CN110209154A - The residual harvesting path planning system and its method of automatic harvester - Google Patents
The residual harvesting path planning system and its method of automatic harvester Download PDFInfo
- Publication number
- CN110209154A CN110209154A CN201910280357.2A CN201910280357A CN110209154A CN 110209154 A CN110209154 A CN 110209154A CN 201910280357 A CN201910280357 A CN 201910280357A CN 110209154 A CN110209154 A CN 110209154A
- Authority
- CN
- China
- Prior art keywords
- harvesting
- path
- residual
- message
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The present invention provides a kind of residual harvesting paths planning method of automatic harvester, including a detection device provides one and do not gather in detection message；And one surviving path planning module receive it is described do not gather in detection message after, analyzed and that cooks up the automatic harvester one do not gather in driving path.
Description
Technical field
The present invention relates to a kind of a kind of residual of agricultural machinery more particularly to automatic harvester harvesting path planning system and its sides
Method, with the effect for ensuring to gather in and the loss for reducing crops.
Background technique
With the continuous development of agricultural industry in recent years and being constantly progressive for science and technology, people also constantly improve agriculture
The development of industry is used for agriculturally from by manpower to using machinery, and by the development of science and technology, and constantly improvement is each in this
The farm implements of kind are from hand-held tool to large-scale agricultural machinery.Therefore, agriculture machinery industry also shows good growth momentum, now
Agricultural has had been extricated from the behindhand type for carrying out farming by manpower, from sowing, plant protection to harvesting etc. links nearly all completely according to
It is completed by agricultural equipment, modern agriculture is it may be said that come into mechanical times.It further says, with agricultural production
Means are continuously increased, and agricultural machinery continues to develop simultaneously in recent years and progress promotes economical to improve the economic benefit of agricultural
The development of society, various agricultural machinery emerging in large numbers as emerging rapidly in large numbersBamboo shoots after a spring rain bring personal into rural area huge numbers of families to peasant
Benefit.In other words, agriculture mechanization improves the efficiency of agricultural production, brings great convenience for peasant, agriculture fast
Important function has been played in the process of speed development.
Particularly, the one kind of automatic harvester as farm machinery plays important in the harvesting of crops
Effect, improves the harvesting efficiency of crops, alleviates the labor burden of peasant, is indispensable agriculture in modern agriculture harvesting
One of machine equipment.However, automatic harvester usually all executes operation on the soil of out-of-flatness or field, so peasant, agriculture
Operators or driver when travelling operation on agricultural machinery, need to usually endure it is strong jolt with it is uncomfortable, it is envisaged that in the middle
Labor intensity be great.So also being sent out to the direction of unmanned plane or automatic Pilot at present for automatic harvester
Exhibition.However, either for unmanned plane or automatic Pilot or general automatic harvester, be all quickly directly gather in field or
Crops on farmland usually not gather in the region left or programme path is not contemplated, therefore, cause agriculture
Loss in the yield of crop.
Summary of the invention
An advantage of the present invention is that it provides a kind of residual of automatic harvester and gathers in path planning system and its side
Method, wherein it is ensured that the loss of the effect of harvesting and reduction crops.
An advantage of the present invention is that it provides a kind of residual of automatic harvester and gathers in path planning system and its side
Method, wherein by various messages, so that residual harvesting path planning system cooks up optimal path.Further say, according to
According to not gathering in, detection message, path setting message, the residual messages such as harvesting sequence message are analyzed and are planned does not gather in traveling
Path.
An advantage of the present invention is that it provides a kind of residual of automatic harvester and gathers in path planning system and its side
Method, wherein when each generation does not gather in detection message, by successively be transmitted to a surviving path planning module to analyze,
And by the surviving path planning module plan again described in do not gather in driving path.
Another advantage of the present invention is that it provides one kind and is suitable for, and wherein this does not need accurate component and complicated knot
Structure, manufacturing process is simple, low in cost.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
To meet object above and other objects of the present invention and advantage of the invention, the present invention provides a harvesting automatically
The residual of machine gathers in paths planning method, comprising steps of
One detection device provides one and does not gather in detection message；And
After not gathering in detection message described in the reception of one surviving path planning module, is analyzed and cook up the automatic harvesting
The one of machine does not gather in driving path.
A method according to the present invention, the lodging traveling planing method further includes a step:
One sequence setting module setting, one residual harvesting sequence message, the surviving path planning module are received according to the residual
It cuts and does not gather in driving path described in the planning of sequence message.
A method according to the present invention, the lodging traveling planing method further includes a step:
One type setup module setting, one harvesting crops message, and it is transmitted to the surviving path planning module.
A method according to the present invention, the lodging traveling planing method further includes a step:
The detection device obtains a basic farmland message in advance, and the surviving path planning module is in advance according to described basic
Farmland message plans a preparatory driving path.
A method according to the present invention presets the automatic receipts by a path setting module of the surviving path planning module
The walking manner of cutting mill, and generate a path setting message.
A method according to the present invention, the path setting message include that an arrival path message and one gather in routing message,
Wherein the arrival path message includes the messages such as shortest path, optimal path, peripheral paths, and the harvesting routing message includes
The messages such as rectangular-ambulatory-plane, zigzag, shortest path, optimal path, the inside loop in periphery.
