CN110209154B - Residual harvesting path planning system and method of automatic harvester - Google Patents
Residual harvesting path planning system and method of automatic harvester Download PDFInfo
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- CN110209154B CN110209154B CN201910280357.2A CN201910280357A CN110209154B CN 110209154 B CN110209154 B CN 110209154B CN 201910280357 A CN201910280357 A CN 201910280357A CN 110209154 B CN110209154 B CN 110209154B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
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- 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 invention provides a residual harvesting path planning method of an automatic harvester, which comprises a detection device providing a non-harvesting detection message; and a residual path planning module receives the non-harvesting detection message, analyzes and plans a non-harvesting driving path of the automatic harvester.
Description
Technical Field
The present invention relates to an agricultural machine, and more particularly, to a residual harvesting path planning system of an automatic harvester and a method thereof to ensure harvesting efficiency and reduce loss of crops.
Background
With the continuous development of agricultural industry and the continuous progress of science and technology in recent years, people also continuously improve the development of agriculture, from relying on manpower to utilizing machinery, and applying the development of science and technology to agriculture, wherein various agricultural implements are continuously improved from hand tools to large-scale agricultural machines. Therefore, the agricultural machinery industry also presents a good development trend, the modern agriculture breaks away from the backward mode of farming by manpower, all links from seeding, plant protection to harvesting and the like are almost completed by agricultural equipment, and the modern agriculture can enter the mechanized era. Further, with the increasing means of agricultural production, agricultural machinery is continuously developed and advanced in recent years, and in order to improve the agricultural economic benefit and promote the development of the economic society, various agricultural machinery come up like bamboo shoots in spring after rain, and enter thousands of households in rural areas, so that the agricultural machinery brings a vital benefit to farmers. In other words, the mechanization of agriculture improves the efficiency of agricultural production, brings great convenience to farmers and plays an important role in the rapid development process of agriculture.
In particular, an automatic harvester, one of agricultural machines, plays an important role in harvesting crops, improves the harvesting efficiency of the crops, reduces the labor burden of farmers, and is one of the indispensable agricultural machines in modern agricultural harvesting. However, the automatic harvesters are usually operated on uneven ground or fields, so that farmers, operators of agricultural machines or drivers usually endure strong jolts and discomfort while working on agricultural machines, and the intensity of labor is conceivably extremely high. Therefore, for the automatic harvester, the development is also towards the direction of unmanned aerial vehicles or automatic driving. However, whether unmanned or autonomous or generally automated, the crop is harvested quickly and directly from the field or field, and areas left or not taken into consideration by the planned route are not typically harvested, thereby resulting in a loss of crop yield.
Disclosure of Invention
An advantage of the present invention is that it provides a residual harvesting path planning system of an automatic harvester and a method thereof, in which harvesting effect is ensured and loss of crops is reduced.
An advantage of the present invention is that it provides a residual harvesting path planning system for an automatic harvester and a method thereof, wherein various messages are used to make the residual harvesting path planning system plan an optimal path. Furthermore, the non-harvest driving route is analyzed and planned according to the non-harvest detection message, the route setting message, the residual harvest sequence message, etc.
An advantage of the present invention is that it provides a residual harvesting path planning system for an automatic harvester and a method thereof, wherein each time an unharvested probe message is generated, the unharvested probe message is sequentially transmitted to a residual path planning module for analysis, and the unharvested driving path is re-planned by the residual path planning module.
Another advantage of the present invention is that it provides a fitting that does not require precision parts and complex structures, is simple to manufacture, and is inexpensive.
Additional advantages and features of the invention will become apparent from the following detailed description and may be realized by means of the instruments and combinations particularly pointed out in the appended claims.
To meet the above objects and other objects and advantages of the present invention, there is provided a residual harvesting path planning method of an automatic harvester, comprising the steps of:
a detecting device providing a detection message of not reaping; and
and a residual path planning module receives the non-harvesting detection message, analyzes and plans a non-harvesting driving path of the automatic harvester.
According to a method of the present invention, the lodging planning method further comprises a step of:
a sequence setting module sets a residual harvesting sequence message, and the residual path planning module plans the non-harvesting driving path according to the residual harvesting sequence message.
