CN107977520B - Method and device for determining area of operation area - Google Patents
Method and device for determining area of operation area Download PDFInfo
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- CN107977520B CN107977520B CN201711304354.5A CN201711304354A CN107977520B CN 107977520 B CN107977520 B CN 107977520B CN 201711304354 A CN201711304354 A CN 201711304354A CN 107977520 B CN107977520 B CN 107977520B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention relates to a method and a device for determining the operation area of an agricultural machine, wherein the method comprises the following steps: a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block determining step, wherein a sub-block and a sub-block span are determined according to the peripheral straight line stroke, the peripheral steering stroke and each steering angle; an operation stroke determining step, namely determining the operation stroke of each sub-block according to the determined sub-blocks and the sub-block spans; and a working area determining step of determining the working area of each sub-block according to the working stroke.
Description
Technical Field
The invention relates to the technical field of agricultural machine automation, in particular to a method and a device for determining the area of a working area.
Background
During the field operation of the tractor set, the farm operators often design the field operation path and estimate the operation area according to experience and some common knowledge rules, and the problems of heavy plowing, missing plowing, multiple walking paths, large operation area calculation error and the like exist, so that the operation production efficiency is influenced. The accurate calculation of the effective operation area is an important technical means for improving the farmland operation quality and efficiency and reducing the operation cost, and has great significance for agricultural production by accurately controlling the area of an operation area.
The existing tractor operation area calculation has two methods, one method is to draw the tractor operation path into a track through GPS positioning information and calculate the area enclosed by the track to estimate the operation area. The tractor has a complex circuitous and tortuous process in a field operation route, and because GPS positioning is obtained by measuring and calculating satellite signal transmission delay, the civil satellite signal has a low coding rate and the edge of the satellite signal is fuzzy, a delay error is introduced to influence the positioning accuracy. In addition, the errors of satellite signal reflection, satellite distribution and GPS positioning iterative algorithm also cause GPS signal drift, and interference also affects the quality of GPS signals, so that the error is increased, for example, clutter interference, GPS local clock jitter, and severe temperature change and jitter of a GPS module in the same frequency band cause a large error in area calculation of a tractor. Therefore, the area calculation accuracy achieved by only depending on the GPS positioning is not high. The other type is that the tractor utilizes a Hall element to detect the pulse number, calculates the area and the speed through the circumference and the working width of the wheel, and utilizes GSM to transmit data to the control unit. The method needs to know the operation place and the operation area in advance, calculates the surrounded area according to the coordinates of the operation path, and adopts a GSM data transmission mode, so that the data transmission instantaneity is not high.
Currently, the method for determining the area of the operation area mostly takes a regular land as a main point. For irregular farmland plots, because the boundary change is large, automatic identification of the operation region and automatic calculation of irregular areas cannot be realized, and the traditional method for determining the area of the operation region of the regular plots is not suitable. Meanwhile, the current automatic path planning also puts higher requirements on area calculation. Therefore, a method and a device for determining the area of an operation area, which can adapt to the technology of automatically turning the ground and then accurately entering the track, and can realize the accurate control of the operation area of irregular and complex farmland plots, are needed.
Disclosure of Invention
The present invention has been made in view of the above circumstances to mitigate or overcome one or more of the problems of the prior art, or to provide a solution thereto, and to at least provide a useful alternative.
In order to achieve the above object, according to one aspect of the present invention, there is provided an agricultural machine working area determination method including: a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block determining step, wherein the sub-blocks and the sub-block spans are determined according to the peripheral linear stroke, the peripheral steering stroke and each steering angle; an operation stroke determining step, namely determining the operation stroke of each sub-block according to the determined sub-blocks and the sub-block spans; and a working area determining step of determining the working area of each sub-block according to the working stroke.
According to another aspect of the present invention, the agricultural machine working area determination device includes: the peripheral parameter acquisition unit is used for acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; the sub-block determining unit is used for determining sub-blocks and sub-block spans according to the peripheral linear stroke, the peripheral steering stroke and each steering angle; an operation stroke determining unit which determines the operation stroke of each sub-block according to the determined sub-block and the sub-block span; and a straight-line operation area determining unit which determines the operation area of each sub-block according to the operation stroke.
