of the agricultural machine is equal to the working width W of the agricultural machine multiplied by the first working row R1The length of the travel path of (2).
Drawings
Fig. 1A is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 1B is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 1C is a schematic application diagram of a method for obtaining an agricultural working area according to a preferred embodiment of the present invention.
Fig. 2A is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 2B is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 3A is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 3B is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention.
Fig. 4 is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the invention.
Fig. 5 is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the invention.
Fig. 6 is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the invention.
Fig. 7 is a schematic application diagram of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the invention.
Fig. 8 is a block diagram of an agricultural machinery management system for managing an agricultural machinery 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 in the following description are given 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. 1A, fig. 1B and fig. 1C, and referring to fig. 8, an application scenario of an agricultural machinery operation breadth automatic acquisition method according to a preferred embodiment of the present invention is shown.
By the automatic acquisition method of the operating width of the agricultural machine, the operating width of the agricultural machine 1 in the operating process can be conveniently and automatically acquired, and more accurate operating area of the agricultural machine can be acquired based on the automatic acquisition method of the operating width of the agricultural machine.
It should be noted that, here, the agricultural machine 1 is supported on the ground to perform agricultural work, the agricultural machine 1 may be aerial agricultural work, for example, unmanned agricultural machine 1, or the like, and the agricultural machine 1 on the ground and the agricultural machine 1 in the aerial work may be engaged with each other to perform work.
In the present example, the agricultural machine 1 that walks on the ground is exemplified, but it should be understood by those skilled in the art that the type of the agricultural machine 1 is not limited to the agricultural machine 1 that walks on the ground.
The agricultural machinery 1 includes an agricultural machinery main part 10, a walking unit 20, a drive unit 30, an energy supply unit 40, a control unit 50, an operation unit 60 and a positioning unit 70, wherein the agricultural machinery main part 10 is supported in the walking unit 20, the walking unit 20 can drive the agricultural machinery main part 10 moves, the drive unit 30 the energy supply unit 40 the control unit 50 the operation unit 60 and the positioning unit 70 are installed in the agricultural machinery main part 10 respectively.
The walking unit 20 and the working unit 60 are drivably connected to the driving unit 30, respectively, the power supply unit 40 is energizably connected to the driving unit 30, and the walking unit 20, the driving unit 30, and the working unit 60 are controllably connected to the control unit 50, respectively. The positioning unit 70 is used for obtaining the position information of the agricultural machine main body 10.
The agricultural machine main body 10 may include an agricultural machine frame, an agricultural machine cab, and the like. The agricultural machine 1 can be a fuel oil type agricultural machine, an electric type agricultural machine or other types. The type of said agricultural machine 1 does not limit the invention.
The automatic acquisition method of the operating width of the agricultural machine comprises the following steps:
acquiring a running track of the agricultural machine 1 in a working area S based on the positioning unit 70 of the agricultural machine 1; and
based on the travel track of the agricultural machine 1, a processing unit automatically obtains the distance between the parallel parts of the travel track of the agricultural machine 1 as the operation width of the agricultural machine 1.
According to an embodiment of the invention, the method further comprises the steps of:
acquiring two coordinates based on the running track of the agricultural machine 1, wherein the two coordinates are respectively positioned on the running track parts of the agricultural machine 1 which are parallel; and
calculating the distance between two coordinates, which are respectively located in different travel track parts, such as a first travel track and a second travel track, which are parallel or parallel, as the working width of the agricultural machine 1
According to an embodiment of the invention, the method further comprises the steps of:
constructing at least two trajectory equations based on the running trajectories of the agricultural machinery 1, wherein the running trajectories corresponding to each trajectory equation are partially parallel; and
and calculating the distance of the parallel running track parts based on the track equation to serve as the working width of the agricultural machine 1.
It is understood that the parallel of the driving tracks refers to a part of the driving tracks and another part of the driving tracks being parallel without crossing, but not necessarily parallel, and the driving tracks of the parallel part may be straight or curved.
Specifically, the agricultural machine 1 needs to perform work in the working area S, and the agricultural machine 1 needs to reciprocate in the working area S to perform work as much as possible on crops located at each corner in the working area S. Since the area of the working area S is generally large for the agricultural machine 1, the agricultural machine 1 needs to turn to be able to work for the entire working area S.
The agricultural machine 1 is first operated along a first operation line R1Travel and then turn to a second work line R2Then to said third operating line R3From, to the n-th operation line RnAnd the operation is finished.
The first operation line R1Includes a first travel path r1And a second travel path r2Said second travel path r2Is a work line that travels when the agricultural machine 1 is turned.
The second operation line R2Comprising a third travel path r3And a fourth travel path r4Said fourth travel path r4Is a work line that travels when the agricultural machine 1 is turned.
The third operation line R3Comprising a fifth travel path r5And a sixth travel path r6Said sixth travel path r6Is the operation line which runs when the agricultural machine turns.
The first operation line R1At least part of the second work row R2And the third operation line R3In this example, the first job row R1Of the first travel path r1And the second operation line R2Said third travel path r3And parallel.
