CN114115224B - Method, device and system for controlling farm machinery section - Google Patents
Method, device and system for controlling farm machinery section Download PDFInfo
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- CN114115224B CN114115224B CN202111192803.8A CN202111192803A CN114115224B CN 114115224 B CN114115224 B CN 114115224B CN 202111192803 A CN202111192803 A CN 202111192803A CN 114115224 B CN114115224 B CN 114115224B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000005259 measurement Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 2
- 238000013316 zoning Methods 0.000 claims 1
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- 239000013598 vector Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 5
- 239000003337 fertilizer Substances 0.000 description 4
- 239000002994 raw material Substances 0.000 description 4
- 238000003912 environmental pollution Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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- Guiding Agricultural Machines (AREA)
Abstract
The invention relates to the technical field of agricultural machinery operation control, and provides a method, a device and a system for controlling an agricultural machinery section. The invention provides a method for controlling an agricultural machine section, which comprises the following steps: acquiring boundary point position information of a target land block; dividing the target land block into areas based on the boundary point position information; judging whether a plurality of operation units of the agricultural machinery enter an operation area, if so, judging whether the operation units are in an operated line, and if so, controlling the operation units corresponding to the operated line to stop operation. According to the method for controlling the farm machinery section, provided by the invention, the pitch angle and the roll angle are utilized to compensate the positioning position, so that more accurate positioning data can be obtained, the precision of farm machinery operation is improved by judging the position relation between the farm machinery and the operation area and the position relation between the operation unit and the operated line, secondary operation is not caused for the operated line, and the situation that seeds are misplaced and damaged due to secondary ditching in seeding operation is avoided.
Description
Technical Field
The invention relates to the technical field of agricultural machinery operation control, in particular to a method, a device and a system for controlling an agricultural machinery section.
Background
Agricultural implements having a substance-throwing property such as a planter, a pesticide sprayer, a fertilizer applicator, etc. are composed of a plurality of units. For example, a planter consists of a plurality of planter units, and a pesticide sprayer consists of a plurality of nozzles. The operation range of each unit can be used as a section, and the operation ranges of a plurality of units can be used as a section to control the start and stop of the units in the section, namely the section control. For example, the control of the start and stop of a planter unit can control the section of the unit operation. When the agricultural machinery works, if the section exists in the sown area, the section can be shut down without affecting other sections, so that the purposes of saving production raw materials and reducing the influence on the environment and crops are achieved. Therefore, the section control can meet the precision of field operation and realize the precision control of the field operation.
Disclosure of Invention
The invention provides a method, a device and a system for controlling an agricultural machine section, which are used for solving the defect of poor precision of the agricultural machine in the field operation in the prior art.
The invention provides a method for controlling an agricultural machine section, which comprises the following steps: acquiring boundary point position information of a target land block; dividing the target land block into areas based on the boundary point position information; judging whether a plurality of operation units of the agricultural machinery enter an operation area, if so, judging whether the operation units are in an operated row, and if so, controlling the operation units corresponding to the operated row to stop operation.
According to the method for controlling the farm machinery section provided by the invention, before the step of acquiring the boundary point position information of the target land block, the method further comprises the following steps: and performing positioning compensation on the antenna.
According to the method for controlling the farm machinery section provided by the invention, the step of acquiring the boundary point position information of the target land block further comprises the following steps: acquiring pitch angle, roll angle and course angle corresponding to a running track point when the agricultural machinery runs along the boundary point of the target land block; and calculating the compensation position of the antenna based on the pitch angle, the roll angle and the course angle, and determining the boundary point position information of the target land block based on the compensation position of the antenna.
According to the method for controlling the farm machinery section provided by the invention, the step of dividing the target land block into areas based on the boundary point position information further comprises the following steps: and dividing the target land block into the operation area and the land head area.
According to the method for controlling the farm machinery section provided by the invention, the step of judging whether a plurality of operation units of the farm machinery enter an operation area, if so, judging whether the operation units are in operated lines, and if so, controlling the operation units corresponding to the operated lines to stop operation further comprises: and acquiring the position information of each operation unit of the agricultural machinery and performing position compensation.
According to the method for controlling the farm machinery section provided by the invention, the step of judging whether a plurality of operation units of the farm machinery enter an operation area, if so, judging whether the operation units are in operated lines, and if so, controlling the operation units corresponding to the operated lines to stop operation further comprises: and judging whether a plurality of operation units of the agricultural machinery enter an operation area by adopting a ray method.