According to the embodiment of the invention, the whole operation area is subdivided, so that the operation area can be obtained and the operation control of the agricultural machine can be carried out without depending on GPS positioning.
Drawings
Fig. 1 shows a schematic flow diagram of a method for determining the working area of an agricultural machine according to an embodiment of the invention.
FIG. 2 shows a schematic flow diagram for determining sub-tiles and sub-tile spans according to one embodiment of the invention.
FIG. 3 illustrates an example of sub-partitions and sub-partition span determination in accordance with one embodiment of the present invention.
Fig. 4 shows a schematic diagram of a control instruction generation principle according to an embodiment of the invention.
FIG. 5 illustrates a display diagram in accordance with one embodiment of the present invention.
Fig. 6 shows a schematic block diagram of an agricultural machine working area determination apparatus according to an embodiment of the present invention.
FIG. 7 shows a schematic block diagram of a job instruction generation unit according to one embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described with reference to the drawings, which are only illustrative and not intended to limit the scope of the invention.
Fig. 1 shows a schematic flow diagram of a method for determining the working area of an agricultural machine according to an embodiment of the invention. FIG. 2 shows a schematic flow diagram for determining a sub-block job line according to one embodiment of the present invention. FIG. 3 illustrates an example of sub-partitions and sub-partition span determination in accordance with one embodiment of the present invention.
As shown in fig. 1, a method for determining an operating area of an agricultural machine according to an embodiment of the present invention includes: a peripheral parameter obtaining step 101, obtaining peripheral linear strokes, peripheral steering strokes and steering angles between the peripheral linear strokes and the peripheral steering strokes of the agricultural machine in a preset operation area; a sub-block operation line determining step 102, determining sub-blocks and sub-block spans according to the peripheral straight-line stroke, the peripheral steering stroke and each steering angle; a work schedule determination step 103 of determining a work schedule of each sub-block; and a working area determination step 104 for determining the working area of each working line based on the working stroke and the steering stroke.
According to one embodiment, the invention further comprises: a steering stroke determining step, namely determining the steering stroke of each sub-block; and a non-working area determination step of determining a non-working area of each working line according to the steering stroke. For convenience of description, the two steps are respectively combined to the steps 103 and 104 for description.
In the peripheral parameter obtaining step 101, a real-time vehicle speed recorder and a time-sharing acquisition sensor work cooperatively to monitor time-sharing vehicle speeds including straight-driving vehicle speeds and straight-driving time, steering vehicle speeds and steering time, and a steering angle sensor acquires and records steering angles, and then a peripheral straight-driving travel and a peripheral steering travel are calculated.
Specifically, a tractor (a tractor is an example of the agricultural machine of the present invention, and for convenience of description, the tractor is used to represent the agricultural machine in the following example) does not mount agricultural implements initially, and travels straight along a predetermined work area boundary, and the real-time vehicle speed recorder collects straight-traveling time-sharing vehicle speed signals. And stopping time-sharing vehicle speed sampling after the turning point is reached, and storing all vehicle speed signals in the straight path, for example, sending the vehicle speed signals to a data flash card. The tractor turns along the turning boundary of the operation area, and the speed of the tractor is recorded in real timeThe instrument collects the time-sharing vehicle speed signal of the steering, and the steering angle sensor collects and records the steering angle. And when the steering is finished, the time-sharing vehicle speed is stopped being collected, and all vehicle speed signals and steering angles in the steering path are sent to the data flash memory card. And calculating the peripheral straight travel and the peripheral steering travel of the section according to the acquired time-sharing vehicle speed signal. The tractor rounds the land of the operation area by one circle, the steps are repeated to collect the time-sharing vehicle speed signal and the steering angle of each steering point, and the peripheral straight travel and the peripheral steering travel of each section are calculated. The peripheral straight-moving stroke and the peripheral turning stroke of each segment can also be calculated in a centralized way after collecting the vehicle speed and the time of all the segments, and the calculation is within the protection scope of the invention. In the example of fig. 3, a total of 9 straight strokes (S) are obtainedLi) And 8 steering strokes (S)Ci)。
The straight stroke and the steering stroke of each segment may be calculated as follows, for example.
