CN117132524A - Method for determining operation width of agricultural machine, processor and agricultural machine - Google Patents

Method for determining operation width of agricultural machine, processor and agricultural machine Download PDF

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Publication number
CN117132524A
CN117132524A CN202210557188.4A CN202210557188A CN117132524A CN 117132524 A CN117132524 A CN 117132524A CN 202210557188 A CN202210557188 A CN 202210557188A CN 117132524 A CN117132524 A CN 117132524A
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China
Prior art keywords
width
determining
agricultural machine
working
area
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Inventor
李美秀
熊焰明
郭岗
方小永
罗俊
贡军
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Zhonglian Agricultural Machinery Co ltd
Hunan Intelligent Agricultural Machinery Research Institute Co ltd
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Zhonglian Agricultural Machinery Co ltd
Hunan Intelligent Agricultural Machinery Research Institute Co ltd
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Priority to CN202210557188.4A priority Critical patent/CN117132524A/en
Publication of CN117132524A publication Critical patent/CN117132524A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Geometry (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The embodiment of the application provides a method, a device, a processor, an agricultural machine and a storage medium for determining the operation width of the agricultural machine. The method comprises the following steps: determining the number of operation lines according to the regional parameters of the region to be operated, and determining a first target operation width and length of the agricultural machine when the agricultural machine operates aiming at the current operation line; determining a first real-time operation width and length according to the first operation image; adjusting the first real-time operation width; determining the residual operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width; decrementing the number of job lines and determining the next job line as the current job line; determining a second target working width and length when the agricultural machine works on the next working line; returning again to the step of determining the target working width and length of the current working line until the number of working lines is equal to a preset number to determine that the work of the agricultural machine for the area to be worked has been completed.

Description

Method for determining operation width of agricultural machine, processor and agricultural machine
Technical Field
The application relates to the field of intelligent agricultural machinery, in particular to a method, a device, a processor, an agricultural machine and a storage medium for determining the operation width of the agricultural machine.
Background
With the acceleration of industrialization and urbanization in China, the demand of agricultural development on agricultural machinery is increasingly raised. Intelligent agriculture and agricultural machinery are becoming new trends in development of agricultural machinery gradually.
Crop planting is an important part of the agricultural industry, and the current planting modes in China include direct seeding, transplanting, throwing seedling and the like. In actual planting, since the large variety of planting areas are not entirely regular shaped areas. Therefore, by performing work on a work route planned in advance, the agricultural machine may not be able to perform planting with an appropriate work width by the last time. For this situation, at present, a manual transplanting mode is generally adopted to plant the planting area where the last row is located, or no planting is selected. The method not only increases the labor and time cost of planting, but also reduces the utilization rate of the planting area. Therefore, in the prior art, the working width is adjusted by replacing the working tool of the agricultural machine, so as to ensure that the agricultural machine completes the operation of the last row. But due to the shape of the planting area, the manner in which the work tool is replaced frequently also increases the labor and time costs of the work.
Disclosure of Invention
An object of an embodiment of the application is to provide a method, a device, a processor, an agricultural machine and a storage medium for determining the working width of the agricultural machine.
To achieve the above object, a first aspect of the present application provides a method for determining a work width of an agricultural machine, comprising:
acquiring regional parameters of a region to be operated;
determining the number of operation lines of the agricultural machine aiming at an area to be operated according to the area parameters, and determining a first target operation width and a first target operation length when the agricultural machine works aiming at the current operation line;
determining a first real-time operation width and a first real-time operation length of the agricultural machine when the agricultural machine works on the current operation line according to the first operation image of the current operation line;
adjusting the first real-time operation width to enable the first real-time operation width to approach to the first target operation width;
determining the residual operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width;
decreasing the number of the operation lines, and determining the next operation line as the current operation line under the condition that the decreased number of the operation lines is larger than a preset number;
Determining a second target operation width and a second target operation length when the agricultural machine works on the next operation line according to the remaining operation width and the operation line number after the preset value is reduced;
returning again to the step of determining the target working width and the target working length of the current working line, and determining that the working of the agricultural machine for the area to be worked is completed until the number of working lines is equal to the preset number.
In an embodiment of the present application, adjusting the first real-time job width includes: comparing the first target job width with the first real-time job width; reducing the motor rotation speed of the agricultural machine to reduce the difference between the first real-time working width and the first target working width to a first preset threshold under the condition that the first real-time working width is larger than the first target working width; and under the condition that the first real-time operation width is smaller than the first target operation width, increasing the rotating speed of the motor so as to reduce the difference between the first real-time operation width and the first target operation width to a first preset threshold value.
In an embodiment of the present application, determining the remaining job width of the to-be-worked area according to the first target working length, the first real-time working length, and the adjusted first real-time working width includes: comparing the first real-time operation length with a first target operation length; under the condition that the first real-time working length is larger than the first target working length, determining that the working of the agricultural machine for the current working line is completed, and determining the residual working width of the to-be-worked area according to the adjusted first real-time working width; and under the condition that the first real-time working length is smaller than or equal to the first target working length, acquiring an updated first working image of the current working line, and determining the first real-time working length again according to the updated first working image until the first real-time working length is larger than the first target working length.
In an embodiment of the present application, determining the remaining job width of the to-be-job area according to the adjusted first real-time job width includes: for each updated first operation image of the current operation line, determining a first real-time operation width of the agricultural machine when the agricultural machine operates for the current operation line, and adjusting the first real-time operation width of each time according to the first target operation width; determining a width average value of the agricultural machine for current line operation according to all the adjusted first real-time operation widths; and determining the residual operation width of the to-be-operated area according to the width average value and the width of the inscribed rectangular area of the to-be-operated area.
In an embodiment of the present application, the width mean value is determined by formula (1):
wherein W is m Is the width mean value corresponding to the m-th row,for the k-th adjusted real-time job width,to adjust the total width of the real-time operation after k times.
In the embodiment of the application, the real-time working width of the agricultural machine during working is W n 。
In an embodiment of the present application, the area parameter includes an area shape and an area of an area to be worked, and determining, according to the area parameter, a working line number of the agricultural machine for the area to be worked includes: determining an inscribed rectangular region of the region to be operated according to the shape and the area of the region; determining the area of each closed area formed by the inscribed rectangular area and the area to be operated; determining an operation route of the agricultural machine according to the area of each closed area; and determining the number of operation lines according to the operation route.
In an embodiment of the present application, determining a working route of an agricultural machine according to an area of each enclosed area includes: determining a first long-side closed region and a second long-side closed region formed by the long side of the inscribed rectangular region and the region to be operated, and the total area of the long-side closed regions corresponding to the first long-side closed region and the second long-side closed region; determining a first short-side closed region and a second short-side closed region formed by the short sides of the inscribed rectangular region and the region to be operated, and the total area of the short-side closed regions corresponding to the first short-side closed region and the second short-side closed region; under the condition that the total area of the long-side enclosed areas is larger than that of the short-side enclosed areas, determining the direction in which the short sides of the inscribed rectangular areas are positioned as the operation direction of the agricultural machinery; determining the direction of the long side of the inscribed rectangular area as the operation direction of the agricultural machine under the condition that the total area of the long side closed area is smaller than or equal to that of the short side closed area; and determining the operation route of the agricultural machine according to the operation direction of the agricultural machine and the area of the area to be operated.
In an embodiment of the present application, determining the number of operation lines of the agricultural machine for the area to be operated according to the area parameter further includes: determining a target operation line number according to the width of the inscribed rectangular region and a preset operation width; under the condition that the target operation line number is an integer, determining the operation line number of the agricultural machine aiming at the to-be-operated area as the target operation line number; when the target number of work lines is not an integer, determining that the number of work lines of the agricultural machine for the area to be worked is the integer closest to the target number of work lines.
In an embodiment of the present application, determining a first target job width and a first target job length when the agricultural machine is performing a job for a current job row includes: determining the quotient of the width of the inscribed rectangular region and the number of operation lines as a first target operation width; a first target working length is determined from a working route of the agricultural machine.
A second aspect of the present application provides a processor configured to perform the above-described method for determining a work width of an agricultural machine.
A third aspect of the present application provides an apparatus for determining a work width of an agricultural machine, comprising: the image acquisition equipment is used for acquiring an operation image of the agricultural machine in the operation process; a processor as described above.
A fourth aspect of the present application provides an agricultural machine comprising the apparatus for determining a working width of an agricultural machine described above.
A fifth aspect of the application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the above-described method for determining a width of an agricultural machine job.
Through the technical scheme, the operation width of the agricultural machine aiming at the current operation line can be adjusted in real time, the target operation width of the next operation line is determined according to the residual operation width of the to-be-operated area, and the operation of the agricultural machine to the last operation line can be ensured to be performed with the proper operation width. Under the condition of reducing the time cost and the labor participation cost of the agricultural machine operation, the operation area aiming at the to-be-operated area can be further improved, and the operation quality of the agricultural machine is greatly improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for determining a work width of an agricultural machine in accordance with an embodiment of the present application;
FIG. 2 schematically illustrates an application environment of a method for determining a work width of an agricultural machine according to an embodiment of the present application;
FIG. 3 schematically illustrates a flow chart of a method for determining a work width of an agricultural machine according to yet another embodiment of the present application;
fig. 4 schematically shows a block diagram of an apparatus for determining a work width of an agricultural machine according to an embodiment of the present application;
fig. 5 schematically shows an internal structural view of a computer device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 schematically shows a flow chart of a method for determining a work width of an agricultural machine according to an embodiment of the application. As shown in fig. 1, in an embodiment of the present application, there is provided a method for determining a work width of an agricultural machine, including the steps of:
step 101, obtaining the regional parameters of the region to be operated.
Step 102, determining the operation line number of the agricultural machine for the to-be-operated area according to the area parameter, and determining a first target operation width and a first target operation length when the agricultural machine operates for the current operation line.
Step 103, determining a first real-time working width and a first real-time working length when the agricultural machine works for the current working line according to the first working image of the current working line.
Step 104, the first real-time job width is adjusted so that the first real-time job width approaches the first target job width.
Step 105, determining the remaining operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width.
And 106, decrementing the number of the operation lines, and determining the next operation line as the current operation line under the condition that the number of the decremented operation lines is larger than a preset number.
Step 107, determining a second target working width and a second target working length when the agricultural machine works for the next working row according to the residual working width.
Step 108, returning again to the step of determining the target working width and the target working length of the current working line, until the working machine is determined to have completed working on the area to be worked in the case that the number of working lines is equal to the preset number.
Agricultural machinery refers to various machines used in the crop planting process, as well as in the primary processing and handling of agricultural products. Further, agricultural machinery may refer to machinery for agricultural planting. For example, the machine for planting rice may be a power machine for agricultural planting, a farmland construction machine, a soil cultivation machine, a planting and fertilizing machine, a plant protection machine, a farmland irrigation and drainage machine, a crop harvesting machine, an agricultural product processing machine, an agricultural transportation machine, or the like. The area to be worked of the agricultural machine may refer to an area to be planted with crops or to be subjected to agricultural work. The area to be worked may be a working area of a regular shape or a working area of an irregular shape. In the case where the area to be worked is an irregularly shaped area, the agricultural machine cannot work with an appropriate work width until the last line. Therefore, the working width can be adjusted in real time to improve the working quality of the agricultural machine.
The navigation pointing device may be installed on the agricultural machine before the agricultural machine is formally put into service. After the area to be worked is determined, the agricultural machine can be controlled to move around the boundary line of the area to be worked so as to determine the area parameters of the area to be worked. The area parameters of the area to be worked may include an area shape and an area. The navigation pointing device may send the detected shape of the region and the area of the region to the processor. After the processor obtains the area shape and the area of the area to be worked, the processor can determine the number of working lines of the agricultural machine aiming at the area to be worked according to the area shape and the area, and determine the target working width and the target working length when the agricultural machine works aiming at each working line.
In one embodiment, the area parameters include an area shape and an area of the area to be worked, and determining the number of working lines of the agricultural machine for the area to be worked according to the area parameters includes: determining an inscribed rectangular region of the region to be operated according to the shape and the area of the region; determining the area of each closed area formed by the inscribed rectangular area and the area to be operated; determining an operation route of the agricultural machine according to the area of each closed area; and determining the number of operation lines according to the operation route.
The processor can determine an inscribed rectangular region of the region to be worked according to the region shape and the region area. The inscribed rectangular region may be a closed region formed by two long sides and two short sides. The processor may then determine the area of each enclosed region formed by the inscribed rectangular region and the region to be worked. Based on the area of each enclosed area, the processor may determine the operating route of the agricultural machine and, in turn, the number of operating rows of the agricultural machine.
In one embodiment, determining a work route of an agricultural machine based on an area of each enclosed area includes: determining a first long-side closed region and a second long-side closed region formed by the long side of the inscribed rectangular region and the region to be operated, and the total area of the long-side closed regions corresponding to the first long-side closed region and the second long-side closed region; determining a first short-side closed region and a second short-side closed region formed by the short sides of the inscribed rectangular region and the region to be operated, and the total area of the short-side closed regions corresponding to the first short-side closed region and the second short-side closed region; under the condition that the total area of the long-side enclosed areas is larger than that of the short-side enclosed areas, determining the direction in which the short sides of the inscribed rectangular areas are positioned as the operation direction of the agricultural machinery; determining the direction of the long side of the inscribed rectangular area as the operation direction of the agricultural machine under the condition that the total area of the long side closed area is smaller than or equal to that of the short side closed area; and determining the operation route of the agricultural machine according to the operation direction of the agricultural machine and the area of the area to be operated.
The inscribed rectangular region may include a first long side, a second long side, a first short side, and a second short side. The processor may determine a first long side enclosed area formed by a first long side of the inscribed rectangular area and the area to be worked, and a second long side enclosed area formed by a second long side of the inscribed rectangular area and the area to be worked. The processor may then sum the areas of the first long-side enclosed region and the second long-side enclosed region to determine a total long-side enclosed region area.
In order to further determine the working direction of the agricultural machine, the processor may further determine a first short-side closed area formed by the first short side of the inscribed rectangular area and the area to be worked, and a second short-side closed area formed by the second short side of the inscribed rectangular area and the area to be worked. The processor may then sum the areas of the first short-side enclosed region and the second short-side enclosed region to determine a short-side enclosed region total area.
The processor may compare the total area of the long-side enclosed area with the total area of the short-side enclosed area. In the case where the long-side enclosed total area is larger than the short-side enclosed total area, the processor may determine the direction in which the short side of the inscribed rectangular region is located as the operation direction of the agricultural machine. When the total area of the long-side enclosed areas is smaller than or equal to the total area of the short-side enclosed areas, the processor can determine the direction in which the long side of the inscribed rectangular area is located as the operation direction of the agricultural machine. The working direction of the agricultural machine may refer to a horizontal direction in which the long side or the short side of the inscribed rectangular region is located.
After determining the working direction of the agricultural machine, the processor may determine a working route of the agricultural machine based on the working direction and the area of the area to be worked. Wherein, for each long side of the inscribed rectangular region, the operation route of the agricultural machine may include two. For example, as shown in fig. 2, the working direction of the agricultural machine is the horizontal direction in which the long sides of the inscribed rectangular region are located. Here, the working route of the agricultural machine may include two working routes as shown in fig. 2 for the long side L1 of the inscribed rectangular region. Similarly, the working route of the agricultural machine may include two working routes for the long side L2 of the inscribed rectangular region.
The operation direction of the agricultural machine can be determined by comparing the total area of the long-side enclosed area with the total area of the short-side enclosed area, and the operation route of the agricultural machine can be determined by the operation direction of the agricultural machine and the area of the area to be operated, so that the planting area of crops in the area to be operated can be increased, and meanwhile, the utilization rate of the area to be operated can be ensured to a greater extent.
In one embodiment, determining the number of work rows of the agricultural machine for the area to be worked according to the area parameter further includes: determining a target operation line number according to the width of the inscribed rectangular region and a preset operation width; under the condition that the target operation line number is an integer, determining the operation line number of the agricultural machine aiming at the to-be-operated area as the target operation line number; when the target number of work lines is not an integer, determining that the number of work lines of the agricultural machine for the area to be worked is the integer closest to the target number of work lines.
After determining the inscribed rectangular region of the region to be worked on from the region shape and the region area, the processor may determine the width of the inscribed rectangular region. Then, a target operation line number is determined according to the width of the inscribed rectangular region and a preset operation width. If the target operation line number is an integer, the processor may determine the operation line number of the to-be-operated area as the target operation line number. If the target operation line number is not an integer, the processor may determine that the operation line number of the agricultural machine for the to-be-operated area is the nearest integer to the target operation line number in order to facilitate planning of the operation route of the subsequent agricultural machine.
Further, the target job line number may be determined by a rounding method. For example, when the target number of lines is 6.5 lines, the processor may round up the target number of lines to determine that the integer closest to the target number of lines is 7, and at this time, the number of lines of the agricultural machine for the area to be worked may be 7 lines. When the target number of lines is 6.3 lines, the processor may round down the target number of lines to determine that the integer closest to the target number of lines is 6, and at this time, the number of lines of the agricultural machine for the area to be worked may be 6 lines.
In one embodiment, determining a first target job width and a first target job length at which the agricultural machine is to perform a job for a current job row includes: determining the quotient of the width of the inscribed rectangular region and the number of operation lines as a first target operation width; a first target working length is determined from a working route of the agricultural machine.
And determining a first target working width when the agricultural machine works on the current working line according to the width of the inscribed rectangular area and the working line number of the agricultural machine on the area to be worked. Specifically, the processor may determine a quotient of the width of the inscribed rectangular region and the number of work rows of the agricultural machine for the region to be worked as the first target work width. The processor may then determine a first target work length of the agricultural machine based on the work route of the agricultural machine. If the area to be worked of the agricultural machine is an irregularly shaped area, the corresponding first target working length may be different when working is performed for each row of the agricultural machine. If the area to be worked of the agricultural machine is a regularly shaped area, the corresponding first target working length may be the same when working is performed for each row of the agricultural machine.
In the case of determining the first target working width and the first target working length of the agricultural machine, the processor may first acquire the first working image acquired by the image acquisition apparatus. The first working image refers to an image of the agricultural machine acquired by the image acquisition device when working on the current working line. The image capturing device may be a device having an image capturing function, such as a video camera, a still camera, or a recorder. In order to acquire a large number of first operation images in real time, an intelligent camera can be adopted, and after the first operation images are shot, the intelligent camera can timely transmit the acquired images to a processor in a wireless transmission or wired transmission mode.
The processor can determine a first real-time working width and a first real-time working length when the agricultural machine works for the current working line according to the acquired first working image of the current working line. Specifically, when the agricultural machine performs work for the current work row, the agricultural machine may plant plants in the area to be worked. Under the condition that the first operation image is acquired, a part of plants in the first operation image can be determined through a plant detection algorithm, wherein the part of plants refer to all plants planted by the agricultural machine at the current moment. And determining a first real-time operation width of the agricultural machine when the agricultural machine operates aiming at the current operation line according to the area where the partial plants are located. All plants in the first job image may also be determined by the plant detection algorithm. Wherein, all plants can refer to all plants planted by the agricultural machine from the initial moment to the current moment. And determining the first real-time operation length of the agricultural machine when the agricultural machine operates aiming at the current operation line according to the area where all plants are located. In the case of determining the first live-wire width and the first live-wire length, the processor may adjust the first live-wire width to approach the first target job width.
In one embodiment, adjusting the first real-time job width includes: comparing the first target job width with the first real-time job width; reducing the motor rotation speed of the agricultural machine to reduce the difference between the first real-time working width and the first target working width to a first preset threshold under the condition that the first real-time working width is larger than the first target working width; and under the condition that the first real-time operation width is smaller than the first target operation width, increasing the rotating speed of the motor so as to reduce the difference between the first real-time operation width and the first target operation width to a first preset threshold value.
The processor may compare the first target job width to the first real-time job width. If the first real-time working width is greater than the first target working width, the processor can control the motor rotation speed of the agricultural machine to be reduced. At this time, the first real-time work width of the agricultural machine is also reduced. Accordingly, the difference between the first live working width and the first target working width is correspondingly reduced, so that the first live working width approaches to the first target working width. In order to make the first live-work width closer to the first target-work width, the processor may reduce a difference between the first live-work width and the first target-work width to a first preset threshold. Wherein the first preset threshold may be zero.
If the first real-time working width is smaller than the first target working width, the processor can control the motor rotation speed of the agricultural machine to increase. At this time, the first real-time work width of the agricultural machine also increases. Accordingly, the difference between the first live working width and the first target working width is correspondingly reduced, so that the first live working width approaches to the first target working width. In order to make the first live-work width closer to the first target-work width, the processor may reduce a difference between the first live-work width and the first target-work width to a first preset threshold. Wherein the first preset threshold may be zero. After adjusting the first real-time job width, the processor may determine a remaining job width of the area to be worked according to the first target job length, the first real-time job length, and the adjusted first real-time job width.
In one embodiment, determining the remaining job width of the area to be worked according to the first target job length, the first live job length, and the adjusted first live job width includes: comparing the first real-time operation length with a first target operation length; under the condition that the first real-time working length is larger than the first target working length, determining that the working of the agricultural machine for the current working line is completed, and determining the residual working width of the to-be-worked area according to the adjusted first real-time working width; and under the condition that the first real-time working length is smaller than or equal to the first target working length, acquiring an updated first working image of the current working line, and determining the first real-time working length again according to the updated first working image until the first real-time working length is larger than the first target working length. The processor may determine whether the work of the current work row of the agricultural machine has been completed based on the first real-time work length and the first target work length. The processor may compare the first live-job length to a first target job length.
In the event that the first real-time job length is greater than the first target job length, the processor may determine that the work of the agricultural machine for the current job row has been completed. At this time, the processor may determine the remaining job width of the to-be-worked area according to the adjusted first real-time job width. In the case where the first real-time job length is less than or equal to the first target job length, the processor may determine that the work of the agricultural machine for the current work row is not complete. Thus, the processor may obtain an updated first job image of the current job line to determine the first live-job length again from the updated first job image until the first live-job length is greater than the first target job length.
In one embodiment, determining the remaining job width of the area to be worked according to the adjusted first real-time job width includes: for each updated first operation image of the current operation line, determining a first real-time operation width of the agricultural machine when the agricultural machine operates for the current operation line, and adjusting the first real-time operation width of each time according to the first target operation width; determining a width average value of the agricultural machine for current line operation according to all the adjusted first real-time operation widths; and determining the residual operation width of the to-be-operated area according to the width average value and the width of the inscribed rectangular area of the to-be-operated area.
The processor may obtain a plurality of updated first job images for the current job line before determining that the first live job length is greater than the first target job length. For each updated first job image of the current job row, the processor may determine a first real-time job width of the agricultural machine when working for the current job row, and may adjust the first real-time job width of each time according to the first target job width. After determining that the first real-time working length is greater than the first target working length, the processor may determine a width average of the agricultural machine for the current working line according to all of the adjusted first real-time working widths. And then, determining the residual operation width of the area to be operated according to the width average value and the width of the inscribed rectangular area of the area to be operated.
In one embodiment, the width mean is determined by equation (1):
wherein W is m Is the width mean value corresponding to the m-th row,for the k-th adjusted real-time job width,to adjust the total width of the real-time operation after k times.
In one embodiment, the real-time working width of the agricultural machine in working is W n 。
For example, if the processor acquires the first job image at time t1, the processor determines that the adjusted first real-time job width is If the first real-time job length L1 is less than or equal to the first target job length, the processor may continue to acquire the first job image at time t 2. The first real-time job width after the adjustment at this time is determined to be +.>And the determined first real-time job length L2 is less than or equal to the first target job length, the processor may continue to acquire the first job image at time t 3. The first real-time job width after the adjustment at this time is determined to be +.>And the determined first live-job length L3 is greater than the first target job length, the processor may determine that the job of the current job line has been completed. At this time, the total width of the real-time work after 3 times of adjustment may be +.>The width mean value can be determined according to the above formula (1)The processor may then determine the width mean value W 1 And determining the residual operation width of the area to be operated by the difference value between the width D of the inscribed rectangular area of the area to be operated. The first job image at time t2 is an updated first job image with respect to the first job image at time t 1. the first job image at time t3 is an updated first job image with respect to the first job image at time t 2.
After determining the remaining operation width of the to-be-operated area, the processor may decrement the number of operation lines of the agricultural machine, and compare the decremented number of operation lines with a preset number. Wherein the preset value may be zero. In the case that the value of the decremented operation line number is greater than the preset value, the processor may determine the next operation line as the current operation line. When it is determined that the agricultural machine needs to perform the operation of the next operation line, the processor may determine a second target operation width and a second target operation length when the agricultural machine performs the operation for the next operation line according to the remaining operation width and the operation line number after the preset value is decremented.
In the case where the second target work width and the second target work length at which the agricultural machine works for the next work row are determined, the processor may return again to the step of determining the target work width and the target work length for the current work row to adjust the work width of the agricultural machine for the current row. In the case where the number of the operation lines is equal to the preset number, the processor may determine that the operation of the agricultural machine for the area to be operated has been completed entirely. That is, the agricultural machine has completed the work of all the work rows according to the planned work route.
Fig. 3 schematically shows a flow chart of a method for determining the working width of an agricultural machine according to a further embodiment of the application.
Planning the operation path of the agricultural machine through the navigation system, and acquiring the width W of the current operation line by the processor according to the planned operation path t And the length L of the current working line t . The image capturing device may send the job image to the processor after capturing the job image of the agricultural machine for the current job row. The processor can detect the working width of the agricultural machine according to the working image of the current working line so as to determine the real-time working width W of the agricultural machine when working aiming at the current working line n And real-time working length L n . The processor may further compare the width W of the current job line t And real-time operation width W n To control the motor rotation speed of the agricultural machine, thereby enabling the real-time operation width W n Width W approaching the current line t 。
The processor can count the real-time working length L at the moment n And the adjusted real-time operation width and the real-time operation length L n Length L to current working line t Comparison was performed. In real-time working length L n Length L smaller than the current working line t In this case, the processor may acquire the job image of the next frame again, and detect the job width of the agricultural machine from the job image of the next frame. In real-time working length L n Length L greater than or equal to the current working line t In the case of (a), the processor may perform the jobThe operation line number N included in the path planning is decreased, and whether the value of the decreased operation line number is smaller than or equal to zero is judged.
In the case where the number of decremented job rows is less than or equal to zero, the processor may determine that the jobs for all of the job rows included in the job path plan have been completed. In the case that the value of the decreased operation line number is larger than zero, the processor can calculate the operation width average value W of the agricultural machine for the current operation line m And according to the job width average value W m Further calculating the remaining work width W of the agricultural machine 1 . In determining the remaining work width W of agricultural machinery 1 The processor can then determine the optimum work width W for the agricultural machine when working on the next work row t . At this time, the processor may determine the next operation line to be the current operation line, and acquire an operation image of the next operation line, so as to detect the operation width of the agricultural machine according to the operation image of the next operation line until the number of operation lines of the agricultural machine is equal to zero.
Through the technical scheme, the operation width of the agricultural machine aiming at the current operation line can be adjusted in real time, the target operation width of the next operation line is determined according to the residual operation width of the to-be-operated area, and the operation of the agricultural machine to the last operation line can be ensured to be performed with the proper operation width. Meanwhile, under the condition of reducing the time cost and the labor participation cost of the agricultural machine operation, the utilization rate of the area to be operated can be further improved, and the operation quality of the agricultural machine is greatly improved. In addition, by adjusting the real-time working width to the target working width as much as possible, a proper interval can be provided for crops planted in the area to be worked, and a favorable condition is provided for the growth of subsequent crops.
FIG. 1 is a flow diagram of a method for determining a work width of an agricultural machine in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 4, an apparatus for determining a work width of an agricultural machine is provided, including an image capturing device 401 and the processor 402 described above. Wherein the image acquisition device 401 is used for acquiring a working image of the agricultural machine in the working process.
An embodiment of the present application provides a storage medium having a program stored thereon, which when executed by a processor, implements the above-described method for determining a work width of an agricultural machine.
The embodiment of the application provides a processor, which is used for running a program, wherein the program runs to execute the method for determining the operation width of the agricultural machine.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data such as regional parameters. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a method for determining the width of an agricultural machine job.
It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program: acquiring regional parameters of a region to be operated; determining the number of operation lines of the agricultural machine aiming at an area to be operated according to the area parameters, and determining a first target operation width and a first target operation length when the agricultural machine works aiming at the current operation line; determining a first real-time operation width and a first real-time operation length of the agricultural machine when the agricultural machine works on the current operation line according to the first operation image of the current operation line; adjusting the first real-time operation width to enable the first real-time operation width to approach to the first target operation width; determining the residual operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width; decreasing the number of the operation lines, and determining the next operation line as the current operation line under the condition that the decreased number of the operation lines is larger than a preset number; determining a second target operation width and a second target operation length when the agricultural machine works on the next operation line according to the remaining operation width and the operation line number after the preset value is reduced; returning again to the step of determining the target working width and the target working length of the current working line, and determining that the working of the agricultural machine for the area to be worked is completed until the number of working lines is equal to the preset number.
In one embodiment, adjusting the first real-time job width includes: comparing the first target job width with the first real-time job width; reducing the motor rotation speed of the agricultural machine to reduce the difference between the first real-time working width and the first target working width to a first preset threshold under the condition that the first real-time working width is larger than the first target working width; and under the condition that the first real-time operation width is smaller than the first target operation width, increasing the rotating speed of the motor so as to reduce the difference between the first real-time operation width and the first target operation width to a first preset threshold value.
In one embodiment, determining the remaining job width of the area to be worked according to the first target job length, the first live job length, and the adjusted first live job width includes: comparing the first real-time operation length with a first target operation length; under the condition that the first real-time working length is larger than the first target working length, determining that the working of the agricultural machine for the current working line is completed, and determining the residual working width of the to-be-worked area according to the adjusted first real-time working width; and under the condition that the first real-time working length is smaller than or equal to the first target working length, acquiring an updated first working image of the current working line, and determining the first real-time working length again according to the updated first working image until the first real-time working length is larger than the first target working length.
In one embodiment, determining the remaining job width of the area to be worked according to the adjusted first real-time job width includes: for each updated first operation image of the current operation line, determining a first real-time operation width of the agricultural machine when the agricultural machine operates for the current operation line, and adjusting the first real-time operation width of each time according to the first target operation width; determining a width average value of the agricultural machine for current line operation according to all the adjusted first real-time operation widths; and determining the residual operation width of the to-be-operated area according to the width average value and the width of the inscribed rectangular area of the to-be-operated area.
In one embodiment, the width mean is determined by equation (1):
wherein W is m Is the width mean value corresponding to the m-th row,for the k-th adjusted real-time job width,to adjust the total width of the real-time operation after k times.
In one embodiment, the real-time working width of the agricultural machine in working is W n 。
In one embodiment, the area parameters include an area shape and an area of the area to be worked, and determining the number of working lines of the agricultural machine for the area to be worked according to the area parameters includes: determining an inscribed rectangular region of the region to be operated according to the shape and the area of the region; determining the area of each closed area formed by the inscribed rectangular area and the area to be operated; determining an operation route of the agricultural machine according to the area of each closed area; and determining the number of operation lines according to the operation route.
In one embodiment, determining a work route of an agricultural machine based on an area of each enclosed area includes: determining a first long-side closed region and a second long-side closed region formed by the long side of the inscribed rectangular region and the region to be operated, and the total area of the long-side closed regions corresponding to the first long-side closed region and the second long-side closed region; determining a first short-side closed region and a second short-side closed region formed by the short sides of the inscribed rectangular region and the region to be operated, and the total area of the short-side closed regions corresponding to the first short-side closed region and the second short-side closed region; under the condition that the total area of the long-side enclosed areas is larger than that of the short-side enclosed areas, determining the direction in which the short sides of the inscribed rectangular areas are positioned as the operation direction of the agricultural machinery; determining the direction of the long side of the inscribed rectangular area as the operation direction of the agricultural machine under the condition that the total area of the long side closed area is smaller than or equal to that of the short side closed area; and determining the operation route of the agricultural machine according to the operation direction of the agricultural machine and the area of the area to be operated.
In one embodiment, determining the number of work rows of the agricultural machine for the area to be worked according to the area parameter further includes: determining a target operation line number according to the width of the inscribed rectangular region and a preset operation width; under the condition that the target operation line number is an integer, determining the operation line number of the agricultural machine aiming at the to-be-operated area as the target operation line number; when the target number of work lines is not an integer, determining that the number of work lines of the agricultural machine for the area to be worked is the integer closest to the target number of work lines.
In one embodiment, determining a first target job width and a first target job length at which the agricultural machine is to perform a job for a current job row includes: determining the quotient of the width of the inscribed rectangular region and the number of operation lines as a first target operation width; a first target working length is determined from a working route of the agricultural machine.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: acquiring regional parameters of a region to be operated; determining the number of operation lines of the agricultural machine aiming at an area to be operated according to the area parameters, and determining a first target operation width and a first target operation length when the agricultural machine works aiming at the current operation line; determining a first real-time operation width and a first real-time operation length of the agricultural machine when the agricultural machine works on the current operation line according to the first operation image of the current operation line; adjusting the first real-time operation width to enable the first real-time operation width to approach to the first target operation width; determining the residual operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width; determining a second target working width and a second target working length when the agricultural machine works for the next working row according to the residual working width; under the condition that the numerical value of the operation line is larger than a preset numerical value, determining the next operation line as the current operation line, and decrementing the numerical value of the operation line; returning again to the step of determining the target working width and the target working length of the current working line, and determining that the working of the agricultural machine for the area to be worked is completed until the number of working lines is equal to the preset number.
In one embodiment, adjusting the first real-time job width includes: comparing the first target job width with the first real-time job width; reducing the motor rotation speed of the agricultural machine to reduce the difference between the first real-time working width and the first target working width to a first preset threshold under the condition that the first real-time working width is larger than the first target working width; and under the condition that the first real-time operation width is smaller than the first target operation width, increasing the rotating speed of the motor so as to reduce the difference between the first real-time operation width and the first target operation width to a first preset threshold value.
In one embodiment, determining the remaining job width of the area to be worked according to the first target job length, the first live job length, and the adjusted first live job width includes: comparing the first real-time operation length with a first target operation length; under the condition that the first real-time working length is larger than the first target working length, determining that the working of the agricultural machine for the current working line is completed, and determining the residual working width of the to-be-worked area according to the adjusted first real-time working width; and under the condition that the first real-time working length is smaller than or equal to the first target working length, acquiring an updated first working image of the current working line, and determining the first real-time working length again according to the updated first working image until the first real-time working length is larger than the first target working length.
In one embodiment, determining the remaining job width of the area to be worked according to the adjusted first real-time job width includes: for each updated first operation image of the current operation line, determining a first real-time operation width of the agricultural machine when the agricultural machine operates for the current operation line, and adjusting the first real-time operation width of each time according to the first target operation width; determining a width average value of the agricultural machine for current line operation according to all the adjusted first real-time operation widths; and determining the residual operation width of the to-be-operated area according to the width average value and the width of the inscribed rectangular area of the to-be-operated area.
In one embodiment, the width mean is determined by equation (1):
wherein W is m Is the width mean value corresponding to the m-th row,for the k-th adjusted real-time job width,to adjust the total width of the real-time operation after k times.
In one embodiment, the real-time working width of the agricultural machine in working is W n 。
In one embodiment, the area parameters include an area shape and an area of the area to be worked, and determining the number of working lines of the agricultural machine for the area to be worked according to the area parameters includes: determining an inscribed rectangular region of the region to be operated according to the shape and the area of the region; determining the area of each closed area formed by the inscribed rectangular area and the area to be operated; determining an operation route of the agricultural machine according to the area of each closed area; and determining the number of operation lines according to the operation route.
In one embodiment, determining a work route of an agricultural machine based on an area of each enclosed area includes: determining a first long-side closed region and a second long-side closed region formed by the long side of the inscribed rectangular region and the region to be operated, and the total area of the long-side closed regions corresponding to the first long-side closed region and the second long-side closed region; determining a first short-side closed region and a second short-side closed region formed by the short sides of the inscribed rectangular region and the region to be operated, and the total area of the short-side closed regions corresponding to the first short-side closed region and the second short-side closed region; under the condition that the total area of the long-side enclosed areas is larger than that of the short-side enclosed areas, determining the direction in which the short sides of the inscribed rectangular areas are positioned as the operation direction of the agricultural machinery; determining the direction of the long side of the inscribed rectangular area as the operation direction of the agricultural machine under the condition that the total area of the long side closed area is smaller than or equal to that of the short side closed area; and determining the operation route of the agricultural machine according to the operation direction of the agricultural machine and the area of the area to be operated.
In one embodiment, determining the number of work rows of the agricultural machine for the area to be worked according to the area parameter further includes: determining a target operation line number according to the width of the inscribed rectangular region and a preset operation width; under the condition that the target operation line number is an integer, determining the operation line number of the agricultural machine aiming at the to-be-operated area as the target operation line number; when the target number of work lines is not an integer, determining that the number of work lines of the agricultural machine for the area to be worked is the integer closest to the target number of work lines.
In one embodiment, determining a first target job width and a first target job length at which the agricultural machine is to perform a job for a current job row includes: determining the quotient of the width of the inscribed rectangular region and the number of operation lines as a first target operation width; a first target working length is determined from a working route of the agricultural machine.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (14)

1. A method for determining a work width of an agricultural machine, the method comprising:
acquiring regional parameters of a region to be operated;
determining the operation line number of the agricultural machine aiming at the to-be-operated area according to the area parameter, and determining a first target operation width and a first target operation length when the agricultural machine works aiming at the current operation line;
determining a first real-time operation width and a first real-time operation length of the agricultural machine when the agricultural machine works on the current operation line according to a first operation image of the current operation line;
adjusting the first real-time operation width to enable the first real-time operation width to approach the first target operation width;
determining the residual operation width of the to-be-operated area according to the first target operation length, the first real-time operation length and the adjusted first real-time operation width;
Decreasing the number of the operation lines, and determining the next operation line as the current operation line under the condition that the decreased number of the operation lines is larger than a preset number;
determining a second target working width and a second target working length when the agricultural machine works on the next working line according to the residual working width and the working line number after the preset value is reduced;
and returning to the step of determining the target working width and the target working length of the current working line again, and determining that the working of the agricultural machine for the area to be worked is completed under the condition that the number of the working lines is equal to the preset number.
2. The method for determining a work width of an agricultural machine of claim 1, wherein the adjusting the first real-time work width comprises:
comparing the first target job width with the first real-time job width;
reducing the motor speed of the agricultural machine to reduce the difference between the first live working width and the first target working width to a first preset threshold value when the first live working width is greater than the first target working width;
And increasing the rotating speed of the motor under the condition that the first real-time operation width is smaller than the first target operation width, so as to reduce the difference value between the first real-time operation width and the first target operation width to a first preset threshold value.
3. The method for determining a working width of an agricultural machine according to claim 1, wherein the determining the remaining working width of the area to be worked according to the first target working length, the first real-time working length, and the adjusted first real-time working width comprises:
comparing the first real-time working length with the first target working length;
determining that the operation of the agricultural machine for the current operation line is completed under the condition that the first real-time operation length is larger than the first target operation length, and determining the residual operation width of the to-be-operated area according to the adjusted first real-time operation width;
and under the condition that the first real-time working length is smaller than or equal to the first target working length, acquiring an updated first working image of the current working line, and determining the first real-time working length again according to the updated first working image until the first real-time working length is larger than the first target working length.
4. A method for determining a working width of an agricultural machine according to claim 3, wherein the determining the remaining working width of the area to be worked based on the adjusted first real-time working width comprises:
for each updated first operation image of the current operation line, determining a first real-time operation width of the agricultural machine when the agricultural machine operates on the current operation line, and adjusting the first real-time operation width of each time according to the first target operation width;
determining a width average value of the agricultural machine for current operation according to all the adjusted first real-time operation widths;
and determining the residual operation width of the to-be-operated area according to the width average value and the width of the inscribed rectangular area of the to-be-operated area.
5. The method for determining a working width of an agricultural machine according to claim 4, wherein the width mean value is determined by formula (1):
wherein W is m Is the width mean value corresponding to the m-th row,for the k-th adjusted real-time job width, < >>To adjust the total width of the real-time operation after k times.
6. The method for determining a working width of an agricultural machine according to claim 5, wherein the real-time working width of the agricultural machine at the time of working is W n 。
7. The method for determining a working width of an agricultural machine according to claim 1, wherein the area parameter includes an area shape and an area of the area to be worked, and wherein determining the number of working lines of the agricultural machine for the area to be worked according to the area parameter includes:
determining an inscribed rectangular region of the region to be operated according to the region shape and the region area;
determining the area of each closed area formed by the inscribed rectangular area and the area to be operated;
determining a working route of the agricultural machine according to the area of each enclosed area;
and determining the number of the operation lines according to the operation route.
8. The method for determining a working width of an agricultural machine according to claim 7, wherein the determining a working route of the agricultural machine according to an area of each enclosed area includes:
determining a first long-side closed region and a second long-side closed region formed by the long side of the inscribed rectangular region and the region to be operated, and the total area of the long-side closed regions corresponding to the first long-side closed region and the second long-side closed region;
determining a first short-side closed region and a second short-side closed region formed by the short side of the inscribed rectangular region and the region to be operated, and the total area of the short-side closed regions corresponding to the first short-side closed region and the second short-side closed region;
Determining the direction of the short side of the inscribed rectangular region as the operation direction of the agricultural machine under the condition that the total area of the long-side closed region is larger than that of the short-side closed region;
determining the direction of the long side of the inscribed rectangular region as the operation direction of the agricultural machine under the condition that the total area of the long side closed region is smaller than or equal to that of the short side closed region;
and determining the operation route of the agricultural machine according to the operation direction of the agricultural machine and the area of the area to be operated.
9. The method for determining a working width of an agricultural machine according to claim 8, wherein the determining the number of lines of the agricultural machine for the area to be worked according to the area parameter further comprises:
determining a target operation line number according to the width of the inscribed rectangular region and a preset operation width;
determining that the operation line number of the agricultural machine aiming at the to-be-operated area is the target operation line number under the condition that the target operation line number is an integer;
and when the target operation line number is not an integer, determining that the operation line number of the agricultural machine aiming at the to-be-operated area is the integer closest to the target operation line number.
10. The method for determining a work width of an agricultural machine of claim 9, wherein the determining a first target work width and a first target work length for the agricultural machine when working for a current work row comprises:
determining a quotient of the width of the inscribed rectangular region and the number of operation lines as the first target operation width;
and determining the first target working length according to the working route of the agricultural machine.
11. A processor configured to perform the method for determining a working width of an agricultural machine according to any one of claims 1 to 10.
12. An apparatus for determining a work width of an agricultural machine, the apparatus comprising:
the image acquisition equipment is used for acquiring an operation image of the agricultural machine in the operation process; and
the processor of claim 11.
13. An agricultural machine comprising the apparatus for determining a working width of an agricultural machine according to claim 12.
14. A machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the method for determining an agricultural machine job width according to any one of claims 1 to 10.
CN202210557188.4A 2022-05-20 2022-05-20 Method for determining operation width of agricultural machine, processor and agricultural machine Pending CN117132524A (en)

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Application Number Priority Date Filing Date Title
CN202210557188.4A CN117132524A (en) 2022-05-20 2022-05-20 Method for determining operation width of agricultural machine, processor and agricultural machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210557188.4A CN117132524A (en) 2022-05-20 2022-05-20 Method for determining operation width of agricultural machine, processor and agricultural machine

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Publication Number Publication Date
CN117132524A true CN117132524A (en) 2023-11-28

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