A method according to the present invention adopts fixed point detection via an automatic detecting module or a mobile detection acquirement is described not
Gather in detection message.
A method according to the present invention, the automatic detecting module system are selected from by infrared sensor, laser sensor, ultrasound
Module composed by wave sensor, imaging sensor or GPS satellite locating module.
A method according to the present invention will synchronize in the process of moving via a traveling detector and detect whether residual
Crops are not gathered in.
A method according to the present invention, the traveling detector include a traveling image sensor comprising multiple to be looped around
Multiple cameras around the automatic harvester, to acquire image around the automatic harvester.
A method according to the present invention, it is described do not gather in area, shape that detection message includes the farmland or field that do not gather in,
Range, coordinate and region.
An embodiment according to the present invention,
In addition, the present invention also provides one to meet object above and other objects of the present invention and advantage of the invention
One residual harvesting path planning system, is suitable for automatic harvester, comprising:
One detection device provides one and does not gather in detection message；And
One surviving path planning module, receive it is described do not gather in detection message after, driving path is not gathered in planning one.
An embodiment according to the present invention, the residual harvesting path planning system include a type setup module, setting
One harvesting crops message, and it is transmitted to the lodging surviving path planning module.
An embodiment according to the present invention, the residual harvesting path planning system include a sequence setting module, setting
One residual harvesting sequence message, the surviving path planning module do not gather in row according to residual harvesting sequence message planning is described
Sail path.
An embodiment according to the present invention, the surviving path planning module include a path setting module comprising are generated
One arrival path setting module of one arrival path message and the harvesting path setting module for generating a harvesting routing message,
Described in arrival path message and the harvesting routing message be sent to the surviving path planning module respectively.
An embodiment according to the present invention, the arrival path message include shortest path, optimal path, peripheral paths,
Described in harvesting routing message include rectangular-ambulatory-plane, zigzag, shortest path, optimal path, the inside loop in periphery.
An embodiment according to the present invention, the detection device include at least one automatic detecting module, are connected to described residual
Path planning module is stayed, wherein the automatic detecting module described does not gather in obtaining by a fixed point detection or a mobile detection
Detection message, and the detection message that do not gather in is transmitted to the surviving path planning module.
An embodiment according to the present invention, the automatic detecting module are set on a unmanned aerial vehicle or the automatic harvester,
To carry out the mobile detection.
An embodiment according to the present invention, the automatic detecting module system are selected from by infrared sensor, laser sensor, surpass
Module composed by sonic sensor, imaging sensor or GPS satellite locating module.
An embodiment according to the present invention, the detection device further includes a traveling detector, in the automatic harvester row
It after sailing harvesting, synchronizes and detects with the presence or absence of not yet harvesting or remain crops, and further do not gather in detection message described in acquirement.
An embodiment according to the present invention, the traveling detector include a traveling image sensor comprising multiple to surround
Multiple cameras around the automatic harvester, to acquire image around the automatic harvester.
An embodiment according to the present invention, the residual harvesting path planning system are set to the automatic harvester, a distal end
Remote controller, a smart phone, a radio remote controller or an Intelligent flat host computer.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is patrolling for the residual harvesting path planning system of automatic harvester according to a preferred embodiment of the present invention
Collect schematic diagram.
Fig. 2 be automatic harvester according to a preferred embodiment of the present invention residual harvesting path planning system into
One step ground logical schematic.
Fig. 3 A is the logical schematic of the automatic detecting module of detection device middle according to a preferred embodiment of the present invention.
Fig. 3 B is the logical schematic of the traveling detector of detection device middle according to a preferred embodiment of the present invention.
Fig. 4 is the Back Word of the walking manner of residual harvesting path planning system middle according to a preferred embodiment of the present invention
Shape schematic diagram.
Fig. 5 be according to a preferred embodiment of the present invention in residual harvesting path planning system walking manner word
Shape schematic diagram.
Fig. 6 is the harvesting driving path of residual harvesting path planning system middle according to a preferred embodiment of the present invention
Schematic diagram, wherein harvesting lodging crops after explanation.
Fig. 7 is the logical schematic of automatic harvester according to a preferred embodiment of the present invention.
Fig. 8 is the lodging harvesting driving path planing method of automatic harvester according to a preferred embodiment of the present invention
Flow diagram.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or component must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one component can be one, and in a further embodiment, the quantity of the component can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
As shown in Figures 1 to 6, be first preferred embodiment according to the present invention an automatic harvester residual harvesting
Path planning system and its method detect the automatic harvester 1 by residual harvesting path planning system 100 described
The harvesting effect of automatic harvester 1, and further region is left in harvesting, to reduce the loss of harvesting.In other words, the residual
It gathers in path planning system 100 and is suitable for the automatic harvester 1, to be detectd after the automatic harvester 1 completes predetermined harvesting
It surveys and judges to gather in effect, while the crop area that do not gather in is further gathered in.Particularly, the residual harvesting
Path planning system 100 may be disposed at the automatic harvester, a distal end remote controller, a smart phone, a radio remote controller or
One Intelligent flat host computer.