More specifically, the agricultural machine 1 first follows a first travel path r1Travel while being directed to the first travel path r1Or the first travel path r1And treating the crops on two sides. The agricultural machine 1 then turns along a second runPath r2Travel while being directed to the second travel path r2Or the second travel path r2And treating the crops on two sides. The agricultural machine 1 then turns along a third travel path r3Travel while being performed for the third travel path r3Or the third travel path r3The crop on both sides of (a) is treated. The agricultural machine 1 then turns along a fourth travel path r4Travel while aiming at the fourth travel path r4Or the fourth travel path r4And treating the crops on two sides. The agricultural machine 1 then turns along a fifth travel path r5Travel while being directed to the fifth travel path r5Or the fifth travel path r5And treating the crops on two sides. Notably, the first travel path r1Position of (d), the second travel path r2Position of (d), the third travel path r3Position of, the fourth travel path r4And the fifth travel path r5Is acquired based on the positioning unit 70 of the agricultural machine 1.
The agricultural machine 1 continuously turns in the working area S until the work for the entire working area S is completed.
Further, the working area S has a boundary. In this example, the working area S has a rectangular boundary. The operation region S has a first boundary A1A second boundary A2And a third boundary A3And a fourth boundary A4. The first boundary A1Parallel to the third boundary A3The second boundary A2Parallel to the fourth boundary A4. The first boundary A1Are respectively connected to the second boundary A2And the fourth boundary A4. The second boundary A2Are respectively connected to the first boundary A1And the third boundary A3. The third boundary A3Are respectively connected to the two ends ofSecond boundary A2And the fourth boundary A4。
The working area S has four corners, a first corner B1Second corner B2The third corner B3And a fourth corner B4Wherein the first corner B1Is located at the first boundary A1And the second boundary A2In the second corner B2Is located at the second boundary A2And the third boundary A3In said third corner B3Is located at the third boundary A3And the fourth boundary A4In said fourth corner B4Is located at the fourth boundary A4And the first boundary A1In the meantime.
In the present example, the agricultural machine 1 is at the first corner B1Is located along the first travel path towards the fourth corner B4The position of the agricultural machine 1 is shifted, that is, from a position close to the first boundary A1Is located toward the fourth boundary A4The location is moved. When the agricultural machine 1 moves to a distance A from the fourth boundary4In a certain distance, the agricultural machine 1 needs to turn. If the agricultural machine 1 continues to keep moving forward, it will leave the working area S, reducing the working efficiency. At this time, the agricultural machine 1 is arranged from the first corner B1Move to the fourth corner B4. The first corner B1And said fourth corner B4Is located at the first boundary A1On the same side.
The agricultural machinery 1 is arranged at the fourth boundary A4The periphery is turned to follow the second running path r2And continue to advance a certain distance. In this example, for the efficiency of the operation of the agricultural machine 1. Said agricultural machine 1 follows said first path of travel r1Move to the second travel path r2Is set to require 90 degrees of steering. Of course, the agricultural machine 1 can also be steered at other angles. Along the second travel path r2From a position close to the first boundary A of the agricultural machine 11Towards the third boundary A3And (4) moving. That isThat is, the agricultural machine 1 is driven from the fourth corner B4Towards the third corner B3And (4) moving.
The second travel path r2Is set to a certain length, and then the agricultural machine 1 is turned to follow the third travel path r3The movement is performed. It should be noted that, in the present embodiment, when the agricultural machine 1 travels along the third travel path r3When driving, the agricultural machine 1 approaches the fourth boundary A from one side to the other side4Is returned to near the first boundary a1The position of (a).
The first travel path r1And the third travel path r3Are oppositely arranged, the first running path r1And the third travel path r3Respectively extend from the first boundary A1And the fourth boundary A4And the extension direction is said first boundary a1Towards the fourth boundary A4Or the fourth boundary A4Towards the third boundary A3In the direction of (a).
When the agricultural machine 1 moves to a distance A from the first boundary1At a certain distance, the agricultural machine 1 is steered to follow the fourth travel path r4Travel is performed to avoid leaving the working area S. The fourth traveling path r4Is from the first boundary A1Towards the third boundary A3In the direction of extension of (a). Along the fourth travel path r4The running agricultural machine 1 approaches the first boundary A1Towards the third boundary A3And (4) moving.
The fourth traveling path r4Is set to a certain length, and then the agricultural machine 1 is turned to follow the fifth travel path r5The movement is performed. It should be noted that, in the present embodiment, when the agricultural machine 1 travels along the fifth travel path r5When driving, the agricultural machine 1 approaches the first boundary A from one side to the other side1Returns to a position close to the fourth boundary A4Location.
By doing soAt said second boundary A, said agricultural machine 12And the fourth boundary A4Move back and forth between, and the general trend is from the first boundary a1Towards the third boundary A3And (4) moving. When the agricultural machine 1 finally moves to the second corner B2In time, the agricultural machine 1 completes the work for the entire work area S.
For the agricultural machine 1, if it is required to perform a work with high efficiency for the entire working area S, the agricultural machine 1 needs to perform a work for the entire working area S in a "sweeping" manner. For example, the area of the working area S is 30m by 40m, and the second boundary a2And the fourth boundary A4Is 30m, the agricultural machine 1 is arranged on the second boundary A of the working area S2Towards the fourth boundary A with a certain working width W4Moving, then the area of said working area S that can be handled by a single movement of said agricultural machine 1 is 30m W, said agricultural machine 1 needs to be at said second boundary a2And the fourth boundary A4The minimum theoretical number of moves between is 40m/(30m W) of the area of the working area S/single working area.
Further, in order to save the total moving path of the agricultural machine 1, the agricultural machine 1 cannot move from the second boundary a every time2Starting towards the fourth boundary A4And (6) performing operation. The agricultural machine 1 is first moved from the second boundary A2Or the second boundary A2Starting from a nearby position and then reaching said fourth boundary A4Or the fourth boundary A4A nearby location. Then from said fourth boundary A4Or the fourth boundary A4The nearby position returns to the second boundary A2Or the second boundary A2A nearby location. One round trip completes the operation for the 30m × W × 2 region of the operation region S.