When the tractor moves straight along the boundary of the operation area, the real-time speed recorder samples the frequency f according to the specific time sharing0Collecting straight-going vehicle speed signal vL(t) sampling frequency F at a specific time division0Collecting steering vehicle speed signal vC(t) simultaneously recording the steering angle a by the steering angle sensoriBy fitting the time-sharing vehicle speed-time function, the linear travel can be calculated as
A steering stroke of
In the formula, m and n are sampling ordinal numbers. Repeating the above steps to calculate and obtain the straight travel S of each segmentLiAnd a steering stroke SCi。
Then, in a sub-block operation line determining step 102, a sub-block and a sub-block span are determined based on the peripheral straight stroke and the peripheral steering stroke.
FIG. 2 shows a schematic flow diagram for determining sub-tiles and sub-tile spans according to one embodiment of the invention. As shown in fig. 2, a method according to the present inventionIn one embodiment, first, in the steering point coordinate determination step 201, the position coordinates of each steering point are determined from the peripheral straight stroke and the peripheral steering stroke. Each turning point a can be determined according to the following formulanPosition coordinates of (2):
the coordinate formula of the steering point can be recurred by the first three terms as follows:
then, in a basic block section set determining step 202, a set of equidistant basic block sections is obtained according to the position coordinates of the turning point and the effective working width.
In step 202, according to one embodiment, the following may be operated:
first, the equidistant total block number N ═ x [ (x) of the work area is obtainedmax-xmin)/d]Wherein x ismaxIs the maximum value of the abscissa, x, of each turning pointminIs the minimum value of the abscissa of each turning point, and d is the effective working width. For convenience, the example of fig. 3 assumes that d is 1.
Then, an arithmetic progression is established: { x0，x0+d，x0+2d，…，x0+jd，…，x0+ Nd, using the adjacent items of the difference sequence to establish interval set Cj[x0+jd，x0+(j+1)d](j ═ 0,1, …, N), i.e., sets of equidistant basic block segments, each set composition item being referred to as a basic block segment, and also referred to as a sub-block operation line.
Then, in a block ordinal interval difference determining step 203, a block ordinal interval difference of each turning point is determined according to the position coordinates of each turning point.
For example, each turning point A can be sequentially discriminatediAbscissa xiThe section to which each steering point A belongsiThe corresponding block ordinals j are arranged from small to large. Assume that in the example shown in FIG. 3, the abscissa of the 8 turning points are sorted into { A } s1→0；A2→6；A8→8；A3→12；A4→15；A7→15；A5→20；A6→ 20}, calculate the adjacent partition ordinal j interval difference: { A2-A1＝6；A8-A2＝2；A3-A8＝4；A4-A3＝3；A7-A4＝0； A5-A7＝5；A6-A5＝0}。
Finally, a sub-block span determining step 204, determining the sub-blocks and the span of the sub-blocks according to the block ordinal number interval difference, wherein the span of the sub-blocks is the number of basic block intervals included in the sub-blocks.
In the above block ordinal interval difference, there is A4、A7And A5、A6The difference value of the ordinal number interval of the blocks is 0, then the turning point A is4And A7、A5And A6Considered as head-to-tail equivalence. Thus, 5 non-zero tile ordinal interval differences are obtained, indicating that the work area can be divided into 5 sub-tiles. The interval differences 6, 2, 4, 3, 5 are the span of each sub-block.