In this embodiment in accordance with the invention, residual harvesting path planning system 100 include a detection device 10 with
An and surviving path planning module 20.The detection device 10 is connected to the surviving path planning module 20.Lead to after harvesting
The detection of the detection device 10 harvesting effect is crossed, and does not gather in region with the presence or absence of one, then passes through the residual road if it exists
Driving path is not gathered in the setting of diameter planning module 20 one.In other words, the place harvesting of automatic harvester 1 is when driving, described residual
After staying path planning module 20 to receive the data or message of the detection device 10, then the path planning in region is not gathered in.
It further says, monitors whether the harvested path of the automatic harvester 1 has residual not gather in by the detection device 10
Crops, and provide one after detection by the detection device 10 and do not gather in detection message, and be transmitted to the surviving path rule
Module 20 is drawn to plan that one does not gather in driving path.
In this embodiment in accordance with the invention, the detection device 10 does not gather in detection message for obtaining one, i.e., not yet
The farmland of harvesting or area, shape, range, coordinate and the region in field etc..The path setting module 22 is for setting institute
State the path setting message of automatic harvester 1.Particularly, the surviving path planning module 20 includes that a calculating controls mould
Block 21 and a path setting module 22.The calculation control module 21 is connected to the path setting module 22.The institute path
Setting module 22 includes generating an arrival path setting module 221 of an arrival path message and generating one to gather in routing message
One harvesting path setting module 222, wherein described in the arrival path message and the harvesting routing message be sent to respectively
The calculation control module 21 of surviving path planning module 20.In other words, the path setting module 22 includes the arrival
Path setting module 221 and the harvesting path setting module 222.The arrival path setting module 221 is described for setting
Automatic harvester 1 drives to the driving path mode for not gathering in region, that is, generates the arrival path message.The harvesting path
Setting module 222 is for setting the automatic harvester 1 in the driving path mode for not gathering in region, i.e., the described harvesting path news
Breath.The arrival path setting module 221 includes shortest path, optimal path, peripheral paths.The harvesting path setting module
222 include rectangular-ambulatory-plane, zigzag, shortest path, optimal path, periphery inwardly loop etc..The residual harvesting sequence message packet
Include harvesting immediately, finally harvesting, best harvesting etc..It described is received immediately that is, being set by the sequence setting module 30
It cuts, the last harvesting, the residual harvesting sequence message most preferably gathered in, and the residual harvesting sequence message passes
It is sent to the surviving path planning module 20.
In this embodiment in accordance with the invention, as shown in Fig. 2, residual harvesting path planning system 100 further includes one
Sequence setting module 30, with one residual harvesting sequence message of setting, the surviving path planning module 20 is gathered according to the residual
The planning of sequence message is described not to gather in driving path.It should be understood that by the sequence setting module 30 setting when described automatic
Harvester 1 encounters harvesting sequence when not gathering in region.For example, gathered in immediately when setting is described, then it is described from
The detection device 10 of dynamic harvester 1 detects described when not gathering in the crops in region, and the surviving path planning module 20 is vertical
Cook up it is described do not gather in driving path, so that the automatic harvester 1 is travelled according to the driving path that do not gather in and is gathered in institute
State the crops for not gathering in region.In addition, as described in being set as when last harvesting, in the detection device of the automatic harvester 1
10 detect it is described when not gathering in the crops in region, the surviving path planning module 20 first record described in do not gather in region
Coordinate is cooking up institute by the surviving path planning module 20 after the automatic harvester 1 completes scheduled harvesting path
State and do not gather in driving path, at this moment the automatic harvester 1 according to it is described do not gather in driving path and travel and gather in described do not gather in
The crops in region.If in addition, when being set as the best harvesting, when the detection device 10 of the automatic harvester 1 is detected
When to the crops for not gathering in region, the surviving path planning module 20 determine whether directly to carry out harvesting or
In the process or in the crops for not gathering in region described in gathered in finally.That is, when being set as the best receipts
When cutting, make the automatic harvester 1 with best or minimum driving path or most complete by the surviving path planning module 20 judgement
Whole mode, which is cooked up, most suitable described does not gather in driving path.In other words, the residual gathers in path planning system 100 also
Can intelligence the harvesting of crops do not gathered in of judgement sequentially, wherein when the harvest yield and harvesting of whole crops can be contemplated
Journey assesses optimal harvesting sequence.In addition, can connect when the rainy day and use described gathered in immediately to reduce harvesting time-histories.
In this embodiment in accordance with the invention, a path setting message can be previously set in the path setting module 22.
The sequence setting module 30 also can be in being previously set the residual harvesting sequence message.The surviving path planning module 20 connects
Receive the path setting message, the residual harvesting sequence message and it is described do not gather in detection message after, for residual or do not receive
The crop area cut carries out the planning for not gathering in driving path, and the automatic harvester 1 does not gather in traveling according to described
Path increases yield to gather in the crops left or do not gathered in, to reduce to lose.In addition, above-mentioned connection type can be to have
Line connection or unlimited connection, this is not limitation of the invention.