The positioning unit 70 of the agricultural machine 1 can obtain the real-time position of the agricultural machine body 10 and the moving path of the agricultural machine body 10. That is, the positioning unit 70 may acquire the first travel path r1The second travel route r2The third travel path r3The fourth traveling path r4And the fifth travel path r5Etc.
According to another aspect of the present invention, the present invention provides an agricultural machinery management system 1000, wherein the agricultural machinery management system 1000 comprises an obtaining unit 100, a processing unit 200 and a generating unit 300, wherein the obtaining unit 100 is communicably connected to the positioning unit 70, the processing unit 200 is communicably connected to the obtaining unit 100, and the generating unit 300 and the processing unit 200 are communicably connected to each other. The acquisition unit 100 acquires real-time position information on the agricultural machine 1 through the positioning unit 70 mounted to the agricultural machine 1. The processing unit 200 is able to generate at least one trajectory equation relating to the travel path of the agricultural machine 1 based on the information acquired by the acquisition unit 100. For example, with respect to the first travel path r1With respect to said third travel path r3With respect to said fifth travel path r5One of said trajectory equations.
On the first travel path r1And the third travel path r3For example, the first travel path r1To said third travel path r3Is related to the operating width of the agricultural machine 1.
In particular, when said agricultural machine 1 follows said first travel path r1During travel, the working width of the agricultural machine 1 is approximately the first travel path r1Extending a length range of W/2 towards both sides. When the agricultural machine 1 is along the third travel path r3During travel, the working width of the agricultural machine 1 is approximately the third travel path r3Extending a length range of W/2 towards both sides. If the agricultural machine 1 follows the third travel path r3The working range during travel and the agricultural machine 1 along the first travel path r1When the working ranges during driving are partially overlapped, or the agricultural machinery is used1 along said third travel path r3The working range during travel and the agricultural machine 1 along the first travel path r1When a small number of regions between the working ranges during traveling are not worked, the error therein can be temporarily ignored.
The first travel path r is thus1And the third travel path r3Substantially equal to the working width of said agricultural machine 1.
May be based on said first travel path r1Obtaining a location on the first travel path r1And then calculates the first travel path r1To the third travel path to distance. This distance can then be taken as the width of the agricultural machine 1.
That is, in this example, the distance between the nth travel path and the n +2 th travel path is substantially equal to the working width of the agricultural machine 1. n is an odd number.
Establishing the trajectory equation with respect to the nth travel path based on the nth travel path, establishing the trajectory equation with respect to the n +2 th travel path based on the n +2 th travel path, and then calculating a distance between the nth travel path and the n +2 th travel path.
For example, based on the first travel path r1Establishing a first travel path r with respect to said first travel path1The trajectory equation with respect to the third travel path is established based on the third travel path, and then the first travel path r is calculated1And the third travel path. May be calculating said first travel path r1May be calculated by calculating the distance from each of the plurality of coordinate points of the third travel path to the first travel path r1The distance of (c). Then averaging to obtain the first running path r1A distance to the third travel path to obtain an average.
Preferably, in the present example, the first travel path r1Is a straight line, and the straight line is a straight line,the third travel path r3Is straight, and therefore can be aligned with respect to the first travel path r1And the third travel path r3Respectively obtaining a linear equation.
Preferably, the first travel path r1Parallel to the third travel path such that the first travel path r1The distances from the coordinate points to the third travel path are equal, or the coordinate points of the third travel path to the first travel path r1Are equal. Further, the third travel path r may be acquired in the above-described manner3And the fifth travel path r5Thereby obtaining a distance r corresponding to the third travel path r3And the fifth travel path r5The working width of (2). In this way, a plurality of the work width data are acquired, and finally, one final work width of the agricultural machine 1 in the work area S is acquired based on the work widths of the plurality of the travel paths. For example, the calculation is performed by averaging, for example, by taking a median, or by performing data elimination first and then performing calculation on a plurality of the job width data. The data processing mode of the job breadth can be set based on the requirements of users. For example, if the user needs to know the accuracy of the operation of the agricultural machine 1 in each movement, the processing unit 200 can provide a variance or standard deviation based on a plurality of the operation widths.
Further, the first job row R may be based on1In parallel to the second operation row R2Is established with respect to the first job row R1And based on the second job row R2In parallel to the first operation line R1Is established with respect to the second job row R2The trajectory equation of (1). I.e. the first travel path r1And the third travel path r3And the corresponding trajectory equation.
It should be noted that the positioning unit 70 of the agricultural machine 1 may be plural, and the positioning unit 70 may be installed on the agricultural machine main body 10, the traveling unit 20, the driving unit 30, the power supply unit 40, and the working unit 60.
The data obtained by the positioning unit 70 at different positions about the travel path of the agricultural machine 1 may not be the same. The positioning unit 70 may include a GPS sensor or other type of positioning sensor. Different types of positioning units 70 can be mounted to the same agricultural machine 1.
The processing unit 200 is able to process the data acquired by a plurality of the positioning units 70 of the same agricultural machine 1 to obtain at least one of the trajectory equations relating to the travel path of the agricultural machine 1.
Further, based on the real-time operation width, the real-time operation area of the agricultural machine can be obtained, and the method is mainly shown in fig. 1C.