Each sub-block may be represented as BpqWhere p is the sub-partition ordinal number and q is the sub-partition span, such that: { A1→A2：B16；A2→A8：B22；A8→A3：B34；A3→A4：B43；A5→A7：B55}. It can be seen that 5 blocks are obtained, spanning 6, 2, 4, 3, 5 respectively. The first sub-block comprises B11-B16These 6 basic block intervals.
Then, in step 103, the respective block straight-traveling stroke and the turning stroke are determined.
According to one embodiment, the per-block straight run may be calculated as follows: set B of sub-blocks1Slice 1, block B11Straight stroke SL1As a reference, sub-block B11The straight travel can be recorded as: sB11＝SL1. Sub-block B of 2 nd strip12Straight stroke is at SL1On the basis, a straight travel is added from head to tail and is respectively recorded as d/tan alpha1And
wherein, the sub-block set B1The 1 st turning point and the 8 th turning point are respectively arranged at the head end and the tail end of the steering wheel. From which a set of sub-blocks B can be deduced1The straight travel is as follows:
sub-block set B can be recurred according to geometric relationship2The straight travel is as follows:
by parity of reasoning, sub-block set BpThe straight travel can be calculated in the same way.
Each sub-block BpqThe straight travel stroke can be calculated by the following formula:
in the formula, k1Set B of sub-blockspNumber of turn points k at the head end of the ground2Set B of sub-blockspNumber of turning points at the head and tail ends, maxpSet B of sub-blockspMaximum sub-block ordinal.
According to one embodiment, the respective block steering strokes may be calculated as follows.
The leading-trailing turn interval span may be determined first. This may be predetermined and stored or may be determined by receiving an external instruction. And then determining the steering stroke according to the head-to-tail turning interval span. Turning radius and turning radius S are turned around from head to tail in operation processCi/aiAnd minimum turning radius r of tractorminThe following steps are involved: when the span of the head-to-tail turning interval is 1, the turning radius and the turning radius SCi/aiIrrelevantly, the minimum turning radius r of the tractor is obtained when the tractor is turned out and turned backmin. When the span of the head-to-tail turning interval is larger than 1, the first turning and turning-out radius is the turning radius SCi/ai of the turning point, and the second turning and turning-back radius is the minimum turning radius r of the tractormin。
In sub-blocks B11Vector block B14Turning to the example, set of sub-blocks B1The corresponding steering arc length is S when the number of the steering points is 1C1The sub-block B14Radius of track rminThe length of the orbit arc is rmin(π-α1) The stroke of a straight line segment between turning directions is 2d/sin alpha1From this, a sub-block B can be obtained11Vector block B14The steering stroke is as follows, denoted NB1(1→4)：
NB1(1→4)＝SC1+rmin(π-α1)+2d/sinα1
Set of sub-blocks B1The steering angles are equal and the sub-block spans q are equal, so the steering non-operation strokes are equal, and the method specifically comprises the following steps:
NB1＝NB1(1→4)＝NB1(2→5)＝NB1(3→6)
similarly, each sub-block set BpThe steering stroke can be calculated by:
in the formula, SCkSet B of sub-blockspCorresponding to the turning point AkThe turning arc length of (a), k is the number of turning points, a is the set of sub-blocks BpThe first turn around turns out the ordinal number of the sub-block, B is the set of sub-blocks BpTwice to go back to sub-block ordinal.
Then, at step 104, the work area is determined. According to one embodiment, each sub-block is first subjected to rectangular calibration by using a straight travel (working travel) and a turning travel (non-working travel) of each sub-block, that is, the length of the working row and the occupied turning length of each basic block section in each sub-block are determined.
And finally, determining the straight-moving operation area and the steering non-operation area by combining the effective operation width d.
The total straight-line operation area is the sum of the operation areas of all the sub-blocks, and the total turning non-operation area is the sum of the turning non-operation areas among all the sub-blocks.
Only the inline working area (including or not including the total inline working area) may be calculated. The total area, i.e. the sum of the non-steering area and the straight-ahead steering area, can be further calculated.
Further, the present invention may include a work order generating step 105 for determining a control order signal for the agricultural machine based on the work stroke and the steering mode.