In this embodiment in accordance with the invention, as shown in Fig. 2, residual harvesting path planning system 100 further includes one
Type setup module 50 is used to set the estimated type for gathering in crops, seems barley, wheat, rye, oat, corn, rice
Rice etc..The type setup module 50 is connected to the surviving path planning module 20.The surviving path planning module 20
The calculation control module 21 receives the detection device 10, the path setting module 22 and the type setup module
After 50 various data or message, the path planning that is not gathered in.
In this embodiment in accordance with the invention, as shown in Figure 3A, the detection device 10 includes at least one automatic detection mould
Block 11, wherein the automatic detecting module 11 is connected to the surviving path planning module 20.The automatic detecting module 11 is real
The detection of Shi Weiyi fixed point or a mobile detection.The fixed point detection is that multiple automatic detecting modules 11 are respectively arranged at soil
The corner edge on ground or field does not gather in detection by the mutual sensing of multiple automatic detecting modules 11 with acquirement is described
Message comprising area, shape, range, coordinate and the region of the farmland or field that not yet gather in.The mobile detection then will
The automatic detecting module 11 is set on a unmanned aerial vehicle, so that the unmanned aerial vehicle is mobile not to gather in spy to which acquirement is described
Survey message.It is worth mentioning, the automatic detecting module 11 is implementable to be passed for infrared sensor, laser sensor, ultrasonic wave
Sensor, imaging sensor or GPS satellite locating module etc., this is not limitation of the invention.
In this embodiment in accordance with the invention, as shown in 3B, the detection device 10 further includes a traveling detector 12,
After the automatic harvester 1 traveling harvesting, synchronous detecting further takes with the presence or absence of not yet harvesting or remaining crops
Detection message is not gathered in described in obtaining, and the detection message that do not gather in is sent to the surviving path planning module 20.Value
One mention, the traveling detector 12 is set on the automatic harvester 1, wherein optimal set-up mode is to be set to
The rear of the automatic harvester 1, if can be directly by institute when remaining crops after the automatic harvester 1 harvesting traveling in this way
Traveling detector 12 is stated to detect.
Particularly, do not gather in or remain crops when the traveling detector 12 detects, the automatic harvester 1 be with
Planning is described again under existing basis does not gather in driving path.That is, the automatic harvester 1 travels road according to a harvesting
Diameter is travelled and is gathered in, in the process of moving the traveling detector 12 will detect described in do not gather in detection message transmission
To the surviving path planning module 20, the surviving path planning module 20 under the basis of original harvesting driving path
According to the traveling detector 12 provide described in do not gather in detection message plan again described in do not gather in driving path.It is worth mentioning
, if must plan harvesting driving path again, the surviving path planning module 20 is in advance according to the path setting message, institute
State residual harvesting sequence message and it is described do not gather in detection message cook up it is described do not gather in driving path, then travelled in harvesting
In the process, the automatic harvester 1 carries out harvesting traveling according to the driving path that do not gather in.
It is worth mentioning, the traveling detector 12 is installed on the automatic harvester 1, in the automatic harvester 1
Facilitate when driving acquirement do not gather in detection message described in one at least.It further says, the traveling detector 12 includes a line
Image sensor 121 is sailed, acquires the 1 surrounding image of automatic harvester, and form a vision signal.Particularly, the row
Sailing image sensor 121 includes multiple multiple cameras 1211 being looped around around the automatic harvester 1, described certainly with acquisition
Dynamic 1 surrounding image of harvester, and form the vision signal.
In this embodiment in accordance with the invention, the path setting module 22 is travelled for setting the automatic harvester 1
To the driving mode for not gathering in region, and arrive at it is described do not gather in region after, in the harvesting row for not gathering in region
Sail mode.Therefore, the path setting module 22 includes the arrival path setting module 221 and the harvesting path setting mould
Block 222.In other words, institute is set by the arrival path setting module 221 and the harvesting path setting module 222 in advance
The walking manner of automatic harvester 1 is stated, and generates the path setting message to the surviving path planning module 20.Described
Detection device 10 detect it is described after not gathering in region, the surviving path planning module 20 according to the path setting message again
Programming gathers in path.As an example it is assumed that the arrival path setting module 221 sets the shortest path, the harvesting road
Diameter setting module 222 sets the rectangular-ambulatory-plane, then after not gathering in region described in detecting in the detection device 10, it is described residual
Path planning module 20 is stayed so that the automatic harvester 1 is not gathered in region so that shortest path arrival is described planning, and with described
The mode of rectangular-ambulatory-plane is travelled and is gathered in the region of not gathering in.
The surviving path planning module 20 includes the calculation control module 21 and a reservoir 23.The reservoir 23
It is connected to the calculation control module 21.The path setting message and the residual harvesting sequence message are set by the path
Cover half block 22 and the sequence setting module 30 are pre-transmitted to the reservoir 23.Described in being received in the reservoir 23 not
After gathering in detection message, the calculation control module 21 is analyzed and generates the planning for not gathering in driving path.