According to the method for controlling the farm machinery section provided by the invention, the step of judging whether a plurality of operation units of the farm machinery enter an operation area, if so, judging whether the operation units are in operated lines, and if so, controlling the operation units corresponding to the operated lines to stop operation further comprises: calculating the distance between the current operation line and the adjacent operated line in the operation area, judging the position relation between the operated line and the agricultural machinery in the operation area, controlling the operation unit of the corresponding overlapping operation area on the right side of the agricultural machinery to be closed if the operated line is on the right side of the agricultural machinery, and controlling the operation unit of the corresponding overlapping operation area on the left side of the agricultural machinery to be closed if the operated line is on the left side of the agricultural machinery.
The method for controlling the farm machinery section provided by the invention further comprises the following steps: and controlling the operation unit corresponding to the last row of the operation area to be closed.
The present invention also provides an apparatus for performing the agricultural machinery section control method as described above, comprising: the acquisition module is used for acquiring the boundary point position information of the target land block; the dividing module is used for dividing the target land block into areas based on the boundary point position information; the judging module is used for judging whether a plurality of operation units of the agricultural machinery enter an operation area or not, and if so, judging whether the operation units are in an operated line or not; and the control module is used for controlling the operation unit corresponding to the operated row to stop operation when the operation unit is operated.
The invention also provides an agricultural machinery section control system, comprising: the system comprises a global positioning subsystem, an inertial measurement unit, a terminal, a controller and a plurality of operation unit sub-controllers, wherein the global positioning subsystem, the inertial measurement unit, the terminal and the operation unit sub-controllers are all in communication connection with the controller.
According to the method for controlling the farm machinery section, provided by the invention, the pitch angle and the roll angle are utilized to compensate the positioning position, so that more accurate positioning data can be obtained, the precision of farm machinery operation is improved by judging the position relation between the farm machinery and the operation area and the position relation between the operation unit and the operated line, secondary operation can not be caused for the operated line, the conditions of dislocation and damage of seeds caused by secondary ditching in seeding operation and the conditions of raw material waste, environmental pollution and the like caused by secondary operation of a pesticide spraying machine and a fertilizer distributor are avoided.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of agricultural machinery segment control provided by the present invention;
FIG. 2 is a schematic diagram of an antenna projection point and a compensation point in a projection plane;
FIG. 3 is a schematic diagram of an agricultural machinery dual antenna clockwise acquisition target plot boundary point;
FIG. 4 is a diagram showing the positional relationship between an antenna and a target block boundary point in a projection plane;
FIG. 5 is a target plot area division map;
FIG. 6 is a schematic view of a straight-going positioning model of each work unit of an agricultural machine;
FIG. 7 is a schematic diagram of a ray method for determining the positional relationship between an agricultural implement work unit and a work area;
FIG. 8 is a schematic view of the configuration of the apparatus for agricultural machinery segment control provided by the present invention;
FIG. 9 is a schematic diagram of a system for agricultural machinery segment control provided by the present invention;
reference numerals:
10: a global positioning subsystem; 20: an inertial measurement unit; 30: a controller;
40: a work unit sub-controller; 50: a terminal; 60: a working unit;
70: an antenna.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are 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 invention without making any inventive effort, are intended to be within the scope of the invention.
The features of the invention "first", "second" and the like in the description and in the claims may be used for the explicit or implicit inclusion of one or more such features. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The method, apparatus and system for agricultural machine segment control of the present invention are described below in conjunction with FIGS. 1-9.
As shown in fig. 1, in one embodiment of the present invention, a method for controlling an agricultural machine section specifically includes the steps of:
step 01: and acquiring the boundary point position information of the target land block.
Specifically, the agricultural machine is provided with a global positioning subsystem 10, an inertial measurement unit 20 and a controller 30, and the agricultural machine runs around a target land block for collecting boundary points of the target land block, and during the running process, the global positioning subsystem 10 sends longitude, latitude and course angle of a plurality of running track points to the controller 30The inertial measurement unit 20 transmits the angle information of the pitch angle θ and the roll angle γ corresponding to the travel locus point to the controller 30. The controller 30 compensates the position of the antenna 70 of the global positioning subsystem 10 according to the pitch angle, the roll angle and the corresponding heading, and transmits the relevant information to the terminal 50, and the terminal 50 calculates the boundary point position of the target land according to the relative position relation between the antenna 70 and the target land.
Step 02: and dividing the target land block into areas based on the boundary point position information.