Specifically, a positioning coordinate point P of the agricultural machinery is obtained through a navigation positioning technology and is sequentially marked as P according to a time sequence1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn). For example, in the first operation row R1Can acquire P1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn) In the second operation line R2Also, P can be acquired1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn) Of course, the coordinates are not the same between different job lines.
Setting the operation width of the agricultural machine as w, and calculating the adjacent track point P of the agricultural machine in the first operation row R1n(xn,yn) And Pn+1(xn+1,yn+1) Middle single-stage working area MnComprises the following steps:
Figure BDA0002044814580000131
by accumulating the first line of operation R1Area M of the corresponding working section between the respective coordinates1、M2To MnThe first job row R can be obtained1The real-time working area M.
At the nth row R of agricultural machineryn(n is not less than 2), first, the previous operation line R is fitted with a smooth curven-1Function:
y ═ f (x) - - - - - - - - -equation 2.
Real-time calculation of RnEach coordinate point P of the operation linen(xn，yn) Shortest distance d to equation 2nI.e. the dynamic operation width of the agricultural machinery, i.e. the width d of the dynamic operationnCalculation of RnEach adjacent track point P of the job rown(xn，yn) And Pn+1(xn+1,yn+1) Middle single-stage working area MnComprises the following steps:
Figure BDA0002044814580000132
obtaining the n-th row (R) of the agricultural machinery by accumulating the working area of each single sectionnThe real-time operation area M is more than or equal to 2):
M＝M1+M2+M3+…+Mnformula 3.
The real-time operation area of the agricultural machine is calculated through the dynamic operation width, and the calculation method can effectively reduce the operation area calculation error caused by overlapping or operation connection during the operation of the agricultural machine.
It is worth noting that, given a farm field, the agricultural machine needs to travel R1To Rn+1Job line can complete job, for R1And Rn+1For the working line, when the agricultural machine is for the first working line R1And the last job row Rn+1At least half of the working areas do not overlap, so that the working areas can be directly usedAnd calculating the real-time operation area according to the width w of the agricultural machine. When the agricultural machine walks on the first operation line R1And the last job row Rn+1In between, the working areas between adjacent working rows may overlap, so the dynamic working width of the agricultural machinery is required to be used as a basis for calculating the real-time working area.
The agricultural machine has a total working area of one-half working width w, which is equal to the travel path of the first working row R1 + the working area of the second working row R2 + … + the nth working row RnThe working area + half the working width w x n +1 working line Rn+1The running path of (1), wherein the working area of the second line R2 to the n-th line RnThe working area (c) can be calculated from the dynamic working width.
Further, in the above example, the operation line R is the n-1 st operation line Rn-1And taking the nth row Rn as an example, the coordinate point located on the nth row Rn to the (n-1) th row R can be usedn-1The distance of the work line is taken as the dynamic work width.
According to some embodiments of the present invention, it is also possible to locate the (n-1) th operation line Rn-1To the nth operation line RnThe distance of the work line is taken as the dynamic work width.
According to some embodiments of the present invention, it is also possible to respectively assign the (n-1) th job line R to the current positionn-1And the nth operation line RnRespectively fitting the parallel parts of the operation lines to obtain an equation, and then obtaining the n-1 st operation line Rn-1And the nth operation line RnAnd acquiring the dynamic operation width by the way of the parallel part distance of the operation line.
Referring to fig. 2A and 2B and fig. 8, another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention is shown.
In the present example, the working area S is still implemented as a rectangular working area S. The working area S has the first boundary A1The second boundary A2The third boundary A3And the fourth boundary A4. The working area S has the first corner B1The second corner B2The third corner B3And the fourth corner B4。
The present embodiment differs from the above embodiments mainly in the travel path of the agricultural machine 1.
The agricultural machine 1 is along a first operation line R1Travel and then turn to a second work line R2Then to said third operating line R3From, to the n-th operation line RnAnd the operation is finished.
In particular, the agricultural machine is first inside the boundary to follow the first work row R1And performing work in such a manner as to make one turn around the middle position of the working area S, and then performing the work on the first work line R1Inside to follow the second work row R2And the work is performed one turn around the middle position of the work area S.
The first operation line R1Comprising a first travel path R1And a second travel route r2The third travel path r3And a fourth travel path r4。
The second operation line R2Comprising a fifth travel path r5And a sixth travel route r6A seventh travel route r7 and an eighth travel route r 8.
The first operation line R1At least part of the second work row R2And the third operation line R3In this example, the first job row R1Of the first travel path R1And the second operation line R2Said third travel path r3And parallel.
More specifically, the agricultural machine 1 first follows a first travel path R1Travel while being directed to the first travel path R1Or the first travel path R1And treating the crops on two sides. The agricultural machine 1 then turns along a second travel path r2Travel while being directed to the second travel path r2Or the second travel path r2And treating the crops on two sides. The agricultural machine 1 then turns along a third travel path r3Travel while being performed for the third travel path r3Or the third travel path r3The crop on both sides of (a) is treated. The agricultural machine 1 then turns along a fourth travel path r4Travel while aiming at the fourth travel path r4Or the fourth travel path r4And treating the crops on two sides. The agricultural machine 1 then turns along a fifth travel path r5Travel while being directed to the fifth travel path r5Or the fifth travel path r5And treating the crops on two sides.
The agricultural machine 1 continuously turns in the working area S until the work for the entire working area S is completed.
It is worth noting that in this process, the agricultural machine 1 is closer to the central position of the working area S.