Particularly, as shown in figure 4, illustrating the driving path of rectangular-ambulatory-plane, wherein peripheral thick line indicates the side of field or farmland
Edge, dotted line indicate that the harvesting driving path of automatic harvester, arrow indicate the driving direction of automatic harvester, the automatic harvesting
Machine 1 is travelled according to the instruction of dotted line and arrow.As shown in figure 5, illustrating the driving path of zigzag, peripheral thick line indicates field or agriculture
The edge on ground, dotted line indicate automatic harvester harvesting driving path, arrow indicate automatic harvester driving direction, it is described from
Dynamic harvester 1 is travelled according to the instruction of dotted line and arrow.It is worth mentioning, the zigzag indicates that one has a try several rows of row
It walks.Therefore, the also mode of the optional then described zigzag when field or the non-rectangle of farmland but when arbitrary shape.That is,
When the automatic harvester 1 drives to the boundary of a row, i.e. turning driving is to another row, similarly again when driving to boundary
Turning driving.In other words, when selecting the setting of the zigzag, the automatic harvester 1 is the boundary having a try according to field
Several rows of walking, each row are the boundaries for driving to field.
In addition, the shortest path or the optimal path are then intelligent settings, as automatic harvester user or behaviour
When author selects this mode, the surviving path planning module 20 can carry out cooking up the shortest path according to total Options content
Or the optimal path.It is to be appreciated that the shortest path is that the automatic harvester 1 integrally travels in full wafer field
Minimum path, the optimal path are then the paths for considering the optimization cooked up after overall condition.In addition, not field or agriculture
The shape on ground is all complete rectangle or rectangular, usually there are many irregular shape, at this moment in addition to select the zigzag,
Outside the mode of the shortest path or the optimal path, the inside loop in periphery also may be selected.The inside loop in periphery
Mode be then according to field boundary shape it is direct one circle circle ground inwardly traveling.In other words, the mode of the inside loop in the periphery
It is similar to the rectangular-ambulatory-plane, difference is the shape of farmland.
In addition, as shown in fig. 6, peripheral thick line indicates that the edge of field or farmland, dotted line indicate the lodging of automatic harvester
Driving path is gathered in, arrow indicates that the driving direction of automatic harvester, hatched example areas indicate residual crops, originally illustrating
In, the residual harvesting sequence message is set as finally gathering in.It is therefore apparent that as can be seen that the harvesting driving path meeting
After so that the automatic harvester 1 has been gathered in the crops, then the residual crops are gathered in.
It is worth mentioning, as shown in fig. 7, the automatic harvester 1 includes that the residual gathers in path planning system 100,
One control device 200, a driving device 300, a mobile devices 400 and an acting device 500.The residual gathers in path
Planning system 100, the driving device 300, the mobile devices 400, the acting device 500 are separately connected the control dress
Set 200.It should be understood that the control device 200 is the central control system of the automatic harvester 1, for integrating control
Make every device of the automatic harvester 1.The driving device 300 is separately connected the acting device 500, traveling dress
Set 400 and the control device 200, and provide power for it, driven by the control of the control device 200 each component into
The corresponding operation of row.It is worth mentioning, the implementable driving for fuel oil, electric power or oil electricity mixing of the driving device 300, this is not
For limitation of the invention.The mobile devices 400 are for driving the automatic harvester 1 to walk, wherein can be crawler belt row
Walk or two-wheel running or four-wheel walking.The acting device 500 is for carrying out harvesting.The residual gathers in path planning system
System 100, which is used to provide the described, does not gather in driving path.
In addition, as shown in figure 8, the present invention also provides an automatic harvester residual harvesting paths planning method will be explained
It states.The automatic harvester residual harvesting paths planning method the following steps are included:
One detection device 10 provides one and does not gather in detection message；And
One surviving path planning module 20, which receives, described to be analyzed after not gathering in detection message and cooks up the automatic receipts
The one of cutting mill 1 does not gather in driving path.
The residual harvesting paths planning method of the automatic harvester further includes a step:
One type setup module 50 setting, one harvesting crops message, and it is transmitted to the surviving path planning module 20.
The residual harvesting paths planning method of the automatic harvester further includes a step:
One sequence setting module 30 setting, one residual harvesting sequence message, the surviving path planning module 20 is according to described residual
Stay the planning of harvesting sequence message is described not gather in driving path.
The residual harvesting paths planning method of the automatic harvester further includes a step:
The detection device 10 obtains a basic farmland message in advance, and the surviving path planning module 20 is in advance according to described
Basic farmland message plans a preparatory driving path.
In the above method, the surviving path planning module 20 receives the harvesting crops message further to analyze
Driving path is not gathered in described in planning.The harvesting crops message include barley, wheat, rye, oat, corn, rice,
Millet etc..
In the above method, it is described do not gather in area, shape, range that detection message includes the farmland or field that do not gather in,
The messages such as coordinate and region.
In the above method, the path setting message includes that an arrival path message and one gather in routing message, wherein institute
Stating arrival path message includes the messages such as shortest path, optimal path, peripheral paths, and the harvesting routing message includes Back Word
The messages such as shape, zigzag, shortest path, optimal path, the inside loop in periphery.
In the above method, the residual harvesting sequence message includes the messages such as harvesting immediately, finally harvesting, best harvesting.