According to a method of the present invention, the lodging planning method further comprises a step of:
a type setting module sets a harvested crop message and transmits the harvested crop message to the residual path planning module.
According to a method of the present invention, the lodging planning method further comprises a step of:
the detection device acquires a basic farmland information in advance, and the residual path planning module plans a pre-driving path in advance according to the basic farmland information.
According to the method, the walking mode of the automatic harvester is preset through a path setting module of the residual path planning module, and a path setting message is generated.
According to one method of the present invention, the routing message includes an arrival routing message and a harvest routing message, wherein the arrival routing message includes messages of shortest path, best path, peripheral path, and the harvest routing message includes messages of loop shape, zigzag, shortest path, best path, peripheral inward loop.
According to a method of the present invention, the non-harvest detection message is obtained by an automatic detection module using a fixed point detection or a mobile detection.
According to a method of the present invention, the automatic detection module is selected from a group consisting of an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, and a GPS satellite positioning module.
According to a method of the invention, a travel detector is used to detect synchronously whether there is any remaining uncut crop during travel.
According to one method of the invention, the travel detector comprises a travel camera sensor including a plurality of cameras positioned around the periphery of the automated harvester for capturing images of the periphery of the automated harvester.
According to a method of the invention, the unharvested probe message includes the area, shape, extent, coordinates and area of the unharvested field or field.
In accordance with an embodiment of the present invention,
in addition, to meet the above objects and other objects and advantages of the present invention, there is provided a residual harvesting path planning system adapted for use with an automatic harvester, comprising:
a detection device providing an unharvested detection message; and
and the residual path planning module is used for planning an unharvested driving path after receiving the unharvested detection message.
According to an embodiment of the present invention, the residual harvest path planning system includes a type setting module that sets a harvested crop message and transmits the same to the lodging residual path planning module.
According to an embodiment of the present invention, the residual harvesting path planning system includes a sequence setting module for setting a residual harvesting sequence message, and the residual path planning module plans the non-harvesting driving path according to the residual harvesting sequence message.
According to an embodiment of the present invention, the remnant path planning module includes a path setting module including an arrival path setting module generating an arrival path message and a harvesting path setting module generating a harvesting path message, wherein the arrival path message and the harvesting path message are respectively transmitted to the remnant path planning module.
According to an embodiment of the present invention, the arrival path message comprises a shortest path, an optimal path, and a peripheral path, wherein the harvesting path message comprises a zigzag, a shortest path, an optimal path, and a peripheral inward loop.
According to an embodiment of the present invention, the detection apparatus includes at least one automatic detection module connected to the remaining path planning module, wherein the automatic detection module obtains the non-harvest detection message through a fixed point detection or a mobile detection, and transmits the non-harvest detection message to the remaining path planning module.
According to an embodiment of the invention, the automatic detection module is arranged on an unmanned plane or the automatic harvester to perform the movement detection.
According to an embodiment of the present invention, the automatic detection module is selected from a group consisting of an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, and a GPS satellite positioning module.
According to an embodiment of the present invention, the detecting device further includes a driving detector, which synchronously detects whether there is an un-harvested or residual crop after the automatic harvester is driven and harvested, and further obtains the un-harvested detecting message.
According to one embodiment of the invention, the travel detector comprises a travel camera sensor including a plurality of cameras positioned around the automated harvester to capture images of the surroundings of the automated harvester.
According to an embodiment of the present invention, the residual harvesting path planning system is disposed on the automatic harvester, a remote controller, a smart phone, a wireless remote controller, or an intelligent tablet upper computer.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 is a logic diagram of a residual harvesting path planning system of an automated harvester according to a preferred embodiment of the present invention.
Fig. 2 is a further logical schematic of the residual harvesting path planning system of an automated harvester according to a preferred embodiment of the present invention.
FIG. 3A is a logical schematic of an automatic detection module of the detection device in accordance with a preferred embodiment of the present invention.
FIG. 3B is a logic diagram of a travel detector of the detection device in accordance with a preferred embodiment of the present invention.
Fig. 4 is a schematic view of the walking pattern of the residual harvesting path planning system according to a preferred embodiment of the present invention.
Fig. 5 is a zigzag diagram of the walking pattern of the residual harvest path planning system according to a preferred embodiment of the present invention.