Specifically, during the operation of the agricultural machine, the target plot is divided into a work area and a head area. The operation area refers to an area where the agricultural machinery starts working after entering the land, the land area refers to an area where the agricultural machinery turns to enter the next operation line after finishing one operation line, and the land area performs operation again after finishing the operation area. The width of the land area is related to the turning radius of the agricultural machinery and the operation width, and the width is usually a plurality of widths and is larger than or equal to the turning radius of the agricultural machinery.
Step 03: whether a plurality of operation units 60 of the agricultural machine enter an operation area is determined, if so, whether the plurality of operation units 60 are in an operated row is determined, and if so, the operation unit 60 corresponding to the operated row is controlled to stop operation.
Specifically, the positional relationship between the operation unit 60 of the agricultural machine and the operation area is determined by a ray method, specifically, the current point is taken as a base point, rays are taken along the heading direction, if the number of intersections between the rays and the operation area boundary is an odd number, the operation unit 60 of the agricultural machine is determined to be in the operation area, and if the number of intersections between the rays and the operation area boundary is an even number, the operation unit 60 of the agricultural machine is determined to be outside the operation area.
Further, as shown in fig. 6, when the agricultural machine works in the working area, the projection intersection point N ' of the central axis of the agricultural machine and the central axis of the working unit is recorded according to the working lines, the distance DN ' between the N ' point and the NR1' point in other working lines (the first point in the N ' point set in the NR1' R working line) is calculated, and when the distances are all greater than one width (w), the rest N ' points will not participate in calculation. Thus, the search range is reduced to the N' point set of the adjacent operated line, and the calculation quantity is reduced. Simultaneous calculation of unit vectorsAnd->If the included angles are smaller than 90 degrees, the operated reference row is arranged on the right side of the agricultural machine; if the included angle is larger than 90 degrees, the operated reference row is at the left side of the agricultural machine.
When- (j+1) d r ＜D N' -W＜-jd r When j working units 60 overlap, the n-j to n-th working units 60 are turned off (n is the number of working units) if the reference line is on the right side of the agricultural machine at this time, and the 1-j-th working units 60 are turned off if the reference line is on the left side of the agricultural machine at this time. When D is N' W > 0, then it indicates that the current row of jobs deviates from the already-worked reference row.
According to the method for controlling the farm machinery section, provided by the embodiment of the invention, the pitch angle and the roll angle are utilized to compensate the positioning position, so that more accurate positioning data can be obtained, the precision of farm machinery operation is improved by judging the position relation between the farm machinery and the operation area and the position relation between the operation unit and the operated line, secondary operation can not be caused for the operated line, the conditions of dislocation and damage of seeds caused by secondary ditching in seeding operation and the conditions of raw material waste, environmental pollution and the like caused by secondary operation of a pesticide spraying machine and a fertilizer distributor are avoided.
In one embodiment of the present invention, before the step of acquiring the boundary point position information of the target land parcel, the method further includes: the antenna 70 is position compensated.
Specifically, a coordinate system is established, as shown in FIG. 2, with antenna 70 in the relative coordinate system, A' Y along the headingDirection, unit vector of A' Y axis relative to OXY coordinate system +.>Unit vector of A' X axis relative to OXY coordinate system>
Further, in one embodiment of the present invention, the step of acquiring the boundary point position information of the target land parcel further includes: and when the agricultural machinery runs along the boundary point of the target land block, the pitch angle, the roll angle and the course angle corresponding to the running track point are obtained, the compensation position of the antenna 70 is calculated based on the pitch angle and the roll angle, and the boundary point position information of the target land block is determined based on the compensation position of the antenna 70.
Specifically, the agricultural machine travels around the target parcel one turn to collect boundary points of the target parcel, during which the global positioning subsystem 10 transmits longitude, latitude, and heading angle of several travel track points to the controller 30Information, the inertial measurement unit 20 transmits angle information of the pitch angle θ and the roll angle γ corresponding to the travel locus point to the controller 30. The controller 30 compensates the position of the antenna 70 of the global positioning subsystem 10 according to the pitch angle and the roll angle, and transmits the related information to the terminal 50, and the terminal 50 calculates the boundary point position of the target parcel according to the relative positional relationship between the antenna 70 and the target parcel.
Further, the inertial measurement unit 20 may not be accessed in certain situations. When the antenna 70 of the global positioning subsystem 10 is only a single antenna, the positioning of the antenna 70 may not be compensated when the operation quality requirement is not high; when the antenna 70 of the global positioning subsystem 10 is a dual antenna, a pitch angle or a roll angle may be additionally obtained, and the antenna position may be compensated only for the pitch angle or the roll angle; when more antennas exist in the global positioning subsystem 10, the pitch angle and the roll angle can be additionally obtained, so that the pitch angle and the roll angle compensation can be positioned.