It is adopted via an automatic detecting module 11 and does not gather in detection message described in fixed point detection or a mobile detection acquirement.It is special
Not, the automatic detecting module 11 can allow unmanned aerial vehicle and carry out the mobile detection.In addition, the automatic detecting module 11
Implementable is infrared sensor, laser sensor, ultrasonic sensor, imaging sensor or GPS satellite locating module etc..
Particularly, the automatic harvester 1 according to harvesting driving path on farmland when driving, the detection device 10
One traveling detector 12 detects synchronization in the process of moving, to detect whether the crops do not gathered in of residual, and
Detect residual generate when not gathering in crops it is described do not gather in detection message to the surviving path planning module 20, it is described residual
Stay path planning module 20 judgement be immediately, finally or other time carry out harvesting residual do not gather in crops.
In addition, a traveling image sensor 121 of the traveling detector 12 comprising multiple to be looped around the automatic receipts
Multiple cameras 1211 around cutting mill 1 to acquire the 1 surrounding image of automatic harvester, and form a vision signal.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.
The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention is opened up in embodiment
Show and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (22)
1. the residual of an automatic harvester gathers in paths planning method, which is characterized in that comprising steps of
One detection device provides one and does not gather in detection message；And
After not gathering in detection message described in the reception of one surviving path planning module, is analyzed and cook up the automatic harvester
One does not gather in driving path.
2. residual harvesting paths planning method according to claim 1, further includes a step:
One sequence setting module setting, one residual harvesting sequence message, the surviving path planning module gathers in suitable according to the residual
The planning of sequence message is described not to gather in driving path.
3. residual harvesting paths planning method according to claim 1, further includes a step:
One type setup module setting, one harvesting crops message, and it is transmitted to the surviving path planning module.
4. residual harvesting paths planning method according to claim 1, further includes a step:
The detection device obtains a basic farmland message in advance, and the surviving path planning module is in advance according to the basic farmland
Message plans a preparatory driving path.
5. residual harvesting paths planning method according to claim 1, wherein passing through the one of the surviving path planning module
Path setting module presets the walking manner of the automatic harvester, and generates a path setting message.
6. residual harvesting paths planning method according to claim 5, wherein the path setting message includes an arrival road
Diameter message and a harvesting routing message, wherein the arrival path message includes the news such as shortest path, optimal path, peripheral paths
Breath, the harvesting routing message include rectangular-ambulatory-plane, zigzag, shortest path, optimal path, the periphery inwardly messages such as loop.
7. residual harvesting paths planning method according to claim 1 is visited wherein adopting a fixed point via an automatic detecting module
It surveys or mobile detect does not gather in detection message described in acquirement.
8. residual harvesting paths planning method according to claim 7, wherein the automatic detecting module system is selected from by infrared
Module composed by line sensor, laser sensor, ultrasonic sensor, imaging sensor or GPS satellite locating module.
9. residual harvesting paths planning method according to claim 1, wherein will be in driving process via a traveling detector
In synchronize detected whether residual do not gather in crops.
10. residual harvesting paths planning method according to claim 9, wherein the traveling detector includes a traveling camera shooting
Sensor comprising multiple multiple cameras being looped around around the automatic harvester, to acquire shadow around the automatic harvester
Picture.
11. residual harvesting paths planning method according to claim 1, wherein the detection message that do not gather in includes not gathering in
Farmland or field area, shape, range, coordinate and region.
12. a residual harvesting path planning system, is suitable for automatic harvester characterized by comprising
One detection device provides one and does not gather in detection message；And
One surviving path planning module, receive it is described do not gather in detection message after, driving path is not gathered in planning one.
13. residual harvesting path planning system according to claim 12 comprising a type setup module, setting one are received
Crops message is cut, and is transmitted to the lodging surviving path planning module.
14. residual harvesting path planning system according to claim 12 comprising a sequence setting module, setting one are residual
Harvesting sequence message is stayed, the surviving path planning module does not gather in traveling road according to residual harvesting sequence message planning is described
Diameter.
15. residual harvesting path planning system according to claim 12, wherein the surviving path planning module includes one
Path setting module comprising generate an arrival path setting module of an arrival path message and generate a harvesting routing message
One harvesting path setting module, wherein the arrival path message and the harvesting routing message be sent to respectively it is described residual
Stay path planning module.
16. residual harvesting path planning system according to claim 15, wherein the arrival path message includes shortest path
Diameter, optimal path, peripheral paths, wherein the harvesting routing message include rectangular-ambulatory-plane, zigzag, shortest path, optimal path,
The inside loop in periphery.
17. residual harvesting path planning system according to claim 1, wherein the detection device includes at least one automatic spy
Module is surveyed, the surviving path planning module is connected to, wherein the automatic detecting module is passing through a fixed point detection or one
Mobile detection does not gather in detection message described in obtaining, and the detection message that do not gather in is transmitted to the surviving path planning mould
Block.
18. 7 residuals gather in path planning system according to claim 1, wherein the automatic detecting module is set to a nothing
On people's aircraft or the automatic harvester, to carry out the mobile detection.
19. 7 residuals gather in path planning system according to claim 1, wherein the automatic detecting module system is selected from by red
Module composed by outside line sensor, laser sensor, ultrasonic sensor, imaging sensor or GPS satellite locating module.