In particular, the agricultural machine 1 extends from the first corner B1Starting along the first travel path r1Towards the second corner B2And (4) moving. Of course, here merely by way of example, the agricultural machine 1 may be set from the first angle B1The second corner B2The third corner B3Or the fourth corner B4Starts to perform the work for the work area S.
The first travel path r1Located close to said first boundary A1Along the first travel path r, the agricultural machine 11From the second boundary A2Is close to the fourth boundary A4. When the agricultural machine 1 is along the first travel path r1Travel to be close to the fourth boundary A4At a certain distance, the agricultural machine 1 turns to avoid crossing the fourth boundary A4To aAnd performing operation in the non-target operation area S.
The steered agricultural machine 1 follows the second running path r2Travel from the fourth corner B4Towards the third corner B3And (4) moving.
In the present example, the agricultural machine 1 follows the second travel path r2Travel to move close to the third boundary A3. In the above embodiment, the agricultural machine 1 follows the second travel path r2Steering occurs over a shorter distance.
The steered agricultural machine 1 follows the third travel path r3Travel, the third travel path r3Close to said third boundary A3From the third corner B of the agricultural machine 13Towards the second corner B2And (5) running. When the agricultural machine 1 is along the third travel path r3Travel to approach the second boundary A2When the agricultural machine 1 needs to be steered to follow the fourth travel path r4From the second corner B2Towards the first corner B1And (5) running.
The first travel path r1And the third travel path r3Is oppositely arranged, the second running path r2And the fourth travel path r4Are oppositely disposed. The first travel path r1And the third travel path r3Extend respectively at the first corners B1To the fourth corner B4And said third corner B3To the second corner B2. The second travel path r2And the fourth travel path r4Respectively extend at the fourth corner B4To the third corner B3And said second corner B2To the first corner B1。
When the agricultural machine 1 is along the first travel path r1The second travel route r2The third travel path r3And the fourth travel path r4When driving, the agricultural machine 1 is equivalent to be fallen from the first angle B1Towards the fourth corner B4Move and then from the fourth corner B4Towards the third corner B3Move and then fall from the third corner B3Towards the second corner B2Move, then move from the second angle to the first angle B1。
The agricultural machine 1 is operated for one turn around the center position of the working area S, and the first travel path r1The second travel route r2The third travel path r3And the fourth travel path r4Close to the first borders A of the working area S, respectively1The second boundary A2The third boundary A3And the fourth boundary A4。
For the agricultural machine 1, in this example, the work for the entire work area S is done in a zigzag movement.
When the agricultural machine 1 follows the fourth travel path r4Back to the first corner B1In time, the agricultural machine 1 and the first boundary A1Is greater than the last time that the agricultural machinery 1 passes through the first corner B1Time and said first boundary A1The distance of (c). That is, the agricultural machine 1 is at a distance A from the first boundary1Further away occurs in steering to follow the fifth travel path r5And (5) running.
The fifth travel path r5Is located on the first travel path r1I.e. the first travel path r1Relative to the fifth travel path r5Closer to the first boundary A1。
When the agricultural machine 1 follows the fifth travel path r5Travel to the distance from the second boundary A2At a certain distance, the agricultural machine 1 is steered to travel along a sixth travel path. The sixth travel path is located on the second travel path r2The inner side.
When the agricultural machine 1 travels along the sixth travel path to a distance A from the third boundary3At a distance, the agricultural machine 1 is steered to travel along a seventh travel path r 7. The seventh travel path r7 is located on the third travel path r3The inner side.
When the agricultural machine 1 travels along the seventh travel path r7 to a distance from the second boundary A2At a distance, the agricultural machine 1 is steered to travel along an eighth travel path r 8. The eighth travel path r8 is located on the fourth travel path r4The inner side.
The agricultural machine 1 travels along the eighth travel path r8 back to the first corner B1Location. Along the fifth travel path r5The work on the sixth, seventh and eighth travel paths r7, r8 is relative to the work on the first travel path r1The second travel route r2The third travel path r3And the fourth travel path r4Is closer to the intermediate position of the working area S.
The agricultural machine 1 repeats the above process until the agricultural machine 1 is finally located at the intermediate position of the working area S. To this end, the agricultural machine 1 completes the work for the entire work area S.
And calculating one circle around the middle position of the operation area S as single operation, wherein the area of the single operation area S is the operation width and the walking distance of the agricultural machine 1.
The positioning unit 70 of the agricultural machine 1 can obtain the real-time position of the agricultural machine body 10 and the moving path of the agricultural machine body 10. That is, the positioning unit 70 may acquire the first travel path r1The second travel route r2The third travel path r3The fourth traveling path r4And the fifth travel path r5Etc.
On the first travel path r1And the fifth travel path r5For example, the first travel path r1To said fifth travel path r5And a coordinate point of the agricultural machine 1Is related to the job width. The fifth travel path r5Is located on the first travel path r1The inner side.
In particular, when said agricultural machine 1 follows said first travel path r1During travel, the working width of the agricultural machine 1 is approximately the first travel path r1Respectively extend W/2 length direction towards both sides. When the agricultural machine 1 follows the fifth travel path r5The operation range of the agricultural machine 1 is approximately the fifth travel path r5Respectively extending W/2 length range towards both sides. If the agricultural machine 1 follows the fifth travel path r5The working range during travel and the agricultural machine 1 along the first travel path r1The working ranges during travel are partially overlapped or the agricultural machine 1 is along the first travel path r1The working range during travel and the fifth travel path r5When a small number of regions are not operated between the operation ranges during driving, the agricultural machine operation area data with less errors can be obtained by calculating the dynamic operation width d of the agricultural machine.