Fig. 4 shows a schematic diagram of a control instruction generation principle according to an embodiment of the invention.
Referring to fig. 4, each sub-block B is determined according to the straight travel and steering stroke length of each block and the inherent deceleration stroke D of the tractorpqOperating line acceleration point position Ppq(p＝a,...,e；q＝1,2,…,maxp) And the position L of the deceleration pointpq(p＝a,...,e； q＝1,2,…,maxp)，maxpSet B of sub-blockspMedium maximum span, in the case of fig. 3, the number of sub-block sets is5. In sub-blocks B11And sub-block B14For example, initially, the tractor enters the a1 working line, and when the end implement coincides with the working line, the tractor is at the sub-block straight-line working acceleration point position Pa1When the farm tool is lowered to a proper position, an acceleration signal (acceleration instruction) is sent out, and the tractor starts to accelerate and move straight. When the tractor works to the distance a1 working line end D, the tractor is at the speed reducing point position L of the sub-block straight-line workinga1At this time, a deceleration signal (deceleration command) is sent out, the tractor starts to decelerate, the operation is suspended at the deceleration completion position, and a farm tool lifting control signal (lifting command) is sent out, so that the farm tool is lifted to a certain height. Then, a steering command is sent out, the tractor starts to steer, and the steering angle is a1The turning radius is SC1/a1In the direction of the steering angle14The steering radius is the minimum steering radius r of the tractormin. When the tractor body is parallel to the sub-block operation line, the tractor is in the sub-block B14Straight-line operation acceleration point position Pa2At this position, a farm implement lowering control signal (lowering command) is sent, the farm implement is lowered to a suitable position, the tractor starts to accelerate and follows B14And (5) performing straight-line operation. And by analogy, the tractor determines each sub-block B according to the automatic operation path planningpqThe track entering sequence of the operation line and the acceleration point position and the deceleration point position of each sub-block operation line. Farm implement lowering control signals, farm implement lifting control signals, steering signals, acceleration commands, and deceleration commands are all examples of farm machine control command signals of the present invention.
Further, the present invention may include a completed job status generating step 106. During the operation process, relevant area parameters in the automatic operation process are analyzed according to the operation parameters of the agricultural machinery, and the area of the straight-ahead operated area, the area of the steering non-operated area, the area of the unfinished operation area and the effective operation percentage are calculated. Operating parameters such as vehicle speed, time steering state, lift of the agricultural implement, etc., according to which the straight travel and steering travel of each sub-block can be easily determined in combinationThe position of the agricultural machine in the working area is calculated to obtain the area S of the straight movementLallSteering non-working area SCallAnd unfinished working area SLremAnd effective working area percentage etaS。
The tractor works in real time as shown in fig. 5, and the tractor is positioned in a sub-block set B3Middle 1 st sub-block B31Where the tractor is assumed to be at a distance L from the ground endrThen, the area parameter under the real-time operation state of the tractor can be calculated by the following formula:
still further, the present invention may include a display step 107. According to one embodiment, the displaying step includes a step of making a path diagram, and a step of displaying the path diagram and the job status parameters. FIG. 5 illustrates a path diagram according to one embodiment of the present invention. The path diagram carries out the travel and the steering travel according to the peripheral straight travel, the steering travel and the sub-blocks, and is used for visually displaying the whole operation area and each sub-block. The operation state parameters include, for example, the farm implement lifting state and the real-time area parameter shown in fig. 5. Other content may be displayed as desired. The job status parameters may include reminders to approach acceleration points, deceleration points, and the like. As shown in fig. 5, according to one embodiment, the real-time position of the agricultural machine on the path diagram is also displayed.
According to the embodiment of the invention, the whole operation area is subdivided, so that the operation area can be obtained and the operation control of the agricultural machine can be carried out without depending on GPS positioning.
The agricultural machine working area determination device of the present invention will be described below. Descriptions of apparatus may be used for understanding the method and descriptions of the method may be used for understanding the apparatus. The implementation, operation, and the like of the apparatus that can be understood based on the foregoing description of the method are not repeated below.