Fig. 6 is a schematic diagram of a harvest travel path of the residual harvest path planning system according to a preferred embodiment of the present invention, illustrating post-harvest lodging of the crop.
Fig. 7 is a logic diagram of an automatic harvester according to a preferred embodiment of the present invention.
Fig. 8 is a flowchart illustrating a lodging harvesting travel path planning method of an automatic harvester according to a preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments described below are by way of example only, and other obvious variations will occur to those skilled in the art. The underlying 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 convenience in describing the invention and simplicity in description, but do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus, the terms are not to be construed as limiting the invention.
It is to be understood that the terms "a" and "an" are to be interpreted as meaning "at least one" or "one or more," i.e., in an embodiment, the number of an element may be one, while in other embodiments the number of such elements may be plural, the terms "a" and "an" should not be construed as limiting the number.
Referring to fig. 1 to 6, a system for planning a residual harvesting path of an automatic harvesting machine and a method thereof according to a first preferred embodiment of the present invention are provided, in which the automatic harvesting machine 1 detects a harvesting effect of the automatic harvesting machine 1 through the system for planning a residual harvesting path 100, and further harvests a carry-over area to reduce a loss of harvesting. In other words, the residual harvesting path planning system 100 is adapted to the automatic harvesting machine 1 to detect and determine the harvesting effect after the automatic harvesting machine 1 has finished a predetermined harvesting while further harvesting the non-harvested crop area. In particular, the residual harvesting path planning system 100 may be disposed on the automatic harvester, a remote controller, a smart phone, a wireless remote controller, or an intelligent tablet pc.
In this embodiment of the invention, the residual harvesting path planning system 100 includes a detection device 10 and a residual path planning module 20. The detection device 10 is connected to the remnant path planning module 20. After harvesting, the harvesting result is detected by the detection device 10, and whether an unharvested region exists, if so, an unharvested travel path is set by the residual path planning module 20. In other words, when the automatic harvester 1 is harvesting and driving, the residual route planning module 20 performs route planning of an area not harvested after receiving data or a message of the detecting device 10. Further, the detection device 10 is used to monitor whether there is any remaining non-harvested crop in the harvested path of the automatic harvester 1, and the detection device 10 provides a non-harvested detection message after detection, and transmits the non-harvested detection message to the remaining path planning module 20 to plan a non-harvested traveling path.
In this embodiment of the present invention, the detecting device 10 is used to obtain an unharvested detecting message, i.e. the area, shape, range, coordinates and region of the unharvested farm or field. The path setting module 22 is configured to set the path setting message of the automatic harvester 1. Specifically, the residual path planning module 20 includes a calculation control module 21 and a path setting module 22. The calculation control module 21 is connected to the path setting module 22. The path setting module 22 includes an arrival path setting module 221 generating an arrival path message and a harvesting path setting module 222 generating a harvesting path message, wherein the arrival path message and the harvesting path message are respectively transmitted to the calculation control module 21 of the remnant path planning module 20. In other words, the routing module 22 includes the arrival routing module 221 and the harvest routing module 222. The arrival path setting module 221 is configured to set a driving path manner of the automatic harvester 1 to an area without harvesting, that is, generate the arrival path message. The harvesting path setting module 222 is configured to set a driving path manner of the automatic harvester 1 in an area without harvesting, that is, the harvesting path information. The arrival path setting module 221 includes a shortest path, an optimal path, and a peripheral path. The harvesting path setting module 222 includes a zigzag shape, a shortest path, an optimal path, a peripheral inward loop, etc. The residual harvest sequence information includes immediate harvest, final harvest, optimal harvest, etc. That is, the residual harvest sequence information of the immediate harvest, the last harvest, and the optimal harvest is set by the sequence setting module 30, and transmitted to the residual path planning module 20.