The boundary compensation method comprises the following steps: as shown in fig. 3, the antenna 70 is offset from the target parcel boundary. The deviation of the agricultural machinery as it winds clockwise or counterclockwise along the target plot depends on the location where the antenna 70 is mounted. Determining the lateral spacing O of the antenna 70 from the target parcel boundary based on the detour 1 The actual boundary point is obtained using the deviation and the antenna 70 positioning. Since the target block may have multiple vertices, the boundary deviation between the antenna 70 and the target block cannot obtain the actual edge, and it is also necessary to determine the distance O between the antenna 70 2 Rear space O of antenna 70 3 The exact location thereof is obtained. As shown in fig. 4, a boundary relationship between the agricultural machine and the target land is established on the projection reference plane, wherein each pitch has been subjected to attitude angle compensation, and I, J, K three-point positions are as follows (o' 1 For the length in the o1 projection plane, o' 1 ＝o' 1 cosγ)
In the boundary acquisition process, the actual boundary of the target land block can be determined through the track of the three points. When the shape of the target land parcel is regular, such as a land parcel of a rectangle, a trapezoid and the like, the boundary of the target land parcel can be determined by adopting four boundary vertexes, namely in fig. 4, the actual boundary vertexes can be obtained through I, J, K positions.
In one embodiment of the present invention, the step of dividing the target land parcel into areas based on the boundary point position information further includes: the target land block is divided into an operation area and a land area.
Specifically, during the operation of the agricultural machine, the target plot is divided into a work area and a head area. The operation area refers to an area where the agricultural machinery starts working after entering the land, the land area refers to an area where the agricultural machinery turns to enter the next operation line after finishing one operation line, and the land area performs operation again after finishing the operation area. The width of the land area is related to the turning radius of the agricultural machinery and the operation width, and the width is usually a plurality of widths and is larger than or equal to the turning radius of the agricultural machinery.
As shown in fig. 5, the terminal 50 translates a plurality of working widths inward based on the target land parcel short boundary, with the inner side being the working area and the outer side being the land area, according to the land area width parameter. In the translation process, the total number of track points of a certain short side is set as m, the ground parameters are set as d, and a certain point p (p is not less than 1)<q) whose next point is p+1, and a vector is formed by connecting p points with p+1 pointsIts moving direction unit vector +.>Is that
When the boundary acquisition detour direction is clockwise, θ= -90 °; when the boundary acquisition detour direction is counterclockwise, θ=90°.
The points p 'and p+1' after the inward movement of the points p and p+1 are respectively
And traversing all track points of the short boundary by using the formula to obtain track points of the boundary of the ground head of the target land block, wherein the mode can be also used for curved boundaries, and the whole or partial curved boundaries can be planned to the ground head according to the mode. It will be appreciated that: the target land block can also be provided with a third land block for the land block with overlarge included angle of opposite sides such as trapezoids; an annular land head can also be arranged for a round land block.
In one embodiment of the present invention, the step of determining whether the plurality of operation units 60 of the agricultural machine enter the operation area, if so, determining whether the plurality of operation units 60 are in the operated row, and if so, controlling the operation units 60 corresponding to the operated row to stop the operation further includes: position information of each working unit 60 of the agricultural machine is acquired and position compensation is performed.
Specifically, as shown in fig. 6, a plurality of working units 60 are provided on the agricultural machine, and each working unit 60 is provided with a working unit sub-controller 40 for controlling the corresponding working unit 60 to stop working. Let the center point of the cross rod of the antenna 70 be M, and the projection plane be M'; setting the projection intersection point of the connecting line of the operation unit 60 and the central axis of the agricultural machine as N'; let the distance between the antenna 70 and the central axis of the agricultural machine be L 1 The distance in the projection reference plane is L 1 ' its size is L 1 cos gamma; let the distance between the center of the working unit 60 and the antenna 70 be L 2 Its distance within the projection reference is L 2 cos θ; let the distance from the left first working unit 60 to the central axis be L 3 Its distance in the projection reference plane is L 3 cos gamma; let n be the number of work units 60, dr be the row spacing,the line spacing is dr' on the projection reference plane and the length is drcos gamma.