The first travel path r1And the fifth travel path r5Substantially equal to the working width of said agricultural machine 1.
Similarly, the second travel path r2And the sixth travel path is substantially equal to the working width of the agricultural machine 1. The third travel path r3And said seventh travel path r7 is substantially equal to said working width of said agricultural machine 1. The fourth traveling path r4And the eighth travel path r8 is substantially equal to the working width of the agricultural machine 1. Here only with the first travel path r1And the fifth travel path r5Distance descriptions are made for the examples.
That is, the distance between the n-th travel path and the n +4 travel path is substantially equal to the working width of the agricultural machine 1. n is a natural number greater than 0.
Further, the trajectory equation with respect to the nth running path is established based on the data acquired by the positioning unit 70, and the trajectory equation with respect to the n +4 th running path is established based on the data acquired by the positioning unit 70.
The distance between the nth travel path to the n +4 travel path is then calculated. The distances from the respective coordinate points of the n-th travel route to the n + 4-th travel route may be calculated, or the distances from the respective coordinate points of the n + 4-th travel route to the n-th travel route may be calculated. And then averaging to obtain the distance from the nth running path to the n +4 th running path so as to obtain an average value.
Preferably, in this example, the n +4 th travel path is a straight line, and the n-th travel path is a straight line, so that a linear equation can be derived for the n-th travel path and the n +4 th travel path, respectively.
Preferably, the n +4 th travel path is parallel to the n-th travel path, such that the distance from each coordinate point of the n-th travel path to the n +4 th travel path is equal, or the distance from each coordinate point of the n +4 th travel path to the n-th travel path is equal.
Further, when n is 1, the first travel path r is acquired1And the fifth travel path r5After the distance between the first and second driving paths r, the second driving path r can be obtained according to the method described above2And the sixth travel path, so as to obtain a distance corresponding to the second travel path r2And the work width of the sixth travel path. In this way, a plurality of the work width data are acquired, and finally, one final work width of the agricultural machine 1 in the work area S is acquired based on the work widths of the plurality of the travel paths. For example, the calculation is performed by averaging, for example, by taking a median, or by performing data elimination first and then performing calculation on a plurality of the job width data. The data processing mode of the job breadth can be set based on the requirements of users. For example, the user needs to know the essence of the operation of the agricultural machine 1 in each movementTo the extent that the variance or standard deviation is based on a plurality of the job widths, the processing unit 200 may provide the variance or standard deviation.
For the first job row r1To the n-th operation line RnIn the method for automatically acquiring the operating width of the agricultural machine, the agricultural machine operates along the n +1 th driving path and rotates around the middle position of the operating area S at one turn inside the n driving path, wherein n is more than or equal to 2. Then, a track equation can be respectively constructed based on the n-th driving path and the n + 1-th driving path, and the distance between the n-th driving path and the n + 1-th driving path is calculated based on the track equation to obtain the working width W of the agricultural machinen. To improve accuracy, averaging based on W1 to Wn may also be used
Figure BDA0002044814580000191
Referring to fig. 3A and 3B, and referring to fig. 8, another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention is shown.
In this example, the travel path of the agricultural machine 1 in the working area S is S-shaped. Specifically, with the first work line r1Of the first travel path r1And the second travel path r2The second operation line R2Said third travel path r3And the fourth travel path r4The description is given for the sake of example.
The first travel path r1Extends over the second boundary A2And the fourth boundary A4And is located at the first boundary A1The inner side. The first travel path r1Is a curve. The second travel path r2Is also a curve extending along said first boundary A1And the third boundary A3At said fourth boundary A4The inner side.
The third travel path r3Extends along the fourth boundary A4And the said firstTwo boundaries A2And is located on said first travel path r1The inner side. The third travel path r3Is a curve.
Can be associated with the first travel path r1And the third travel path r3Respectively performing fitting processing to the first travel path r1And the third travel path r3Are respectively fitted into a straight line. Then, the first travel path r is calculated1And the third travel path r3The distance between them.
It is also possible to determine the first travel path r based on the information acquired by the positioning unit 701An equation is established for each coordinate, which is a curvilinear equation. With respect to the third travel path r acquired by the positioning unit 703An equation is established for each coordinate, which is a curvilinear equation. And then based on said first travel path r1And the third travel path r3Calculating the first travel path r by the corresponding equations1And the third travel path r3The distance between them.
Referring to fig. 4, another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention is shown.
In the present case, the starting point of the agricultural machine 1 is not located in the first corner B1The second corner B2The third corner B3Or the fourth corner B4Any one of them.
Starting from a position a of the working area S, the agricultural machine 1 follows a first travel path r1Reaches the position B and then turns inward at an angle to follow the second travel path r2Reaches the C position, and then turns again to follow the third travel path r3Reaches the D position and then turns again to follow the fourth travel path r4The E position is reached.
Preferably, the steering angle of the agricultural machine 1 is substantially 90 degrees at a time. In this example, the agricultural machine 1 completes the work for the entire work area S along the S-like work line.
The agricultural machine 1 does not follow the first boundary A of the working area S1The second boundary A2The third boundary A3And the fourth boundary A4。
The working area S where the agricultural machine 1 is required to work is a rectangle, but in reality the working range of the agricultural machine 1 is not the same rectangular range.
The working width can still be based on the positioning unit 70 and then by calculating the first travel path r1And the third travel path r3The distance therebetween is obtained.