In this embodiment of the present invention, as shown in fig. 2, the residual harvesting path planning system 100 further includes a sequence setting module 30 for setting a residual harvesting sequence message, and the residual path planning module 20 plans the non-harvesting driving path according to the residual harvesting sequence message. It will be appreciated that the harvesting sequence when the automatic harvester 1 encounters the uncurved area is set by the sequence setting module 30. For example, when the immediate harvest is set, the detection device 10 of the automatic harvester 1 detects the crops in the non-harvested region, and the residual path planning module 20 immediately plans the non-harvested traveling path, so that the automatic harvester 1 travels along the non-harvested traveling path and harvests the crops in the non-harvested region. In addition, if the last harvest is set, when the detection device 10 of the automatic harvester 1 detects the crops in the non-harvested region, the residual path planning module 20 records the coordinates of the non-harvested region first, and after the automatic harvester 1 completes a predetermined harvest path, the residual path planning module 20 plans the non-harvested travel path, and at this time, the automatic harvester 1 travels along the non-harvested travel path and harvests the crops in the non-harvested region. In addition, if the optimal harvesting is set, when the detection device 10 of the automatic harvester 1 detects the crop in the non-harvested region, the residual path planning module 20 determines whether to harvest the crop in the non-harvested region directly or during the process or finally. That is, when the optimal harvesting is set, it is judged by the residual route planning module 20 that the automatic harvesting machine 1 plans the optimal non-harvesting travel route in an optimal or minimum travel route or in a complete manner. In other words, the residual harvesting path planning system 100 can also intelligently determine the harvesting sequence of the un-harvested crops, wherein the optimal harvesting sequence can be evaluated in consideration of the harvesting amount and the harvesting time span of the whole crops. In addition, the immediate harvesting may be used in rainy days to reduce the harvesting time.
In this embodiment of the present invention, the path setting module 22 may set a path setting message in advance. The sequence setting module 30 may also set the residual harvesting sequence message in advance. After receiving the path setting message, the residual harvesting sequence message and the non-harvesting detection message, the residual path planning module 20 plans the non-harvesting travel path for the remaining or non-harvesting crop area, and the automatic harvester 1 harvests the remaining or non-harvesting crops according to the non-harvesting travel path, so as to reduce loss and increase yield. In addition, the connection mode may be a wired connection or an infinite connection, which is not a limitation of the present invention.
In this embodiment of the invention, as shown in fig. 2, the residual harvest path planning system 100 further comprises a type setting module 50 for setting the type of crop expected to be harvested, such as barley, wheat, rye, oats, corn, rice, etc. The type setting module 50 is connected to the residual path planning module 20. The calculation control module 21 of the residual route planning module 20 receives various data or messages of the detection device 10, the route setting module 22, and the type setting module 50, and then performs an unreserved route planning.
In this embodiment of the present invention, as shown in fig. 3A, the detection device 10 includes at least one automatic detection module 11, wherein the automatic detection module 11 is connected to the residual path planning module 20. The automatic detection module 11 is implemented as a fixed point detection or a movement detection. The fixed point is detected for being with a plurality of automatic detection module 11 sets up respectively in the corner edge in soil or field, through a plurality of automatic detection module 11's mutual sensing, in order to obtain not reaping the detection message, it includes area, shape, scope, coordinate and the region in farmland or the farmland that has not reaped yet. The mobile detection is performed by disposing the automatic detection module 11 on an unmanned aerial vehicle so that the unmanned aerial vehicle moves to obtain the non-harvested detection message. It is worth mentioning that the automatic detection module 11 can be implemented as an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, or a GPS satellite positioning module, etc., which is not a limitation of the present invention.
In this embodiment of the present invention, as shown in fig. 3B, the detecting device 10 further includes a driving detector 12, which detects whether there is a non-harvested or remaining crop after the automatic harvester 1 is driven to harvest, and further obtains the non-harvested detecting message, and transmits the non-harvested detecting message to the remaining path planning module 20. It should be mentioned that the driving detector 12 is disposed on the automatic harvester 1, wherein the best setting mode is disposed behind the automatic harvester 1, so that the driving detector 12 can directly detect the remaining crop after the automatic harvester 1 has harvested and driven.