M' point solving:
establishing a relative coordinate system by using a G 'point, wherein the unit vector in the G' Y direction is as follows
The unit vector in the G' X direction is
M' point coordinates:
n' point coordinates:
first unit position U 1 The method comprises the following steps:
then the i-th cell position U i Is that
The formula is applicable to units distributed at random equidistance, and has universality. When the cells are even and symmetrically distributed, the N point is located between the N/2 th cell and the (N/2+1) th cell, L 3 When (n-1) dr/2, U i Is that
Further, in one embodiment of the present invention, the step of determining whether the plurality of operation units 60 of the agricultural machine enter the operation area, if so, determining whether the plurality of operation units 60 are in the operated row, and if so, controlling the operation units 60 corresponding to the operated row to stop the operation further includes: a radiographic method is used to determine whether a plurality of work units 60 of the agricultural machine enter the work area.
Specifically, due to the delay of the control system, deviation of the operation of the agricultural machinery occurs, and delay compensation needs to be performed on the whole system. The compensation distance D may be expressed as d=vt/3.6, where v is the farm work speed (km/h), and t is the system lag time(s), which is measured by the field work time. The projection length D' =Dcos theta of the deviation distance D on the projection reference plane, and the compensated coordinates are as follows
(x+D'cosθ，y+D'sinθ)。
Specifically, as shown in fig. 7, the positional relationship between the operation unit 60 of the agricultural machine and the operation area is determined by a ray method, specifically, the current point is taken as a base point, rays are taken along the heading direction, if the number of intersections between the rays and the operation area boundary is an odd number, the operation unit 60 of the agricultural machine is determined to be within the operation area, and if the number of intersections between the rays and the operation area boundary is an even number, the operation unit 60 of the agricultural machine is determined to be outside the operation area.
Further, in one embodiment of the present invention, the step of determining whether the plurality of operation units 60 of the agricultural machine enter the operation area, if so, determining whether the plurality of operation units 60 are in the operated row, and if so, controlling the operation units 60 corresponding to the operated row to stop the operation further includes: and calculating the distance between the current operation line and the adjacent operated line in the operation area, judging the position relation between the operated line in the operation area and the agricultural machine, controlling the operation unit 60 corresponding to the right overlapping area of the agricultural machine to be closed if the operated line is on the right side of the agricultural machine, and controlling the operation unit 60 corresponding to the left overlapping area of the agricultural machine to be closed if the operated line is on the left side of the agricultural machine.
In particular, when the agricultural machine is operating in a work area,recording projection intersection points N 'of central axes of agricultural machinery and central axes of operation units respectively according to operation lines, and calculating N' points and NR in other operation lines 1 ' Point (NR) 1 ' Point: the first point in the set of N ' points in the R job line) distance DN ', when both distances are greater than 1 width (w), the remaining N ' points will not participate in the calculation. Thus, the search range is reduced to the N' point set of the adjacent operated line, and the calculation quantity is reduced. Simultaneous calculation of unit vectorsAnd->If the included angles are smaller than 90 degrees, the operated reference row is arranged on the right side of the agricultural machine; greater than 90 deg. the worked reference row is on the left side of the agricultural machine. When- (j+1) d r ＜D N' -W＜-jd r When j working units 60 overlap, the i-j to i-th working units 60 are turned off (i is the number of working units) if the now operated reference line is on the right side of the agricultural machine, and the 1-j-th working units 60 are turned off if the now operated reference line is on the left side of the agricultural machine. When D is N' W > 0, then it indicates that the current row of jobs deviates from the already-worked reference row.
In one embodiment of the invention, the method of agricultural machine segment control further comprises: the unit of work 60 corresponding to the last row of the work area is controlled to be turned off.
Specifically, when the operation unit 60 is detected to enter the operation area, the distance between the center axis of the current agricultural machine and the projection point N' of the center axis of the operation unit 60 and the termination boundary is calculated, and the judgment method of the position relationship between the operation unit 60 and the operated line is analogous, the operation unit 60 in the section overlapping with the last line is closed, so that the full width of the last line is ensured, and the operation quality is further ensured.
Further, agricultural operations and agricultural machine navigation are not necessarily separable, but are limited by the technical level, and agricultural machine navigation is mainly AB line navigation. Usually, the aircraft crew needs to take two AB points along the land parcel boundary as the route, and expands a plurality of routes according to the breadth. In the field, the length is short, the number of operation lines is small, and the agricultural machine navigation is not very convenient, so that the machine operator can perform manual operation frequently, and the operation quality depends on the driving level of the machine operator. To improve the work quality and reduce the level of operator driving, the zone control provides guidance for the ground work. When the distance between the N 'point and the boundary is set as a standard, the distance between the N' point and the boundary is calculated in real time, when the distance is an integer multiple of half-width, the distance is considered to be operated on a proper path, and the deviation of a working line is displayed in real time through a terminal to guide the operation of a manipulator. At the same time, the track of the N' point under the operation line is recorded, and the overlapping operation is prevented by adopting a judging method of the position relation between the operation unit 60 and the operated line.