Referring to fig. 5, another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention is shown.
Similarly, when the agricultural machine 1 performs work on the work area S along a work line similar to a zigzag shape, the agricultural machine 1 may also take a coordinate in the work area S as a starting point.
The agricultural machine 1 may perform work without following the boundary of the working area S.
Referring to fig. 6 and 8, another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention is shown.
In the present example, the working area S is implemented as a triangle.
The operation region S has a first boundary A1A second boundary A2And a third boundary A3Wherein the first boundary A1Are respectively connected to the second boundary A2And the third boundary A3The second boundary A2Are respectively connected to the first boundary A1And the third boundary A3。
In the working area S, the agricultural machine 1 may travel along a working line similar to an S-shape, or may travel along a working line similar to a zigzag shape.
In the present example, the walking operation is performed similarly to the zigzag-shaped operation line, and the agricultural machine 1 is configured to travel along the first boundary a1The second boundary A2And the third boundary A3And performing work inside and around an intermediate position of the work area S. The first operation line r1Comprising said first travel path r1The second travel route r2And the third travel path r3Said second operation line R2Including the fourth travel path r4The fifth travel path r5And the sixth travel path.
The agricultural machinery 1 passes through a first running path r respectively1And a second travel route r2And a third travel path r3. When the agricultural machine 1 is along the first boundary A for the second time1The second boundary A2And the third boundary A3When working inside and around an intermediate position of the working area S, the agricultural machines 1 pass through the fourth travel path r4The fifth travel path r5And the sixth travel path, wherein the fourth travel path r4Is located on the first travel path r1Inner side, the fifth travel path r5On the second travel path r2On the inner side, the sixth travel path being located on the third travel path r3The inner side.
The working width of the agricultural machine 1 is substantially equal to the distance between the nth running path and the n +3 th running path.
Further, the trajectory equation with respect to the n-th travel path is established based on the data acquired by the positioning unit 70, and the trajectory equation with respect to the n + 3-th travel path is established based on the data acquired by the positioning unit 70.
The distance between the nth travel path to the n +3 travel path is then calculated. The distances from the respective coordinate points of the n-th travel route to the n + 3-th travel route may be calculated, or the distances from the respective coordinate points of the n + 3-th travel route to the n-th travel route may be calculated. And then averaging to obtain the distance from the nth running path to the n +3 th running path so as to obtain an average value.
Preferably, in this example, the n +3 th travel path is a straight line, and the n-th travel path is a straight line, so that a linear equation can be derived for the n-th travel path and the n +3 th travel path, respectively.
Referring to fig. 7, a reference payment 8 is another application scenario of the method for automatically acquiring the operating width of an agricultural machine according to the above preferred embodiment of the present invention.
In the present example, the working area S is implemented as a circle, here a perfect circle, or an ellipse. The working area S has a circular boundary.
In the working area S, the agricultural machine 1 may travel along a working line similar to an S-shape, or may travel along a working line similar to a zigzag shape. The first operation line r1Comprising said first travel path r1Said second operation line R2Including the second travel path r2Said third operation line R3Including a third travel path r3。
In this example, the agricultural machine 1 performs work along the inner side of the circular boundary and around an intermediate position of the work area S, by taking the example of walking similar to a zigzag work line. The first travel path r of the agricultural machine 11Said first travel path r1Is a curve. When the agricultural machine 1 works for the second time along the inner side of the circular boundary and around an intermediate position of the working area S, the agricultural machine 1 passes through the second travel path r2Said second travel path r2Is located on the first travel path r1The inner side. When the agricultural machine 1 works for the third time along the inner side of the circular boundary and around an intermediate position of the working area S, the agricultural machine 1 passes through a third travel path r3Said third travel path r3On the second travel path r2The inner side.
The working width of the agricultural machine 1 is substantially equal to the distance between the nth running path and the n +1 th running path.
Further, the trajectory equation with respect to the n-th travel path is established based on the data acquired by the positioning unit 70, and the trajectory equation with respect to the n + 1-th travel path is established based on the data acquired by the positioning unit 70.
The distance between the n-th travel path and the n +1 travel path is then calculated. The distances from the respective coordinate points of the n-th travel route to the n + 1-th travel route may be calculated, or the distances from the respective coordinate points of the n + 1-th travel route to the n-th travel route may be calculated. And then averaging to obtain the distance from the nth running path to the n +1 th running path so as to obtain an average value.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (20)

1. An automatic acquisition method for the operating width of an agricultural machine is characterized by comprising the following steps:
acquiring a running track of an agricultural machine in an operation area based on a positioning unit of the agricultural machine; and
based on the running track of the agricultural machine, a processing unit automatically acquires the distance between the parallel parts of the running track of the agricultural machine as the operation width of the agricultural machine.
2. The method for automatically acquiring the operating width of the agricultural machine according to claim 1, further comprising the steps of:
acquiring two coordinates based on the running track of the agricultural machine, wherein the two coordinates are respectively positioned on the running track parts of the parallel agricultural machine; and
and calculating the distance between the two coordinates to be used as the operation width of the agricultural machine.
3. The method for automatically acquiring the operating width of the agricultural machine according to claim 1, further comprising the steps of:
constructing at least two track equations based on the running tracks of the agricultural machinery, wherein the running tracks corresponding to each track equation are partially parallel; and
and calculating the distance of the parallel running track parts based on the track equation to serve as the operation width of the agricultural machine.