In particular, when the travel detector 12 detects that there is no crop harvested or crop residue, the automatic harvester 1 replans the non-harvested travel path on an existing basis. That is, the automatic harvester 1 travels and harvests along a harvesting travel path, the travel detector 12 transmits the detected non-harvesting detection message to the residual path planning module 20 during the travel process, and the residual path planning module 20 replans the non-harvesting travel path according to the non-harvesting detection message provided by the travel detector 12 on the basis of the original harvesting travel path. It should be noted that, if a harvesting travel path needs to be re-planned, the residual path planning module 20 plans the non-harvesting travel path in advance according to the path setting message, the residual harvesting sequence message and the non-harvesting detection message, and then the automatic harvesting machine 1 performs harvesting travel according to the non-harvesting travel path during the harvesting travel process.
It should be noted that the driving detector 12 is disposed on the automatic harvester 1 to conveniently obtain at least one non-harvesting detection message when the automatic harvester 1 is driven. Further, the driving detector 12 includes a driving camera sensor 121, which collects images around the automatic harvester 1 and forms a video signal. In particular, the driving camera sensor 121 includes a plurality of cameras 1211 surrounding the automatic harvester 1 to capture images around the automatic harvester 1 and form the video signal.
In this embodiment of the invention, the path setting module 22 is used to set the driving pattern of the automatic harvester 1 to the unharvested area and the harvesting driving pattern in the unharvested area after reaching the unharvested area. Thus, the routing module 22 includes the arrival routing module 221 and the harvest routing module 222. In other words, the traveling mode of the automatic harvester 1 is set in advance by the arrival path setting module 221 and the harvesting path setting module 222, and the path setting message is generated to the remaining path planning module 20. After the detection device 10 detects the non-harvesting area, the residual route planning module 20 re-plans the harvesting route according to the route setting message. For example, assuming that the arrival path setting module 221 sets the shortest path and the harvesting path setting module 222 sets the loop shape, after the detection device 10 detects the non-harvesting area, the residual path planning module 20 plans the automatic harvesting machine 1 to arrive at the non-harvesting area with the shortest path and to travel and harvest in the non-harvesting area in the manner of the loop shape.
The residual path planning module 20 includes the calculation control module 21 and a storage 23. The memory 23 is connected to the calculation control module 21. The routing message and the residual harvest sequence message are pre-transmitted to the storage 23 through the routing module 22 and the sequence setting module 30. After the memory 23 receives the unharvested probe message, the calculation control module 21 analyses and generates a plan of the unharvested travel path.
Specifically, as shown in fig. 4, a zigzag travel path is illustrated, in which a peripheral thick line indicates an edge of a field or a farmland, a broken line indicates a harvesting travel path of an automatic harvester, an arrow indicates a travel direction of the automatic harvester, and the automatic harvester 1 travels as indicated by the broken line and the arrow. As shown in fig. 5, a zigzag travel path is illustrated, a thick peripheral line indicates an edge of a field or a farmland, a dotted line indicates a harvesting travel path of an automatic harvester, an arrow indicates a travel direction of the automatic harvester, and the automatic harvester 1 travels as indicated by the dotted line and the arrow. It is worth mentioning that the zigzag shape represents walking one row after another. Therefore, the zigzag pattern can be selected when the field or the farmland is not rectangular but has an arbitrary shape. That is, the automatic harvester 1 turns to another row when it travels to the boundary of one row, and similarly turns again when it travels to the boundary. In other words, when the zigzag setting is selected, the automatic harvester 1 travels back and forth along the boundary of the field in rows, each row being the boundary of the field.
In addition, the shortest path or the optimal path is set intelligently, and when the user or operator of the automatic harvester selects this way, the residual path planning module 20 plans the shortest path or the optimal path according to the contents of all options. It is understood that the shortest route is the minimum route traveled by the automatic harvester 1 as a whole in the entire field, and the optimal route is the optimized route planned in consideration of the whole situation. In addition, not the shape of the field or farmland is a complete rectangle or square, often having many irregular shapes, where in addition to the way of selecting the zig-zag, the shortest or the best path, the peripheral inward loop may be selected. The mode of the outward and inward circumcircles is that the vehicle directly runs inwards in circles according to the boundary shape of the field. In other words, the manner in which the outer periphery loops inward is similar to the loop pattern, except for the shape of the farmland.
As shown in fig. 6, the peripheral thick line indicates the edge of the field or the agricultural land, the broken line indicates the lodging harvesting travel path of the automatic harvester, the arrow indicates the travel direction of the automatic harvester, and the hatched area indicates the remaining crop. It is therefore evident that the harvesting travel path allows the automatic harvester 1 to harvest the crop before harvesting the residual crop.