Fig. 6 shows a schematic block diagram of an agricultural machine working area determination apparatus according to an embodiment of the present invention. As shown in fig. 6, the agricultural machine working area determination device includes: a peripheral parameter acquisition unit 601 that acquires a peripheral linear stroke, a peripheral steering stroke, and a steering angle between each of the peripheral linear stroke and the peripheral steering stroke of the agricultural machine in a predetermined operation area; a sub-block determining unit 602 that determines sub-blocks and sub-block spans according to the peripheral straight-line stroke, the peripheral steering stroke, and each steering angle; an operation stroke determining unit 603 that determines an operation stroke of each sub-block based on the determined sub-block and sub-block span; and a straight-line work area determination unit 604 that determines a straight-line work area of each sub-block according to the work stroke.
According to an embodiment of the invention, the apparatus further comprises: a steering stroke determining unit (not shown) that determines a steering stroke of each sub-block according to the determined sub-block and sub-block span; and a steering non-working area determination unit (not shown) that determines a non-working area of each sub-block according to the steering stroke; and a completed operation condition generating unit 605 for determining the straight operated area, the turning non-operated area, the unfinished operation area and the effective operation area percentage during the operation process according to the operation condition of the agricultural machine in the preset operation area, the straight operation area and the turning non-operation area of each sub-block.
According to an embodiment of the present invention, the apparatus further includes a work instruction generating unit 605 for generating the farm machine control information according to the work stroke and the steering stroke of each sub-block.
Fig. 7 shows a schematic block diagram of a job instruction generation unit 605 according to an embodiment of the present invention. As shown in fig. 7, the job instruction generating unit according to an embodiment of the present invention includes:
a block acceleration point and block deceleration point determination unit 701, which determines a block acceleration point and a block deceleration point of the agricultural machine in each sub-block operation line according to the operation stroke and the steering stroke of the sub-block in the predetermined operation area and the information of the agricultural machine; a lifting instruction generating unit 702 that generates an agricultural implement landing instruction to land an agricultural implement at the block acceleration point and an agricultural implement lifting instruction to lift an agricultural implement at the block deceleration point; and an acceleration/deceleration command generation unit 703 that generates an acceleration command for accelerating at the block acceleration point and a deceleration command for decelerating at the deceleration point. A more detailed understanding of the units of fig. 7 can be had with reference to the previous description in connection with fig. 4.
According to the embodiment of the invention, the whole operation area is subdivided, so that the operation area can be obtained and the operation control of the agricultural machine can be carried out without depending on GPS positioning.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method for determining the area of an operating area of an agricultural machine comprises the following steps:
a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes;
a sub-block determining step, wherein a sub-block and a sub-block span are determined according to the peripheral straight line stroke, the peripheral steering stroke and each steering angle;
the sub-block determining step includes:
a steering point coordinate determination step, wherein the position coordinates of each steering point are determined according to the peripheral linear stroke and the peripheral steering stroke;
determining an operation line set, namely determining an equidistant basic block interval set, namely an operation line set according to the position coordinates of the steering points and the effective operation width;
determining the interval difference of the block ordinal numbers, namely determining the interval difference of the block ordinal numbers of adjacent turning points according to the position coordinates of the turning points;
a sub-block span determining step, namely determining sub-blocks and the span of each sub-block, namely the number of contained operation lines according to the block ordinal number interval difference;
an operation stroke determining step, namely determining the operation stroke of each sub-block according to the determined sub-blocks and the sub-block spans; and
and a working area determining step, wherein the working area of each sub-block is determined according to the working stroke.
2. The method of claim 1, further comprising:
a steering stroke determining step, namely determining the steering stroke of each sub-block according to the determined sub-blocks and the sub-block spans; and
and a non-working area determining step, wherein the non-working area of each sub-block is determined according to the steering stroke.
3. The method of claim 1, wherein determining the work area of each sub-tile comprises determining the area of each work row included in each sub-tile.