20. residual harvesting path planning system according to claim 12, wherein the detection device further includes that a traveling is visited
Device is surveyed, after the automatic harvester travels harvesting, synchronous detecting is with the presence or absence of not yet harvesting or remains crops, and further
Detection message is not gathered in described in obtaining.
21. residual harvesting path planning system according to claim 12, wherein the traveling detector includes that a traveling is taken the photograph
As sensor comprising multiple multiple cameras being looped around around the automatic harvester, to acquire around the automatic harvester
Image.
22. residual harvesting path planning system according to claim 12, is set to the automatic harvester, control is shaken in a distal end
Device, a smart phone, a radio remote controller or an Intelligent flat host computer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280357.2A CN110209154B (en) | 2019-04-09 | 2019-04-09 | Residual harvesting path planning system and method of automatic harvester |
| PCT/CN2019/106977 WO2020206940A1 (en) | 2019-04-09 | 2019-09-20 | Planning system and method for residual harvesting path of automatic harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280357.2A CN110209154B (en) | 2019-04-09 | 2019-04-09 | Residual harvesting path planning system and method of automatic harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110209154A true CN110209154A (en) | 2019-09-06 |
| CN110209154B CN110209154B (en) | 2022-10-14 |
Family
ID=67785189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910280357.2A Active CN110209154B (en) | 2019-04-09 | 2019-04-09 | Residual harvesting path planning system and method of automatic harvester |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110209154B (en) |
| WO (1) | WO2020206940A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020134236A1 (en) * | 2018-12-29 | 2020-07-02 | 丰疆智能科技股份有限公司 | Harvester and automatic driving method thereof |
| WO2020206940A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Planning system and method for residual harvesting path of automatic harvester |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6336051B1 (en) * | 1997-04-16 | 2002-01-01 | Carnegie Mellon University | Agricultural harvester with robotic control |
| US20060009269A1 (en) * | 2004-07-08 | 2006-01-12 | Hoskinson Reed L | Method and apparatus for monitoring characteristics of a flow path having solid components flowing therethrough |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| JP2015000029A (en) * | 2013-06-14 | 2015-01-05 | 株式会社クボタ | Corn harvester |
| CN204515530U (en) * | 2014-12-30 | 2015-07-29 | 苏州宝时得电动工具有限公司 | Automatic running gear |
| CN205179759U (en) * | 2015-12-13 | 2016-04-27 | 莆田市环龙机械有限公司 | Many functional safety harvester |
| WO2016100088A1 (en) * | 2014-12-18 | 2016-06-23 | Agco Corporation | Method of path planning for autoguidance |
| CN106163259A (en) * | 2014-03-07 | 2016-11-23 | 洋马株式会社 | Crops harvester |
| BR102016018669A2 (en) * | 2015-09-17 | 2017-03-21 | Deere & Co | crop route generator system, crop machine, and computer-implemented method for generating a crop route for a crop machine |
| CN107450569A (en) * | 2017-09-27 | 2017-12-08 | 上海思岚科技有限公司 | The control method and equipment of a kind of sweeping robot |
| CN107562060A (en) * | 2017-10-17 | 2018-01-09 | 南京农业大学 | A kind of crawler-type traveling united reaper navigation system |
| CN108021130A (en) * | 2017-11-07 | 2018-05-11 | 北京勇搏科技有限公司 | A kind of unpiloted harvester |
| CN108490932A (en) * | 2018-03-09 | 2018-09-04 | 东南大学 | A kind of control method of grass-removing robot and automatically control mowing system |
| WO2018185522A1 (en) * | 2017-04-04 | 2018-10-11 | Graf Plessen Mogens | Coordination of harvesting and transport units for area coverage |
| CN109074081A (en) * | 2016-05-10 | 2018-12-21 | 洋马株式会社 | Autonomous driving path generates system |
| CN109152332A (en) * | 2016-06-10 | 2019-01-04 | 凯斯纽荷兰工业美国有限责任公司 | The planning and control of autonomous agricultural operation |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914071B (en) * | 2014-04-02 | 2017-08-29 | 中国农业大学 | A kind of vision guided navigation path identifying system for grain combine |
| DE102014108346A1 (en) * | 2014-06-13 | 2015-12-17 | Claas Selbstfahrende Erntemaschinen Gmbh | Inventory-oriented insertion in row crops |
| JP6685868B2 (en) * | 2016-09-09 | 2020-04-22 | ヤンマー株式会社 | Autonomous driving system |
| CN108260401A (en) * | 2017-01-04 | 2018-07-10 | 西北农林科技大学 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
| CN109588107A (en) * | 2018-12-29 | 2019-04-09 | 丰疆智慧农业股份有限公司 | Harvester and its automatic Pilot method |
| CN110209154B (en) * | 2019-04-09 | 2022-10-14 | 丰疆智能科技股份有限公司 | Residual harvesting path planning system and method of automatic harvester |
-
2019
- 2019-04-09 CN CN201910280357.2A patent/CN110209154B/en active Active
- 2019-09-20 WO PCT/CN2019/106977 patent/WO2020206940A1/en active Application Filing