As shown in fig. 7, the automatic harvester 1 includes the residual harvesting path planning system 100, a control device 200, a driving device 300, a traveling device 400, and an actuating device 500. The residual harvesting path planning system 100, the driving device 300, the traveling device 400, and the actuating device 500 are respectively connected to the control device 200. It is understood that the control device 200 is a central control system of the automatic harvester 1 for integrally controlling various devices of the automatic harvester 1. The driving device 300 is respectively connected to the actuating device 500, the traveling device 400 and the control device 200, and supplies power to the actuating device, and the control device 200 drives each component to perform corresponding operations. It is worth mentioning that the driving device 300 may be implemented as a fuel, electric or hybrid oil-electric drive, which is not a limitation of the present invention. The running device 400 is used for driving the automatic harvester 1 to run, wherein the running device can be used for crawler running, two-wheel running or four-wheel running. The actuating device 500 is used for harvesting operations. The residual harvesting path planning system 100 is configured to provide the non-harvesting travel path.
In addition, as shown in fig. 8, a residual harvesting path planning method of an automatic harvester according to the present invention will be described. The residual harvesting path planning method of the automatic harvester comprises the following steps:
a detection device 10 providing an un-harvested detection message; and
a residual path planning module 20 receives the non-harvest detection message, analyzes the non-harvest detection message and plans a non-harvest driving path of the automatic harvester 1.
The residual harvesting path planning method of the automatic harvester further comprises the following steps:
a type setup module 50 sets a harvest crop message and sends it to the remnant path planning module 20.
The residual harvesting path planning method of the automatic harvester further comprises the following steps:
a sequence setting module 30 sets a residual harvest sequence message, and the residual route planning module 20 plans the non-harvest driving route according to the residual harvest sequence message.
The residual harvesting path planning method of the automatic harvester further comprises the following steps:
the detection device 10 obtains a basic information of farm land in advance, and the residual route planning module 20 plans a pre-driving route according to the basic information of farm land in advance.
In the above method, the remnant path planning module 20 receives the harvested crop message to further analyze and plan the uncurved driving path. The harvested crop information includes barley, wheat, rye, oat, corn, rice, millet, etc.
In the above method, the information of the un-harvested probe includes information of an area, a shape, a range, coordinates and a region of the un-harvested farmland or field.
In the above method, the path setting message includes an arrival path message and a harvesting path message, wherein the arrival path message includes messages of shortest path, best path, peripheral path, and the harvesting path message includes messages of loop shape, zigzag, shortest path, best path, peripheral inward loop, and the like.
In the above method, the residual harvest sequence information includes immediate harvest, final harvest, optimal harvest, etc.
The non-harvest detection message is obtained by a fixed point detection or a mobile detection through an automatic detection module 11. In particular, the automatic detection module 11 may be used with an unmanned aircraft to perform the motion detection. In addition, the automatic detection module 11 may be implemented as an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, a GPS satellite positioning module, or the like.
Specifically, when the automatic harvester 1 travels along the harvesting travel path on the farm land, a travel detector 12 of the detection device 10 detects the remaining non-harvested crops during the travel process, and generates the non-harvesting detection message to the remaining path planning module 20 when the remaining non-harvested crops are detected, and the remaining path planning module 20 determines whether to harvest the remaining non-harvested crops immediately, at the end or at other times.
In addition, a driving camera sensor 121 of the driving detector 12 includes a plurality of cameras 1211 surrounding the automatic harvester 1 to capture images around the automatic harvester 1 and form a video signal.
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 embodiments, and any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.
Claims (17)
1. A method of planning a residual harvesting path of an automated harvester, comprising the steps of:
a detecting device providing a detection message of not reaping;
a driving detector, disposed behind the automatic harvester, for detecting whether there is residual un-harvested crop in the driving process, and further acquiring the un-harvested detection information, wherein the driving detector includes a driving camera sensor including a plurality of cameras surrounding the automatic harvester for collecting images around the automatic harvester, the un-harvested detection information includes area, shape, range, coordinates and region of un-harvested farmland, and the un-harvested detection information further includes whether there is residual un-harvested crop on the path of the harvested automatic harvester; and
and a residual path planning module, configured to, after receiving the non-harvested detection message, analyze and plan a non-harvested travel path of the automatic harvester when the path after harvesting of the automatic harvester includes the residual non-harvested crops, wherein the residual path planning module determines whether to harvest the residual non-harvested crops immediately, last, or at other times.