4. The method according to claim 3, further comprising a completed job status generating step of: and determining the operated area, the non-operated area, the unfinished operation area and the effective operation area percentage of the straight line in the operation process according to the operation condition of the agricultural machine in the preset operation area, the straight line operation area and the non-operated area of each sub-block.
5. The method of claim 1, further comprising generating farm machine control information based on the work and steering strokes of the sub-blocks.
6. The method of claim 5, wherein the generating agricultural machine control information comprises:
determining a block acceleration point and a block deceleration point of the agricultural machine in each sub-block operation line according to the operation stroke and the steering stroke of the sub-blocks of a preset operation area and the information of the agricultural machine;
generating an agricultural implement landing instruction for landing an agricultural implement at the block acceleration point and an agricultural implement lifting instruction for lifting the agricultural implement at the block deceleration point; and
and generating an acceleration command for accelerating at the block acceleration point, and a deceleration command for decelerating at the deceleration point.
7. An agricultural machine work area determination device comprising:
the peripheral parameter acquisition unit is used for acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes;
the sub-block determining unit is used for determining sub-blocks and sub-block spans according to the peripheral linear stroke, the peripheral steering stroke and each steering angle;
the sub-block determination unit includes:
the steering point coordinate determination unit is used for determining the position coordinates of each steering point according to the peripheral linear stroke and the peripheral steering stroke;
the operation line set determining unit is used for determining an equidistant basic block interval set, namely an operation line set according to the position coordinates of the steering points and the effective operation width;
the block ordinal number interval difference determining unit is used for determining the block ordinal number interval difference of each adjacent turning point according to the position coordinates of each turning point;
a sub-block span determining unit, which determines the sub-blocks and the span of each sub-block, namely the number of the contained operation lines, according to the block ordinal number interval difference;
an operation stroke determining unit which determines the operation stroke of each sub-block according to the determined sub-block and the sub-block span; and
and the straight-line operation area determining unit is used for determining the operation area of each sub-block according to the operation stroke.
8. The apparatus of claim 7, further comprising:
the steering stroke determining unit is used for determining the steering stroke of each sub-block according to the determined sub-blocks and the sub-block spans; and
the steering non-working area determining unit is used for determining the steering non-working area of each sub-block according to the steering stroke; and
and the finished operation state generating unit is used for determining the finished area, the non-steering area, the unfinished operation area and the effective operation area percentage of the straight line in the operation process according to the operation condition of the agricultural machine in the preset operation area, the straight line operation area and the steering non-operation area of each sub-block.
9. The apparatus according to claim 7, further comprising a work order generation unit that generates agricultural machine control information based on the work stroke and the steering stroke of each sub-block,
the job instruction generation unit includes:
the block acceleration point and block deceleration point determination unit is used for determining block acceleration points and block deceleration points of the agricultural machine in each sub-block operation line according to the operation stroke and the steering stroke of the sub-blocks in the preset operation area and the information of the agricultural machine;
the lifting instruction generating unit generates an agricultural implement landing instruction for landing an agricultural implement at the block accelerating point and an agricultural implement lifting instruction for lifting the agricultural implement at the block decelerating point; and
and an acceleration/deceleration command generation unit that generates an acceleration command for accelerating at the block acceleration point and a deceleration command for decelerating at the deceleration point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711304354.5A CN107977520B (en) | 2017-12-11 | 2017-12-11 | Method and device for determining area of operation area |
Applications Claiming Priority (1)
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| CN109634285B (en) * | 2019-01-14 | 2022-03-11 | 傲基科技股份有限公司 | Mowing robot and control method thereof |
| CN113532434B (en) * | 2020-04-21 | 2023-06-30 | 北京三快在线科技有限公司 | Aviation region construction method and device, storage medium and electronic equipment |
| CN113120076A (en) * | 2020-09-25 | 2021-07-16 | 丰疆智能(深圳)有限公司 | Automatic turning method of agricultural machine, automatic turning system of agricultural machine and application |
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