4. The method for automatically acquiring the operating width of the agricultural machine according to claim 1, further comprising the steps of:
constructing a track equation based on the running track of the agricultural machine; and
and calculating the distance from at least one coordinate point of the parallel part of the running track of the agricultural machine corresponding to the track equation based on the track equation to serve as the operation width of the agricultural machine.
5. The method for automatically acquiring the operating width of the agricultural machine as claimed in any one of claims 1 to 4, wherein in the method, the travel track of the agricultural machine is S-shaped.
6. The method for automatically acquiring the operation breadth of the agricultural machine according to any one of claims 1 to 4, wherein in the method, the agricultural machine runs along a first operation row in the operation area, and turns to run along a second operation row, wherein at least part of the first operation row and at least part of the second operation row are parallel.
7. The method for automatically acquiring the operating width of the agricultural machine according to claim 6, further comprising the steps of:
respectively constructing a track equation based on the first operation line and the second operation line; and
calculating a distance between the parallel portion of the first and second work lines based on the trajectory equation.
8. The method for automatically acquiring the operating width of the agricultural machine as claimed in claim 6, wherein in the method, the agricultural machine runs along the (n-1) th operating line in the operating area, and the method is switched to run along the (n) th operating line, wherein at least part of the (n-1) th operating line is parallel to at least part of the (n) th operating line, and n is more than or equal to 2.
9. The method for automatically acquiring the operating width of the agricultural machine according to claim 8, further comprising the steps of:
at least one track equation is constructed based on the n-1 operation line and the n operation line; and
calculating the distance between the n-1 th operation line and the n-th operation line based on the track equation to obtain the operation width W of the agricultural machinen。
10. The method according to claim 9, wherein in the method, a straight-line trajectory equation is fitted when the n-1 operation row portion parallel to the n operation row is a curve.
11. The method for automatically acquiring the operating width of the agricultural machine according to any one of claims 1 to 4, wherein the shape of the operating area is rectangular, circular or triangular.
12. The method according to any one of claims 1 to 4, wherein the working area is a rectangular working area, and the working area has a first corner, a second corner, a third corner and a fourth corner, wherein the agricultural machine starts working from the first corner, the second corner, the third corner or the fourth corner.
13. The method according to claim 6, wherein said working area has a first boundary, a second boundary, a third boundary and a fourth boundary, wherein said first boundary and said third boundary are disposed opposite to each other, and said second boundary and said fourth boundary are disposed opposite to each other, wherein at least a portion of said first working row is parallel to said first boundary.
14. An agricultural machinery working area obtaining method is characterized by comprising the following steps:
in the nth operation line R of the agricultural machinery in an operation areanAnd a previous work activity R of the agricultural machinen-1The latter operation behavior Rn+1Wherein the n-1 st operation line Rn-1The n-th operation line RnAnd the n +1 th operation line Rn+1The method comprises the following steps of arranging in parallel, and acquiring a running track of an agricultural machine in an operation area based on a positioning unit of the agricultural machine;
acquiring the operation line R of the agricultural machine at the n-1 th operation line based on the running track of the agricultural machinen-1And the n-th operation line RnAs the farm machine is on the n-th work line RnThe real-time operation width; and
and the operation area of the agricultural machine on the nth operation line is obtained by multiplying the operation width by the running path of the agricultural machine on the nth operation line.
15. The agricultural machine working area acquisition method according to claim 14, wherein in the above method, further comprising the steps of:
the n-1 operation line R based on the agricultural machinen-1And the n-th operation line RnAcquiring two coordinates; and
and calculating the distance between the two coordinates to be used as the operation width of the agricultural machine.
16. The agricultural machine working area acquisition method according to claim 14, wherein in the above method, further comprising the steps of:
the n-1 operation line R based on the agricultural machinen-1And the n-th operation line RnConstructing at least two trajectory equations; and
and calculating the distance between the adjacent operation rows based on the track equation to serve as the operation width of the agricultural machine.
17. The agricultural machine working area acquisition method according to claim 14, wherein in the above method, further comprising the steps of:
based on the agricultural machinery in the n-1 operation line Rn-1Constructing a track equation by the running track; and
calculating the R of the agricultural machinery on the nth operation linenTo the n-1 th operation line Rn-1The distance of the corresponding track equation is used as the distance R of the agricultural machinery on the nth operation linenThe working width of (2).
18. The agricultural machine working area acquisition method according to claim 17, wherein in the above method, coordinate points P are sequentially acquired while the agricultural machine is on the nth working travel1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn)，Pn+1(xn+1,yn+1) And further comprising the steps of:
get about previous job row Rn-1Y ═ f (x);
calculating each coordinate point P1(x1,y1)，P2(x2,y2)，P3(x3,y3)…Pn(xn,yn) Distances to Y ═ f (x), respectively, to obtain d1 to dnTo be used as the operation width of the agricultural machinery; and
obtaining the n-th row (R) of the agricultural machinery by accumulating the working area of each single sectionnThe real-time operation area M is more than or equal to 2):
M＝M1+M2+M3+…+Mnwherein each adjacent track point Pn(xn，yn) And Pn+1(xn+1,yn+1) Single section working area of room
Figure FDA0002044814570000031
19. The agricultural machine working area obtainment method of claim 18, wherein the previous work row Rn-1Is obtained by smooth curve fitting.
20. The method for obtaining the working area of an agricultural machine according to any one of claims 14 to 18, wherein when the agricultural machine is located in the first working row R1The working area of the agricultural machine is equal to the working width W of the agricultural machine multiplied by the first working row R1The length of the travel path of (2).
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