2. The residual harvest path planning method according to claim 1, further comprising:
a sequence setting module sets a residual harvesting sequence message, and the residual path planning module plans the non-harvesting driving path according to the residual harvesting sequence message.
3. The residual harvest path planning method according to claim 1, further comprising:
a type setting module sets a harvested crop message and transmits the harvested crop message to the residual path planning module.
4. The residual harvest path planning method according to claim 1, further comprising:
the detection device acquires a basic farmland information in advance, and the residual path planning module plans a pre-driving path in advance according to the basic farmland information.
5. The residual harvesting path planning method according to claim 1, wherein a path setting message is generated by presetting a traveling mode of the automatic harvesting machine by a path setting module of the residual path planning module.
6. The residual harvesting path planning method of claim 5, wherein the path setting message includes an arrival path message and a harvesting path message, wherein the arrival path message includes messages of shortest path, best path, peripheral path, and the harvesting path message includes messages of loop shape, zigzag, shortest path, best path, peripheral inward loop.
7. The method according to claim 1, wherein the non-harvest probe message is obtained by an automatic probe module using a fixed point probe or a mobile probe.
8. The residual harvest path planning method according to claim 7, wherein the automatic detection module is selected from the group consisting of an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, and a GPS satellite positioning module.
9. A residual harvesting path planning system adapted for use with an automated harvester, comprising:
a detection device providing an unharvested detection message;
a driving detector disposed behind the automatic harvester for synchronously detecting whether there are not harvested or remained crops after the automatic harvester is driven to harvest, and further acquiring the non-harvested detection information, wherein the driving detector comprises a driving camera sensor including a plurality of cameras surrounding the automatic harvester for collecting images around the automatic harvester, the non-harvested detection information includes an area, a shape, a range, coordinates and a region of a non-harvested farmland or a field, and the non-harvested detection information further includes whether the non-harvested crops remain on a path of the automatic harvester after harvesting; and
and a residual path planning module for planning a non-harvested travel path when the path after harvesting of the automatic harvester includes the residual non-harvested crops after receiving the non-harvested detection message, wherein the residual path planning module determines whether to harvest the residual non-harvested crops immediately, last or at other times.
10. The residual harvest path planning system according to claim 9, comprising a type setting module that sets a harvested crop message and transmits it to the residual path planning module.
11. The residual harvest path planning system according to claim 9, comprising a sequence setting module that sets a residual harvest sequence message, the residual path planning module planning the non-harvest travel path according to the residual harvest sequence message.
12. The residual harvesting path planning system of claim 9, wherein the residual path planning module comprises a path setting module including an arrival path setting module that generates an arrival path message and a harvesting path setting module that generates a harvesting path message, wherein the arrival path message and the harvesting path message are respectively transmitted to the residual path planning module.
13. The remnant harvest path planning system of claim 12, wherein the arrival path message comprises a shortest path, a best path, a peripheral path, wherein the harvest path message comprises a loop, a zigzag, a shortest path, a best path, a peripheral inward loop.
14. The residual harvest path planning system according to claim 9, wherein the detection device comprises at least one automatic detection module connected to the residual path planning module, wherein the automatic detection module obtains the non-harvest detection message through a fixed point detection or a mobile detection and transmits the non-harvest detection message to the residual path planning module.
15. The residual harvesting path planning system of claim 14, wherein the automatic detection module is disposed on an unmanned aircraft or the automatic harvester for the movement detection.
16. The residual harvest path planning system of claim 14, wherein the automatic detection module is selected from the group consisting of an infrared sensor, a laser sensor, an ultrasonic sensor, an image sensor, and a GPS satellite positioning module.
17. The residual harvesting path planning system of claim 9, which is disposed on the automatic harvester, a remote controller, a smart phone, a radio remote controller or a smart tablet upper computer.
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| 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 |
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