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6336051B1 (en) * | 1997-04-16 | 2002-01-01 | Carnegie Mellon University | Agricultural harvester with robotic control |
| US20060009269A1 (en) * | 2004-07-08 | 2006-01-12 | Hoskinson Reed L | Method and apparatus for monitoring characteristics of a flow path having solid components flowing therethrough |
| JP2015000029A (en) * | 2013-06-14 | 2015-01-05 | 株式会社クボタ | Corn harvester |
| CN106163259A (en) * | 2014-03-07 | 2016-11-23 | 洋马株式会社 | Crops harvester |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| WO2016100088A1 (en) * | 2014-12-18 | 2016-06-23 | Agco Corporation | Method of path planning for autoguidance |
| CN204515530U (en) * | 2014-12-30 | 2015-07-29 | 苏州宝时得电动工具有限公司 | Automatic running gear |
| BR102016018669A2 (en) * | 2015-09-17 | 2017-03-21 | Deere & Co | crop route generator system, crop machine, and computer-implemented method for generating a crop route for a crop machine |
| US20170082442A1 (en) * | 2015-09-17 | 2017-03-23 | Deere & Company | Mission and path planning using images of crop wind damage |
| CN205179759U (en) * | 2015-12-13 | 2016-04-27 | 莆田市环龙机械有限公司 | Many functional safety harvester |
| CN109074081A (en) * | 2016-05-10 | 2018-12-21 | 洋马株式会社 | Autonomous driving path generates system |
| CN109152332A (en) * | 2016-06-10 | 2019-01-04 | 凯斯纽荷兰工业美国有限责任公司 | The planning and control of autonomous agricultural operation |
| WO2018185522A1 (en) * | 2017-04-04 | 2018-10-11 | Graf Plessen Mogens | Coordination of harvesting and transport units for area coverage |
| CN107450569A (en) * | 2017-09-27 | 2017-12-08 | 上海思岚科技有限公司 | The control method and equipment of a kind of sweeping robot |
| CN107562060A (en) * | 2017-10-17 | 2018-01-09 | 南京农业大学 | A kind of crawler-type traveling united reaper navigation system |
| CN108021130A (en) * | 2017-11-07 | 2018-05-11 | 北京勇搏科技有限公司 | A kind of unpiloted harvester |
| CN108490932A (en) * | 2018-03-09 | 2018-09-04 | 东南大学 | A kind of control method of grass-removing robot and automatically control mowing system |
Non-Patent Citations (1)
| Title |
|---|
| 沈飞，陈伏州，戴 伟: "拖拉机自动驾驶路径规划算法研究与系统仿真", 《拖拉机与农用运输车》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020134236A1 (en) * | 2018-12-29 | 2020-07-02 | 丰疆智能科技股份有限公司 | Harvester and automatic driving method thereof |
| WO2020206940A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Planning system and method for residual harvesting path of automatic harvester |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020206940A1 (en) | 2020-10-15 |
| CN110209154B (en) | 2022-10-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110286670A (en) | The driving path planning system and its method of more automatic harvesters | |
| CN110209156A (en) | The driving path planning system and its method of automatic harvester | |
| EP3247189B1 (en) | Agricultural robot | |
| EP3236732B1 (en) | Lawn monitoring and maintenance via a robotic vehicle | |
| US9696162B2 (en) | Mission and path planning using images of crop wind damage | |
| Gorjian et al. | Applications of solar PV systems in agricultural automation and robotics | |
| WO2020206946A1 (en) | Lodging driving planning system of automatic harvester, and method thereof | |
| CN107846848A (en) | Robotic vehicle and the method automatically processed for being used for plant organism using robot | |
| CN108765763A (en) | The unmanned mobile culture equipment of wisdom formula, shared system and business model | |
| JPWO2017033761A1 (en) | Field management system, field management method, and farm work machine system | |
| US20170318732A1 (en) | Work vehicle travel system | |
| JP6560392B1 (en) | Control device, security system and program | |
| CN110209154A (en) | The residual harvesting path planning system and its method of automatic harvester | |
| CN109959971A (en) | Grazing method and device | |
| CN112640870A (en) | Plant protection unmanned aerial vehicle-based pest control system and method | |
| Chatzisavvas et al. | Autonomous Unmanned Ground Vehicle in Precision Agriculture–The VELOS project | |
| Hiraguri et al. | Autonomous drone-based pollination system using AI classifier to replace bees for greenhouse tomato cultivation | |
| WO2022208220A1 (en) | Methods for managing coordinated autonomous teams of under-canopy robotic systems for an agricultural field and devices | |
| CN205721382U (en) | A kind of ultrasound wave deinsectization plant protection unmanned plane | |
| EP4271170A1 (en) | Generating a ground plane for obstruction detection | |
| Hutsol et al. | Robotic technologies in horticulture: analysis and implementation prospects | |
| Pisharody et al. | Design and Implementation of Bluetooth Controlled Weeder | |
| WO2017042789A1 (en) | Harvesting and lawn care robot | |
| Athira | Development of a semi autonomous robotic platform for intercultural operations in row crops | |
| JP2022119267A (en) | Agriculture support system, mobile body, and agriculture support method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |