CN117369452A - Unmanned agricultural machinery operation control method and device, unmanned agricultural machinery and storage medium - Google Patents

Abstract

The embodiment of the invention provides an unmanned agricultural machine operation control method, an unmanned agricultural machine operation control device, an unmanned agricultural machine and a storage medium, wherein the method comprises the following steps: determining a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated, wherein the region information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are arranged on the unmanned agricultural machine; and controlling the unmanned agricultural machinery to execute corresponding agricultural machinery behaviors according to the global driving path and real-time position information of the unmanned agricultural machinery, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machinery or a set map combined with an image acquisition device and/or a laser radar. By utilizing the method, the whole automation of the operation of the unmanned agricultural machine and the delivery of the unmanned agricultural machine during delivery and operation is realized, the labor cost is saved, and the operation efficiency of the unmanned agricultural machine is improved. Meanwhile, the precise positioning of the unmanned agricultural machinery can be realized, and the accuracy of operation control of the unmanned agricultural machinery is improved.

Description

Unmanned agricultural machinery operation control method and device, unmanned agricultural machinery and storage medium

Technical Field

The invention relates to the technical field of intelligent control, in particular to an unmanned agricultural machine operation control method and device, an unmanned agricultural machine and a storage medium.

Background

With development of agricultural technology and application of digital technology, smart agriculture is becoming one of the important trends of agricultural development, and also becomes a hot spot for research in the current agricultural technology field. In the field of agricultural machinery, more agricultural machinery navigation products mainly assist automatic driving in the market, and although the efficiency, the land utilization rate and the yield of the agricultural machinery are improved compared with those of the traditional manual cultivation, the auxiliary operation of a driver on the agricultural machinery is required at present, so that the workload of the driver is inevitably increased, and the production operation quality is probably seriously affected.

In addition, the agricultural machinery navigation products in the current market are mainly based on GPS navigation, and the automatic driving of the agricultural machinery is controlled by installing a vehicle body sensor on the agricultural machinery and applying a combined navigation technology to acquire and analyze the position, speed, direction and other data of the agricultural machinery. However, for some complex environments and operation scenes, the navigation accuracy and reliability of the navigation system still have certain limitations.

Disclosure of Invention

The embodiment of the invention provides an unmanned agricultural machine operation control method, an unmanned agricultural machine operation control device, an unmanned agricultural machine and a storage medium, which realize the delivery of the unmanned agricultural machine, the execution of agricultural machine actions during operation and the whole-course automation of delivery, save labor cost and improve the operation efficiency of the unmanned agricultural machine.

In a first aspect, an embodiment of the present invention provides an unmanned agricultural machine operation control method, including:

determining a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated, wherein the region information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are installed on the unmanned agricultural machine, and the global travel path comprises a warehouse-out path, an operation path and a warehouse-in path;

and controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined with the image acquisition device and/or the laser radar.

In a second aspect, an embodiment of the present invention provides an unmanned agricultural machinery operation control device, including:

The path determining module is used for determining a global running path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and area information of an area to be operated, wherein the area information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are arranged on the unmanned agricultural machine, and the global running path comprises a warehouse-out path, an operation path and a warehouse-in path;

and the behavior control module is used for controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined with the image acquisition device and/or the laser radar.

In a third aspect, an embodiment of the present invention further provides an unmanned agricultural machine, including:

an unmanned agricultural machine main body;

the image acquisition device, the obstacle detection device, the laser radar and the navigation positioning device are arranged on the unmanned agricultural machinery main body;

the controller, with image acquisition device, obstacle detection device, laser radar and navigation positioning device communication connection, the controller includes:

At least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the unmanned agricultural vehicle job control method as described in the embodiments of the first aspect.

In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the unmanned agricultural machinery job control method of the embodiments of the first aspect.

The embodiment of the invention provides an unmanned agricultural machine operation control method, an unmanned agricultural machine operation control device, an unmanned agricultural machine and a storage medium, wherein the method comprises the following steps: firstly, determining a global travel path of an unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated, wherein the region information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are installed on the unmanned agricultural machine, and the global travel path comprises a warehouse-out path, an operation path and a warehouse-in path; and then controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined with the image acquisition device and/or the laser radar. According to the technical scheme, the global running path of the unmanned agricultural machine is planned in advance, and through real-time position information, the unmanned agricultural machine is tracked and controlled in the whole process, and the unmanned agricultural machine is controlled to automatically execute corresponding agricultural machine behaviors. The whole-course automation of the agricultural machinery action and warehousing during the delivery and operation of the unmanned agricultural machinery is realized, the labor cost is saved, and the operation efficiency of the unmanned agricultural machinery is improved. Meanwhile, the navigation positioning device or the set map is combined with the image acquisition device and/or the laser radar to determine the real-time position information of the unmanned agricultural machinery, so that the unmanned agricultural machinery can be accurately positioned in a complex environment and an operation scene which cannot be positioned by the navigation positioning device, and the accuracy of operation control of the unmanned agricultural machinery is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of an operation control method of an unmanned agricultural machine according to a first embodiment of the present invention;

fig. 2 is a schematic flow chart of another method for controlling operation of an unmanned agricultural machine according to a second embodiment of the present invention;

fig. 3 is an exemplary diagram of a job path in execution of an unmanned agricultural machinery job control method according to a second embodiment of the present invention;

fig. 4 is a schematic diagram illustrating an execution of an operation control method of an unmanned agricultural machine according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of an operation control device for an unmanned agricultural machine according to a third embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an unmanned agricultural machine according to a fourth embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "original," "target," and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a schematic flow chart of a method for controlling operation of an unmanned agricultural machine according to an embodiment of the present invention, where the method may be applicable to controlling operation of an unmanned agricultural machine, and the method may be performed by an unmanned agricultural machine operation control device, and the device may be implemented in a hardware and/or software form and may be configured in an unmanned agricultural machine. As shown in fig. 1, the unmanned agricultural machinery operation control method provided in the first embodiment may specifically include the following steps:

s101, determining a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and area information of an area to be worked.

Wherein, unmanned agricultural machinery can be transplanter, tractor, harvester etc.. In this embodiment, the unmanned agricultural machine is an agricultural machine with an electric control chassis or capable of realizing automatic control of gears, throttle, agricultural tools and the like after automatic modification and upgrading. The regional information is determined by an image acquisition device, an obstacle detection device and a laser radar which are arranged on the unmanned agricultural machinery together, and the global driving path comprises a warehouse-out path, a working path and a warehouse-in path.

The application scenario of the present embodiment may be described as: when a certain field needs to be operated, the unmanned agricultural machine is controlled to reach the field, tools on the unmanned agricultural machine are utilized to operate the field, the unmanned agricultural machine returns to the garage after the operation is completed, and the whole process can realize the warehouse-out, operation and warehouse-in of the unmanned agricultural machine without manual auxiliary operation. The area to be worked is denoted as the area to be worked. The operation scene can comprise various scenes such as raking, rotating the ground, sowing, irrigating, harvesting and the like. The attribute information of the unmanned agricultural machine may include position information of the unmanned agricultural machine, a turning radius, parameters of agricultural tools installed on the unmanned agricultural machine, and the like.

In this embodiment, the unmanned agricultural machine is provided with an image acquisition device, for example, the image acquisition device may be a camera, and image data of the surrounding environment may be acquired by the image acquisition device. The unmanned agricultural machinery is also provided with an obstacle detection device, and whether an obstacle exists in the surrounding environment or not can be detected through the obstacle detection device. By way of example, the obstacle detection device may be a millimeter wave radar or other radar device that may perform obstacle detection. Laser radars are also installed on unmanned agricultural machinery, for example, the laser radars can utilize three-dimensional scanning technology to acquire point cloud data of surrounding environments. The unmanned agricultural machinery can utilize the various types of sensors described above, and simultaneously utilize the three-dimensional scanning technology to sense the working environment around the agricultural machinery, so as to construct an environment map, identify whether obstacles exist or not and identify the types of the obstacles.

And in the description, the two types of data are fused through the acquired image data and the point cloud data to identify each target and the position of each target, so that the surrounding operation environment data of the unmanned agricultural machinery is constructed, whether the surrounding operation environment has an obstacle or not is determined, the type of the obstacle is judged, and if the animal, the telegraph pole or the water stake exists or not. The data of the working environment around the unmanned agricultural machine can comprise boundary information of the region to be worked and specific distribution in the region to be worked, and the information can be used as region information of the region to be worked. Meanwhile, the identified obstacle can be marked at the corresponding position in the area information. For example, for a static obstacle, a path for planning that an unmanned agricultural machine needs to avoid the obstacle when traveling may be preset.

It is understood that the area information of the area to be worked may be acquired in advance. The area information can be generated based on the unmanned agricultural machinery to collect the data of the area to be worked in advance. Or other unmanned agricultural machines are adopted to collect the data of the area to be operated in advance, and area information is generated and shared to the unmanned agricultural machines. The method may further include measuring boundary information of the area to be worked by using the dotter and the map as area information, and uploading the area information to a processor of the unmanned agricultural machine, so that the processor of the unmanned agricultural machine obtains the area information of the area to be worked.

When the unmanned agricultural machine is required to be controlled to go to the area to be operated for operation, it is required to determine how the unmanned agricultural machine runs from the initial position to the area to be operated, how the unmanned agricultural machine runs when operating in the area to be operated, and how the unmanned agricultural machine runs from the area to be operated to the garage. One way may be that the unmanned agricultural machine obtains its initial position information through its own navigation positioning device, and then according to the area information of the area to be operated, the area information includes the position of the area to be operated, and a warehouse-out path for the unmanned agricultural machine to travel from the initial position to the area to be operated and a warehouse-in path for the unmanned agricultural machine to travel from the area to be operated to the garage may be created according to the vehicle navigation device. In another mode, the dotter and the map are used for measuring boundary information of the area to be worked as area information, and the area information is uploaded to a processor of the unmanned agricultural machine, so that the processor of the unmanned agricultural machine obtains the area information of the area to be worked. The dotter can be arranged on the positioning and collecting vehicle, and the positioning and collecting vehicle or the user holds the positioning and collecting device to rotate one circle along the boundary of the area to be worked so as to measure the boundary information of the area to be worked.

For how the unmanned agricultural machine runs in the area to be operated, according to agricultural tool parameters, the minimum turning radius of the unmanned agricultural machine and the area information of the area to be operated, determining what path to operate in the area to be operated, and what path to turn around. After all the travel paths of the unmanned agricultural machine are planned, the all the travel paths can be used as the global travel paths of the unmanned agricultural machine.

S102, controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine.

The real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined image acquisition device and/or a laser radar.

After the global running path of the unmanned agricultural machine is planned, real-time position information of the unmanned agricultural machine is needed, so that tracking control can be performed according to the real-time position information of the unmanned agricultural machine and the global running path, and the unmanned agricultural machine can run according to the global running path. Meanwhile, in the running process of the unmanned agricultural machine, determining which agricultural machine behaviors the unmanned agricultural machine should execute according to the position of the unmanned agricultural machine, so as to realize the agricultural machine behaviors such as automatic delivery of the unmanned agricultural machine, operation in a region to be operated, warehouse entry and the like. For example, the agricultural machine behaviors may include: ex-warehouse, straight line operation, automatic turning, obstacle avoidance, warehouse entry, farm tool lifting, multi-way valve reversing and the like.

In this embodiment, the hardware portion of the unmanned agricultural machine mainly includes a positioning sensor, a vehicle body sensor, an image acquisition device, an obstacle detection device, a laser radar, a display, a controller, and the like, and is not particularly limited herein. In this embodiment, the path tracking control may be performed on the unmanned agricultural machine based on a set control algorithm, and the control algorithm may be, for example, a control algorithm such as model prediction control, linear quadratic optimal control, pure tracking control, or the like.

In this embodiment, the unmanned agricultural machine is provided with a navigation positioning device, for example, the navigation point location device may adopt a high-precision satellite navigation technology, such as a beidou navigation technology. The navigation positioning device can be arranged at the position of the head of the vehicle. Based on the above, the unmanned agricultural machine can be positioned in real time according to the installed navigation positioning device, and the real-time positioning is recorded as real-time position information. When the satellite navigation can not be used for positioning in remote areas without base station coverage or in places with full base station coverage by using the navigation positioning device, the image acquisition device and/or the laser radar installed on the unmanned agricultural machine can be used for carrying out real-time positioning on the unmanned agricultural machine by combining with a preset map. An exemplary implementation manner of implementing unmanned agricultural machinery positioning by using an image acquisition device and/or a laser radar may be that the laser radar/image acquisition device scans the terrain of the area to be worked to obtain the terrain data; the terrain data is compared with the high-precision map, and accurate geographic position information of the terrain data on the high-precision map is obtained, so that the geographic position information of the terrain where the unmanned agricultural machinery is located can be determined and used as real-time position information.

The system comprises an image acquisition device, a laser radar and a control system, wherein the image acquisition device and the laser radar can be used for simultaneously carrying out data acquisition, the image acquisition device can also be used under the condition of good daytime light, the laser radar can be used at night, the purpose of 24-hour uninterrupted operation can be achieved by complementary use of the image acquisition device and the laser radar, and the continuous uninterrupted operation of time and space can be realized by cooperation of the three technologies.

In this embodiment, the global travel path includes an outbound path, a job path, and a inbound path. When the real-time position information of the unmanned aerial vehicle is on the delivery path, the control of the unmanned aerial vehicle to execute the corresponding agricultural vehicle behavior may be to control the unmanned aerial vehicle to travel according to the delivery path, and in this process, the agricultural implement of the unmanned aerial vehicle is in a stowing state. When the real-time position information of the unmanned agricultural machine is in the working path, the region to be worked can be divided into a region in the ground of the work and a region at the head of the work turning around, at this time, the unmanned agricultural machine is controlled to execute corresponding agricultural machine behaviors, namely the unmanned agricultural machine is controlled to run according to the path in the region in the ground and the agricultural tool is in the working state, and the unmanned agricultural machine is controlled to run according to the path in the region in the ground and the agricultural tool is in the storage state. When the real-time position information of the unmanned agricultural machine is in the warehouse-in path, the unmanned agricultural machine can be controlled to drive back to the garage from the area to be operated according to the warehouse-in path.

In this embodiment, remote monitoring may be set, and remote monitoring and management of the agricultural machine may be implemented through an internet technology, including real-time monitoring and management of information such as an operation state, an operation effect, maintenance and the like of the agricultural machine, so as to improve the service life and efficiency of the agricultural machine. In addition, the cooperative work and resource sharing of multiple farms and multiple work areas can be realized through cloud computing and big data technology, so that the agricultural production efficiency and the sustainable development level are improved, and the method is not particularly limited. Through the scheme, functions such as autonomous navigation, intelligent operation control and remote monitoring can be realized, the operation efficiency and the agricultural production benefit of the agricultural machinery are improved, and meanwhile, the manpower workload is reduced and the operation safety is improved.

The technical scheme can effectively improve the operation precision. Compared with the prior art, the precision of the driver with abundant experience in field operation is about 10cm, and the operation precision can be obviously reduced along with the operation time and the operation intensity. The unmanned agricultural machinery of automatic navigation that has adopted big dipper high accuracy location technique for example, the precision of operation can reach 2.5cm at the highest, can effectively avoid missing to broadcast and replay the phenomenon, improves the utilization ratio of soil and can continuously guarantee high accuracy ground operation. In addition, different paths can be planned according to different operation periods, path data are stored, and the planned path data are directly called to perform operation when the operation period is reached. At the same time, the working time can be significantly increased. The automatic navigation technology of the unmanned agricultural machine can lead a driver to get rid of the labor with boring complexity and high intensity, prolong the working time and improve the vehicle outlet rate of the agricultural machine. The optimal planning path not only can save the working time of the agricultural machinery, but also can carry out night work without being limited by the working time.

In addition, the input cost is saved. Because the agricultural machinery automatic navigation can accurately operate, the resources required by agricultural cultivation are accurately put in the proper areas of farmlands, and unnecessary waste of the resources such as fertilizer, seeds, oil and the like can be reduced. Can also help to protect the environment and reduce unnecessary compaction of the soil. Is beneficial to the large-scale production of farmlands. The automation of agricultural machinery makes it more efficient and less dependent on human operation, and can be well completed for larger areas of land.

The embodiment of the invention provides an unmanned agricultural machinery operation control method, which comprises the following steps: firstly, determining a global travel path of an unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated, wherein the region information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are arranged on the unmanned agricultural machine, and the global travel path comprises a warehouse-out path, an operation path and a warehouse-in path; and then controlling the unmanned agricultural machinery to execute corresponding agricultural machinery behaviors according to the global driving path and real-time position information of the unmanned agricultural machinery, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machinery or a set map combined with an image acquisition device and/or a laser radar. According to the technical scheme, the global running path of the unmanned agricultural machine is planned in advance, and through real-time position information, the unmanned agricultural machine is tracked and controlled in the whole process, and the unmanned agricultural machine is controlled to automatically execute corresponding agricultural machine behaviors. The whole-course automation of the agricultural machinery action and warehousing during the delivery and operation of the unmanned agricultural machinery is realized, the labor cost is saved, and the operation efficiency of the unmanned agricultural machinery is improved. Meanwhile, the navigation positioning device or the set map is combined with the image acquisition device and/or the laser radar to determine the real-time position information of the unmanned agricultural machinery, so that the unmanned agricultural machinery can be accurately positioned in a complex environment and an operation scene which cannot be positioned by the navigation positioning device, and the accuracy of operation control of the unmanned agricultural machinery is improved.

As a first alternative embodiment of the embodiments of the present invention, on the basis of the above-described embodiments, the obstacle detection device is a millimeter wave radar; the determination of the region information may be optimized as:

a1 Image data acquired by the image acquisition device and point cloud data acquired by the laser radar are acquired.

The method comprises the steps of acquiring image data of an area to be operated by using an image acquisition device in advance, and acquiring point cloud data of the area to be operated by using a laser radar.

b1 Fusing the image data and the point cloud data to determine the environment data of the area to be worked.

The point cloud data is equivalent to three-dimensional information of the area to be worked, the point cloud data and the image data are fused, all the targets contained in the point cloud data are identified, and the fusion identification technology is utilized to determine the environmental data of the area to be worked. The environmental data of the area to be worked may include boundary information of the area to be worked, specific distribution of the area to be worked, and the like.

c1 A static obstacle in the area to be worked is determined by means of millimeter wave radar.

Specifically, an obstacle in the area to be worked may be determined by the millimeter wave radar, wherein the obstacle may include a dynamic obstacle and a static obstacle. Considering that the step is that before the unmanned aerial vehicle performs the task, if the step is a dynamic obstacle, the dynamic obstacle may already move when the unmanned aerial vehicle performs the task, and therefore, the static obstacle is determined in the step.

d1 Labeling the environmental data according to the static obstacle, and determining the area information of the area to be worked.

In this embodiment, according to the identified static obstacle, the location of the static obstacle is marked in the environmental data, and the environmental data with boundary information after the obstacle is marked is used as the area information of the area to be worked.

The first optional embodiment embodies the determination step of the area information of the area to be operated, realizes the accurate determination of the area information by using the image acquisition device, the laser radar and the millimeter wave radar, and provides a basis for the follow-up control of unmanned agricultural machinery to operate.

As a second alternative embodiment of the present invention, the step of determining real-time location information of the unmanned agricultural machine may be optimized as follows on the basis of the above-described embodiment:

a2 The real-time position information of the unmanned agricultural machine is obtained through a navigation positioning device on the unmanned agricultural machine.

The navigation positioning device can adopt a high-precision satellite navigation positioning device, for example, a Beidou navigation technology can be adopted, and the navigation positioning device is arranged at the head position of the unmanned agricultural machine. The real-time position information of the unmanned agricultural machine can be directly obtained by utilizing the navigation positioning device arranged on the unmanned agricultural machine.

b2 Or determining real-time terrain data of the unmanned agricultural machinery through real-time point cloud data acquired by the laser radar and/or real-time image data acquired by the image acquisition device.

As another way of determining the real-time location information of the unmanned agricultural machine, the real-time location information of the unmanned agricultural machine may be determined by a laser radar and/or an image acquisition device. When the satellite navigation can not be used for positioning in remote areas without base station coverage or in places with full base station coverage by using the navigation positioning device, the image acquisition device and/or the laser radar installed on the unmanned agricultural machine can be used for carrying out real-time positioning on the unmanned agricultural machine by combining with a preset map. One implementation way of implementing the positioning of the unmanned agricultural machine by using the image acquisition device and/or the laser radar may be to scan the terrain of the area to be worked by using the laser radar/image acquisition device to acquire real-time terrain data of the unmanned agricultural machine.

The laser radar can be used at night, the purpose of 24-hour uninterrupted operation is achieved by complementary use of the laser radar and the image acquisition device, and continuous uninterrupted operation in time and space can be achieved.

c2 The real-time topographic data is corresponding to a preset map, and the geographic position information of the unmanned agricultural machine on the preset map is obtained and used as the real-time position information of the unmanned agricultural machine.

The preset map may be a high-precision map, such as a dataized map. Specifically, the real-time topographic data is compared with a preset map, and accurate geographic position information of the real-time topographic data on the high-precision map is obtained, so that the geographic position information of the topography where the unmanned agricultural machinery is located can be determined and used as the real-time position information. The preset map does not depend on GPS, and can be used complementarily with the high-precision satellite navigation technology in some remote areas and places without base station coverage.

According to the technical scheme, the real-time position information of the unmanned agricultural machine is determined, the complete coverage of the area to be operated can be realized based on the satellite positioning equipment, the image acquisition device and the laser radar which are arranged on the unmanned agricultural machine, and even for the area without base station coverage with complex terrain, the real-time position information of the unmanned agricultural machine can be well determined, so that the basis for accurately operating the unmanned agricultural machine is provided.

As a third alternative embodiment of the present invention, based on the above embodiment, the method may be optimized further including:

a3 In the process of controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors, detecting whether the unmanned agricultural machine encounters an obstacle or not through the obstacle detection device.

In this embodiment, in the process of controlling the unmanned agricultural machine to execute the corresponding agricultural machine behavior, whether the obstacle is encountered or not may be detected in real time by the obstacle detection device. For example, whether an obstacle is encountered is detected by millimeter wave radar during unmanned agricultural machinery operation.

b3 If no one of the agricultural machines encounters an obstacle, the type of obstacle is determined.

In the present embodiment, if an obstacle is detected, it is necessary to determine the type of obstacle, which includes a dynamic obstacle and a static obstacle. The dynamic barrier may be a person, an animal, etc., and the static barrier may be a pole, a stake for water extraction, etc. For different obstacle types, the unmanned agricultural machinery can be controlled in different modes to carry out obstacle avoidance treatment.

c3 If the obstacle type is a dynamic obstacle, controlling the unmanned agricultural machinery to stop running, and continuously executing the agricultural machinery after the dynamic obstacle is monitored to move out of the set range.

Specifically, if the type of the obstacle is a dynamic obstacle, controlling the unmanned agricultural machine to stop running, and after the dynamic obstacle is driven away, ending obstacle avoidance and continuing to execute the agricultural machine behaviors.

d3 If the obstacle type is a static obstacle, controlling the unmanned agricultural machinery to carry out obstacle avoidance driving according to a pre-planned obstacle avoidance detour path, and continuing to execute the agricultural machinery behavior after the obstacle avoidance is completed.

Specifically, if the type of the obstacle is a static obstacle, the obstacle avoidance detour path can be planned in advance, the obstacle avoidance state is switched, the unmanned agricultural machinery is controlled to carry out obstacle avoidance running according to the obstacle avoidance detour path, and the agricultural machinery is executed after the obstacle avoidance is completed. For example, assuming that the unmanned agricultural machine encounters a static obstacle during straight line operation, the unmanned agricultural machine is controlled to switch to an obstacle avoidance state and to perform obstacle avoidance driving according to an obstacle avoidance detour path, and after obstacle avoidance is completed, the unmanned agricultural machine is switched to a straight line operation state.

According to the third alternative embodiment, the steps of obstacle avoidance processing are added, whether obstacles exist or not is detected in real time in the process that the unmanned agricultural machinery executes the agricultural machinery behaviors, and different obstacle avoidance processing modes are adopted for different obstacle types, so that automatic obstacle avoidance is realized.

Example two

Fig. 2 is a schematic flow chart of another operation control method for an unmanned agricultural machine according to the second embodiment of the present invention, where the present embodiment is a further optimization of the foregoing embodiment, in the present embodiment, the optimization is further defined for "determining a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated", and the optimization is further defined for "controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global travel path and real-time position information of the unmanned agricultural machine".

As shown in fig. 2, the second embodiment provides a method for controlling operation of an unmanned agricultural machine, which specifically includes the following steps:

s201, determining a delivery path of the unmanned agricultural machinery according to the initial position information of the unmanned agricultural machinery in the attribute information and the boundary information of the area to be operated in the area information.

The attribute information includes initial position information of the unmanned agricultural machine, and the unmanned agricultural machine is initially located in the garage. The area information includes boundary information of an area to be worked. Based on the initial position information can be used as a starting point, a certain point of the boundary of the land area of the area to be worked is used as an arrival point, and under the condition that the starting point and the arrival point are known, a delivery path of the unmanned agricultural machine can be planned based on navigation software on the unmanned agricultural machine.

S202, determining a working path of the unmanned agricultural machinery according to the turning radius and the agricultural machinery parameters of the unmanned agricultural machinery in the area information and the attribute information.

The attribute information comprises the turning radius of the unmanned agricultural machinery and agricultural machinery parameters. In this embodiment, an offset value may be determined according to the farm tool parameters to ensure that the farm tool may fall within the area to be worked. An inner boundary information can be determined based on the offset value and the region information. When the unmanned agricultural machinery is positioned in the area to be operated to execute the operation task, the area to be operated can be divided into an area in the ground for operation and an area at the ground for turning around. The vehicle travels straight in the ground area and travels in a curved path in the ground area. The travel path in the entire area to be worked may be considered to be composed of a plurality of straight work paths and a plurality of turning paths, the straight work paths being connected to the respective turning paths.

S203, determining a warehouse entry path of the unmanned agricultural machine according to the boundary information and the garage position information of the garage.

Specifically, a boundary point of the to-be-operated area after the operation task is completed can be included as a starting point, garage position information of the garage is used as an arrival point, and a warehouse-in path of the unmanned agricultural machine can be planned based on navigation software on the unmanned agricultural machine under the condition that the starting point and the arrival point are known.

S204, taking the ex-warehouse path, the job path and the warehouse-in path as global driving paths.

And S205, when the real-time position information is at the starting point of the delivery path, controlling the unmanned agricultural machine to travel to the region to be operated according to the delivery path and controlling the agricultural tool to be in a retracted state.

Specifically, when the unmanned agricultural machine is going to go out of the warehouse and go to the region to be worked, the real-time position information is equivalent to the starting point of the warehouse-out path, at this time, the unmanned agricultural machine is controlled to execute the corresponding agricultural machine action, namely the unmanned agricultural machine is controlled to travel to the region to be worked according to the warehouse-out path, and the agricultural tool is always in a stowing state in the process.

And S206, when the real-time position information is in the area to be worked, controlling the unmanned agricultural machine to run according to the working path, and simultaneously controlling the agricultural tool of the unmanned agricultural machine to be in a working state in the area of the ground and to be in a storage state in the area of the ground.

Specifically, when the real-time position information is in the area to be worked, at this time, the control of the unmanned agricultural machine to execute the corresponding agricultural machine behavior may be to control the unmanned agricultural machine to travel along a path and make the agricultural tool in a working state in the area of the ground, and control the unmanned agricultural machine to travel along a path and make the agricultural tool in a storage state in the area of the ground.

And S207, controlling the unmanned agricultural machine to travel from the area to be operated to the garage according to the warehouse-in path when the real-time position information is at the starting point of the warehouse-in path.

Specifically, after the unmanned agricultural machine completes the task of the area to be operated, the end point of the area to be operated where the unmanned agricultural machine is located is also the start point of the warehouse entry path, and at this time, the control of the unmanned agricultural machine to execute the corresponding agricultural machine behavior may be to control the unmanned agricultural machine to travel from the area to be operated to the garage according to the warehouse entry path. In this process the farm implement is always in the stowed condition.

According to the second embodiment, the step of determining the global running path of the unmanned agricultural machine according to the attribute information of the unmanned agricultural machine and the area information of the area to be operated and the step of controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global running path and the real-time position information of the unmanned agricultural machine are embodied, the above technical scheme respectively determines the ex-warehouse path, the operation path and the warehouse-in path, then carries out real-time tracking control according to the real-time position information of the unmanned agricultural machine and the planned path, and meanwhile controls the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the position of the unmanned agricultural machine, so that the whole-course automation of executing the agricultural machine actions and the ex-warehouse during ex-warehouse and operation of the unmanned agricultural machine is realized, the labor cost is saved, and the operation efficiency of the unmanned agricultural machine is improved. Meanwhile, the navigation positioning device or the set map is combined with the image acquisition device and/or the laser radar to determine the real-time position information of the unmanned agricultural machinery, so that the unmanned agricultural machinery can be accurately positioned in a complex environment and an operation scene which cannot be positioned by the navigation positioning device, and the accuracy of operation control of the unmanned agricultural machinery is improved.

As a first alternative embodiment of the present invention, based on the above embodiment, the determining the operation path of the unmanned agricultural machine according to the turning radius and the agricultural tool parameters of the unmanned agricultural machine in the area information and the attribute information may be optimized as the following steps:

a4 Determining the offset value of each boundary according to the farm tool parameters and the turning radius.

The agricultural implement parameters mainly refer to the operation width of the agricultural implement, the length of the agricultural implement and the like, and the turning radius mainly refers to the minimum turning radius required by unmanned agricultural implement turning. Under the condition that the parameters of the farm tool and the minimum turning radius are known, the farm tool needs to be ensured to fall in the area to be operated, the unmanned farm tool needs to be ensured to turn and fall in the area to be operated, and the turning area is ensured to be as small as possible. Shifting the boundary information according to the offset value may be regarded as determining an offset value inward of the ground area of the area to be worked. For example, an offset value is determined at two ends of the land of the area to be worked, so as to ensure that the unmanned agricultural machinery can turn.

b4 The boundary information is shifted according to the offset value, the inner boundary information of the area to be worked is determined, the area contained in the inner boundary information is used as the ground area, and the area except the ground area in the area to be worked is used as the ground area.

The boundary information is offset according to the offset value, and the process can be understood as reserving an area where the unmanned agricultural machinery turns as a land area and taking an area where the agricultural machinery really works as a middle area. For example, in the case where the boundary information is known, the boundary related to the ground area is shifted inward by the shift value, and the shifted boundary information is recorded as the inner boundary information. And the area contained in the inner boundary information is used as the ground area, and other areas in the area to be worked are used as ground areas.

c4 According to the farm tool parameters, determining a linear operation path of the unmanned farm machine in the underground area.

Specifically, the known farm tool parameters are equivalent to the known farm tool operation widths, the coverage range of the unmanned farm tool in each straight line running can be determined according to the farm tool operation widths, the coverage range can be determined based on the coverage range, the round trip time is needed to cover the ground area, the distance required by the adjacent straight line running can be determined, and the process can be used for determining the straight line operation path of the unmanned farm tool in the ground area.

d4 According to the turning radius, determining the turning path of the unmanned agricultural machinery in the ground area, and taking the straight line operation path and the turning path as operation paths.

In this embodiment, when the turning radius of the unmanned agricultural machine is known, it may be determined how the unmanned agricultural machine should turn in the ground area to enter the next straight-line driving path, and this process may be considered to determine the turning radius of the unmanned agricultural machine in the ground area. Wherein each straight line working path is connected with a corresponding turning path.

The technical scheme embodies the step of determining the straight line operation path and the turning path, and realizes the path planning of the whole area to be operated.

As a second alternative embodiment of the present invention, on the basis of the first alternative embodiment, it is possible to optimize the operation of controlling the unmanned agricultural machine according to the operation path while controlling the agricultural machine of the unmanned agricultural machine to be in the operation state in the ground area and to be in the stowage state in the ground area as follows:

a5 Controlling the unmanned agricultural machinery to run along the linear operation path from the starting point of the current linear operation path, and controlling the agricultural machinery to be in an operation state.

In this step, the linear working path near the ground is first used as the current linear working path, and the unmanned agricultural machine is controlled to travel along the linear working path from the starting point of the current linear working path, and the agricultural tool is controlled to be in a working state. For example, the unmanned agricultural machinery can be controlled to run at an acceleration speed, and then run at a constant speed after a certain speed is reached. The farm implement being in an operational state may be to lower the farm implement or perform other actions.

b5 When the unmanned agricultural machine approaches the end point of the current linear operation path, controlling the unmanned agricultural machine to run at a reduced speed.

c5 When the unmanned agricultural machine reaches the end point of the current straight line working path, controlling the agricultural tool to be in a storage state and controlling the unmanned agricultural machine to run according to the current turning path from the starting point of the current turning path.

Specifically, when the unmanned agricultural machinery reaches the end point of the current linear working path, the agricultural machinery is controlled to retract. The end point of the current straight line working path and the starting point of the current turning path are the same point, and the unmanned agricultural machinery is controlled to run according to the current turning path from the starting point of the current turning path.

d5 Returning to the step a 5) by taking the next straight line working path as the current straight line working path and the next turning path as the current turning path until the unmanned agricultural machine finishes the working of the area to be worked.

Specifically, when the unmanned agricultural machine runs along the current turning path to the end point of the turning path, the next straight line operation path connected with the current turning path is used as the current straight line path, the unmanned agricultural machine is continuously controlled to run from the starting point of the current straight line operation path according to the straight line operation path, and the agricultural tool is controlled to be in an operation state. And taking the next turning path as the current turning path, and when the unmanned agricultural machine reaches the end point of the current linear operation path, controlling the agricultural machine to be in a retracted state and controlling the unmanned agricultural machine to run according to the current turning path from the starting point of the current turning path. And repeating the steps until the operation of the area to be operated is completed. The operation process can be provided with functions of automatically adjusting the speed of the vehicle, realizing lifting of farm tools, automatically adjusting the operation depth and the like.

For example, fig. 3 is an exemplary diagram of a working path in execution of an unmanned agricultural machinery working control method according to a second embodiment of the present invention, as shown in fig. 3, A1B1C1D1 is a border of a land (a region to be worked) of a circle, border information of the region to be worked is shifted according to a determined shift value, an inner border is determined, A2B2C2D2 is an inner border of the land, a straight line working region is in the inner border, the outer part of the inner border belongs to the land region, and the land region is generally used for turning. A2B2 and C2D2 are used as virtual reference lines of inner boundaries and are mainly used for dividing an operation area and a land area, and are also used as main reference standards for farm tool actions and acceleration and deceleration of an agricultural machine. Taking A2B2 as an example, when the agricultural machine automatically drives along the first working line and gets closer to the A2B2, the agricultural machine motion and the agricultural machine motion, such as lifting and decelerating of the agricultural machine, are planned. In consideration of the distance between the agricultural implement and the mounting of the agricultural implement, the timing of lifting the agricultural implement is set to be the timing when the agricultural implement is positioned as the inner boundary point, for example, when the agricultural implement reaches the point A2, the agricultural implement is lifted at this time, and when the agricultural implement is lifted, the agricultural implement is at the point A2, but the agricultural implement has not yet reached the point A2. And after turning around, the farm tool is lowered, accelerated, and the automatic driving is advanced to continue operation. When the unmanned agricultural machine runs close to the end point of the linear operation path, controlling the unmanned agricultural machine to decelerate, lift the agricultural tool or execute other agricultural tool actions; when the unmanned aerial vehicle runs from the starting point of the linear working path, the unmanned aerial vehicle is controlled to accelerate, the agricultural implement descends or execute other agricultural implement actions, and the unmanned aerial vehicle runs according to the linear working path and the turning path until the working task of the whole working area is completed. The process can automatically complete operations such as turning, decelerating, lifting and the like without auxiliary operation of a driver on the agricultural machinery, thereby realizing intelligent agriculture. The workload of personnel is reduced, and the production quality and efficiency are improved. The automatic driving technology of the agricultural machinery navigation product in the prior art is not mature enough, and the problem of potential safety hazard exists is solved.

According to the technical scheme, how to control the agricultural machinery behaviors of the unmanned agricultural machinery in the area to be operated is embodied, whether the unmanned agricultural machinery runs straight or turns is controlled through the straight operation path and the turning path respectively, and whether the agricultural machinery operates or the agricultural machinery is retracted, so that the automatic control of the operation of the unmanned agricultural machinery is realized, the operation efficiency is improved, and the labor cost is saved.

In order to more clearly describe the unmanned agricultural machinery operation control method provided by the embodiment of the invention, the unmanned agricultural machinery operation control is described by taking a certain practical application scene as an example. Fig. 4 is a flowchart illustrating execution of an unmanned agricultural machinery operation control method in an application scenario according to the second embodiment of the present invention, where, as shown in fig. 4, the execution steps of the unmanned agricultural machinery operation control method specifically include:

s1, acquiring image data acquired by an image acquisition device and point cloud data acquired by a laser radar.

S2, fusing the image data and the point cloud data to determine the environment data of the area to be worked.

S3, determining a static obstacle in the area to be worked through the millimeter wave radar.

And S4, marking the environmental data according to the static obstacle, and determining the area information of the area to be worked.

S5, determining a delivery path of the unmanned agricultural machine according to the initial position information of the unmanned agricultural machine in the attribute information and the boundary information of the area to be operated in the area information.

S6, determining the offset value of each boundary according to the farm tool parameters and the turning radius.

And S7, shifting the boundary information according to the offset value, determining the inner boundary information of the area to be worked, taking the area contained in the inner boundary information as the ground area, and taking the area except the ground area in the area to be worked as the ground area.

S8, determining a linear operation path of the unmanned agricultural machinery in the underground area according to the agricultural machinery parameters.

S9, determining a turning path of the unmanned agricultural machinery in the ground area according to the turning radius, and taking the straight line working path and the turning path as working paths.

Wherein each straight line working path is connected with a corresponding turning path.

S10, determining a warehouse entry path of the unmanned agricultural machine according to the boundary information and the garage position information of the garage.

S11, taking the ex-warehouse path, the job path and the warehouse-in path as global driving paths.

S12, acquiring real-time position information of the unmanned agricultural machine through a navigation positioning device on the unmanned agricultural machine.

S13, or determining real-time terrain data of the unmanned agricultural machinery through real-time point cloud data acquired by the laser radar and/or real-time image data acquired by the image acquisition device.

And S14, corresponding the real-time topographic data to a preset map, and obtaining the geographic position information of the unmanned agricultural machine on the preset map as the real-time position information of the unmanned agricultural machine.

Steps S12, and S13-S14 are different ways of determining real-time location information of the unmanned agricultural machine.

And S15, when the real-time position information is at the starting point of the delivery path, controlling the unmanned agricultural machine to travel to the region to be operated according to the delivery path and controlling the agricultural tool to be in a retracted state.

S16, controlling the unmanned agricultural machinery to run along the linear operation path from the starting point of the current linear operation path, and controlling the agricultural machinery to be in an operation state.

And S17, controlling the unmanned agricultural machine to run at a reduced speed when the unmanned agricultural machine approaches to the end point of the current linear operation path.

And S18, when the unmanned agricultural machine reaches the end point of the current linear working path, controlling the agricultural machine to be in a storage state and controlling the unmanned agricultural machine to run according to the current turning path from the starting point of the current turning path.

S19, returning to S16 by taking the next straight line working path as the current straight line working path and the next turning path as the current turning path.

S20, until the unmanned agricultural machinery completes the operation of the area to be operated.

And S21, when the real-time position information is at the starting point of the warehouse-in path, controlling the unmanned agricultural machine to travel from the area to be operated to the garage according to the warehouse-in path.

Example III

Fig. 5 is a schematic structural diagram of an unmanned agricultural machinery operation control device according to a third embodiment of the present invention, where the device is applicable to a case of controlling an unmanned agricultural machinery operation, and the unmanned agricultural machinery operation control device may be configured in an unmanned agricultural machinery, as shown in fig. 5, and the device includes: a path determination module 31 and a behavior control module 32; wherein,

the path determining module 31 is configured to determine a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and area information of an area to be operated, where the area information is determined by an image acquisition device, an obstacle detection device and a laser radar installed on the unmanned agricultural machine together, and the global travel path includes a delivery path, an operation path and a warehouse entry path;

the behavior control module 32 is configured to control the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global travel path and real-time position information of the unmanned agricultural machine, where the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a map-setting combined image acquisition device and/or a laser radar.

The embodiment of the invention provides an unmanned agricultural machinery operation control device, which adopts the technical scheme that the overall driving path of the unmanned agricultural machinery is planned in advance, and the unmanned agricultural machinery is tracked and controlled in the whole process through real-time position information, and the unmanned agricultural machinery is controlled to automatically execute corresponding agricultural machinery behaviors. The whole-course automation of the agricultural machinery action and warehousing during the delivery and operation of the unmanned agricultural machinery is realized, the labor cost is saved, and the operation efficiency of the unmanned agricultural machinery is improved. Meanwhile, the navigation positioning device or the set map is combined with the image acquisition device and/or the laser radar to determine the real-time position information of the unmanned agricultural machinery, so that the unmanned agricultural machinery can be accurately positioned in a complex environment and an operation scene which cannot be positioned by the navigation positioning device, and the accuracy of operation control of the unmanned agricultural machinery is improved.

Optionally, the obstacle detection device is a millimeter wave radar; the device also comprises a region determining module which can be used for:

acquiring image data acquired by an image acquisition device and point cloud data acquired by a laser radar;

fusing the image data and the point cloud data to determine the environment data of the area to be worked;

determining a static obstacle in a region to be worked through a millimeter wave radar;

and marking the environmental data according to the static obstacle, and determining the area information of the area to be worked.

Optionally, the path determining module 31 may include:

the first path determining unit is used for determining a delivery path of the unmanned agricultural machine according to the initial position information of the unmanned agricultural machine in the attribute information and the boundary information of the area to be operated in the area information;

the second path determining unit is used for determining the operation path of the unmanned agricultural machine according to the turning radius and the agricultural tool parameters of the unmanned agricultural machine in the area information and the attribute information;

the third path determining unit is used for determining a warehouse-in path of the unmanned agricultural machine according to the boundary information and the garage position information of the garage;

and the global path determining unit is used for taking the ex-warehouse path, the job path and the warehouse-in path as global driving paths.

Optionally, the second path determining unit is specifically configured to:

determining the offset value of each boundary according to the farm tool parameters and the turning radius;

the boundary information is shifted according to the offset value, the inner boundary information of the area to be operated is determined, the area contained in the inner boundary information is used as the ground area, and the area except the ground area in the area to be operated is used as the ground area;

determining a linear operation path of the unmanned agricultural machine in the underground area according to the agricultural tool parameters;

and determining a turning path of the unmanned agricultural machinery in the ground area according to the turning radius, and taking the straight line operation path and the turning path as operation paths, wherein each straight line operation path is connected with the corresponding turning path.

Optionally, the apparatus further comprises a location determination module, which may be specifically configured to:

acquiring real-time position information of the unmanned agricultural machinery through a navigation positioning device on the unmanned agricultural machinery; or,

real-time terrain data of the unmanned agricultural machinery is determined through real-time point cloud data acquired by the laser radar and/or real-time image data acquired by the image acquisition device;

and the real-time topographic data is corresponding to a preset map, and the geographic position information of the unmanned agricultural machine on the preset map is obtained and used as the real-time position information of the unmanned agricultural machine.

Optionally, the behavior control module 32 may include:

the first control unit is used for controlling the unmanned agricultural machinery to travel to the region to be operated according to the delivery path and controlling the agricultural machinery to be in a stowing state when the real-time position information is at the starting point of the delivery path;

the second control unit is used for controlling the unmanned agricultural machinery to run according to the operation path when the real-time position information is in the region to be operated, and controlling the agricultural machinery of the unmanned agricultural machinery to be in an operation state in the region of the ground and to be in a stowage state in the region of the ground;

and the third control unit is used for controlling the unmanned agricultural machine to travel from the area to be operated to the garage according to the warehousing path when the real-time position information is at the starting point of the warehousing path.

Optionally, the second control unit may be specifically configured to:

controlling the unmanned agricultural machinery to run along the linear operation path from the starting point of the current linear operation path, and controlling the agricultural machinery to be in an operation state;

when the unmanned agricultural machine approaches to the end point of the current linear operation path, controlling the unmanned agricultural machine to run at a reduced speed;

when the unmanned agricultural machine reaches the end point of the current linear operation path, controlling the agricultural tool to be in a retracted state and controlling the unmanned agricultural machine to run from the starting point of the current turning path according to the current turning path;

And taking the next linear operation path as a current linear operation path and the next turning path as a current turning path, returning to execute control of the unmanned agricultural machine to run according to the linear operation path from the starting point of the current linear operation path, and controlling the agricultural machine to be in an operation state until the unmanned agricultural machine finishes the operation of the area to be operated.

Optionally, the device further comprises an obstacle avoidance control module, which is specifically configured to:

detecting whether the unmanned agricultural machine meets an obstacle or not through an obstacle detection device in the process of controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors;

if no agricultural machinery encounters an obstacle, determining the type of the obstacle;

if the type of the obstacle is a dynamic obstacle, controlling the unmanned agricultural machinery to stop executing the agricultural machinery behaviors, and continuing to execute the agricultural machinery behaviors after the dynamic obstacle is monitored to move out of the set range;

if the type of the obstacle is a static obstacle, controlling the unmanned agricultural machine to carry out obstacle avoidance running according to a pre-planned obstacle avoidance detour path, and continuing to execute the agricultural machine behavior after the obstacle avoidance is completed.

The unmanned agricultural machinery operation control device provided by the embodiment of the invention can execute the unmanned agricultural machinery operation control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 6 is a schematic structural diagram of an unmanned agricultural machine according to a fourth embodiment of the present invention. As shown in fig. 6, an unmanned agricultural machine according to a fourth embodiment of the present invention includes: an unmanned agricultural machine main body (not shown in the drawings); the image acquisition device 10, the obstacle detection device 20, the laser radar 30 and the navigation positioning device 40 are arranged on the unmanned agricultural machinery main body; the controller 50 is in communication connection with the image acquisition device 10, the obstacle detection device 20, the laser radar 30, and the navigation positioning device 40. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the controller 50 includes at least one processor 51, and a memory, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, etc., communicatively connected to the at least one processor 51, in which the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from the storage unit 58 into the Random Access Memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the controller 50 may also be stored. The processor 51, the ROM 52 and the RAM 53 are connected to each other via a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

Various components in the controller 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, etc.; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the controller 50 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 51 performs the various methods and processes described above, such as the unmanned agricultural work control method.

In some embodiments, the unmanned agricultural work control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto the controller 50 via the ROM 52 and/or the communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the unmanned agricultural job control method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the unmanned agricultural job control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (11)

1. An unmanned agricultural machinery operation control method, characterized by comprising:

determining a global travel path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and region information of a region to be operated, wherein the region information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are installed on the unmanned agricultural machine, and the global travel path comprises a warehouse-out path, an operation path and a warehouse-in path;

And controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined with the image acquisition device and/or the laser radar.

2. The method of claim 1, wherein the obstacle detection device is a millimeter wave radar;

the determining step of the area information includes:

acquiring image data acquired by the image acquisition device and point cloud data acquired by the laser radar;

fusing the image data and the point cloud data to determine the environment data of the area to be worked;

determining a static obstacle in the area to be worked through the millimeter wave radar;

and marking the environmental data according to the static obstacle, and determining the area information of the area to be operated.

3. The method according to claim 1, wherein the determining the global travel path of the unmanned agricultural machine according to the attribute information of the unmanned agricultural machine and the area information of the area to be worked comprises:

Determining a warehouse-out path of the unmanned agricultural machine according to the initial position information of the unmanned agricultural machine in the attribute information and the boundary information of the area to be operated in the area information;

determining a working path of the unmanned agricultural machinery according to the region information, the turning radius of the unmanned agricultural machinery in the attribute information and the agricultural machinery parameters;

determining a warehouse-in path of the unmanned agricultural machine according to the boundary information and the garage position information of the garage;

and taking the ex-warehouse path, the working path and the warehouse-in path as the global driving path.

4. The method of claim 3, wherein the determining the operation path of the unmanned agricultural machine according to the turning radius of the unmanned agricultural machine and agricultural tool parameters in the area information and the attribute information comprises:

determining the offset value of each boundary according to the farm tool parameters and the turning radius;

the boundary information is shifted according to the offset value, the inner boundary information of the area to be operated is determined, the area contained in the inner boundary information is used as a middle area, and the area except the middle area in the area to be operated is used as a land area;

Determining a linear operation path of the unmanned agricultural machine in the underground area according to the agricultural tool parameters;

and determining a turning path of the unmanned agricultural machinery in the ground area according to the turning radius, and taking the straight line operation path and the turning path as the operation paths, wherein each straight line operation path is connected with the corresponding turning path.

5. The method of claim 1, wherein the step of determining real-time location information of the unmanned agricultural machine comprises:

acquiring real-time position information of the unmanned agricultural machinery through a navigation positioning device on the unmanned agricultural machinery; or,

determining real-time topographic data of the unmanned agricultural machinery through the real-time point cloud data acquired by the laser radar and/or the real-time image data acquired by the image acquisition device;

and the real-time topographic data is corresponding to a preset map, and the geographic position information of the unmanned agricultural machine on the preset map is obtained and used as the real-time position information of the unmanned agricultural machine.

6. The method of claim 4, wherein controlling the unmanned agricultural machine to perform a corresponding agricultural machine action based on the global travel path and the real-time location information of the unmanned agricultural machine comprises:

When the real-time position information is at the starting point of the delivery path, controlling the unmanned agricultural machine to travel to the region to be operated according to the delivery path and controlling the agricultural tool to be in a stowing state;

when the real-time position information is in the to-be-operated area, controlling the unmanned agricultural machinery to run according to the operation path, and simultaneously controlling the agricultural machinery of the unmanned agricultural machinery to be in an operation state in the underground area and to be in a storage state in the ground area;

when the real-time position information is at the starting point of the warehouse-in path, controlling the unmanned agricultural machine to drive back to the garage from the area to be operated according to the warehouse-in path.

7. The method of claim 6, wherein controlling the unmanned agricultural machine to travel along the work path while controlling the unmanned agricultural machine's agricultural implement to be in a work state in the ground area and in a stowed state in the ground area comprises:

controlling the unmanned agricultural machinery to run from the starting point of the current linear operation path according to the linear operation path, and controlling the agricultural machinery to be in an operation state;

when the unmanned agricultural machine approaches to the end point of the current linear operation path, controlling the unmanned agricultural machine to run at a reduced speed;

When the unmanned agricultural machine reaches the end point of the current linear working path, controlling the agricultural tool to be in a retracted state and controlling the unmanned agricultural machine to run according to the current turning path from the starting point of the current turning path;

and taking the next straight line working path as a current straight line working path and taking the next turning path as a current turning path, returning to execute control of the unmanned agricultural machine to run from the starting point of the current straight line working path according to the straight line working path, and controlling the agricultural machine to be in a working state until the unmanned agricultural machine finishes the operation of the region to be worked.

8. The method as recited in claim 1, further comprising:

detecting whether the unmanned agricultural machine meets an obstacle or not through the obstacle detection device in the process of controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors;

if the unmanned agricultural machinery encounters an obstacle, determining the type of the obstacle;

if the obstacle type is a dynamic obstacle, controlling the unmanned agricultural machine to stop executing the agricultural machine behaviors, and continuing to execute the agricultural machine behaviors after monitoring that the dynamic obstacle moves out of a set range;

If the obstacle type is a static obstacle, controlling the unmanned agricultural machine to carry out obstacle avoidance running according to a pre-planned obstacle avoidance detour path, and continuing to execute the agricultural machine behavior after the obstacle avoidance is completed.

9. An unmanned agricultural machinery operation control device, characterized by comprising:

the path determining module is used for determining a global running path of the unmanned agricultural machine according to attribute information of the unmanned agricultural machine and area information of an area to be operated, wherein the area information is jointly determined by an image acquisition device, an obstacle detection device and a laser radar which are arranged on the unmanned agricultural machine, and the global running path comprises a warehouse-out path, an operation path and a warehouse-in path;

and the behavior control module is used for controlling the unmanned agricultural machine to execute corresponding agricultural machine behaviors according to the global driving path and the real-time position information of the unmanned agricultural machine, wherein the real-time position information is determined by a navigation positioning device installed on the unmanned agricultural machine or a set map combined with the image acquisition device and/or the laser radar.

10. An unmanned agricultural machine, comprising:

an unmanned agricultural machine main body;

the image acquisition device, the obstacle detection device, the laser radar and the navigation positioning device are arranged on the unmanned agricultural machinery main body;

The controller, with image acquisition device, obstacle detection device, laser radar and navigation positioning device communication connection, the controller includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the unmanned agricultural work control method of any one of claims 1-8.

11. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the unmanned agricultural work control method of any of claims 1-8.