According to the method for controlling the farm machinery section, more accurate positioning data can be obtained through compensating the positioning positions of the pitch angle and the roll angle, the position relation between the farm machinery operation unit and the operation area is judged by adopting a ray method, the judging method is simple and convenient, the overlapping number of the current operation line and the adjacent operation section is judged in real time, the operation unit of the farm machinery corresponding to the overlapping section is judged by utilizing the vector included angle and the related distance, and the operation unit corresponding to the overlapping section is closed, so that the interference of secondary operation can be avoided.
The apparatus for controlling an agricultural machine section provided by the present invention will be described below, and the apparatus for controlling an agricultural machine section described below and the method for controlling an agricultural machine section described above may be referred to correspondingly to each other.
As shown in fig. 8, an embodiment of the present invention provides an apparatus for controlling an agricultural machine section, including: an acquisition module 801, a division module 802, a judgment module 803 and a control module 804. The obtaining module 801 is configured to obtain boundary point position information of a target land parcel, the dividing module 802 is configured to divide the target land parcel into areas based on the boundary point position information, the judging module 803 is configured to judge whether the plurality of operation units 60 of the agricultural machine enter the operation area, if so, judge whether the plurality of operation units 60 are in an operated line, and the control module 804 is configured to control the operation unit 60 corresponding to the operated line to stop operation when the operation unit 60 is in the operated line.
As shown in fig. 9, an embodiment of the present invention further provides an agricultural machine section control system, including: global positioning subsystem 10, inertial measurement unit 20, controller 30, a plurality of work unit sub-controllers 40, and terminal 50. The global positioning subsystem 10, the inertial measurement unit 20, the plurality of work unit sub-controllers 40, and the terminal 50 are all communicatively coupled to the controller 30.
Specifically, global positioning subsystem 10, inertial measurement unit 20, controller 30, and a plurality of work unit sub-controllers 40 are all disposed on the agricultural machine. When the agricultural machinery runs along the boundary point of the target land block in the target land block, the global positioning subsystem 10 provides centimeter-level precision in a differential positioning mode, longitude and latitude information and heading information of a running track point of the agricultural machinery are obtained, the inertial measurement unit 20 measures pitch angle and roll angle of the agricultural machinery, the global positioning subsystem 10 and the inertial measurement unit 20 send collected data to the controller 30, the controller 30 compensates the position of the antenna 70 of the global positioning subsystem 10 according to the pitch angle and the roll angle and sends relevant information to the terminal 50, and the terminal 50 calculates the boundary point position of the target land block according to the relative position relation between the antenna 70 and the target land block.
The terminal 50 judges whether a plurality of operation units 60 of the agricultural machine enter an operation area by using a ray method, if the operation units 60 enter the operation area, the terminal 50 calculates the distance between the current operation row and the adjacent operated row in the operation area, judges the position relation between the operated row and the agricultural machine in the operation area, if the operated row is on the right side of the agricultural machine, the terminal 50 sends a command to the operation unit sub-controller 40 on the right side of the agricultural machine, the operation unit sub-controller 40 on the right side of the agricultural machine controls the operation units 60 corresponding to the overlapping area on the right side of the agricultural machine to be closed, and if the operated row is on the left side of the agricultural machine, the terminal 50 sends a command to the operation unit sub-controller 40 on the left side of the agricultural machine, and the operation unit sub-controller 40 corresponding to the overlapping area on the left side of the agricultural machine controls the operation units 60 on the left side of the agricultural machine to be closed.
According to the agricultural machinery section control system provided by the embodiment of the invention, more accurate positioning data can be obtained by arranging the global positioning subsystem and the inertial measurement unit, the precision of agricultural machinery operation is improved by arranging the controller and the operation unit sub-controller, secondary operation can not be caused for an operated row, and the conditions of seed dislocation and damage caused by secondary ditching in seeding operation, raw material waste caused by secondary operation of a pesticide spraying machine and a fertilizer distributor, environmental pollution and the like are avoided.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of agricultural machinery segment control, comprising:
acquiring boundary point position information of a target land block;
dividing the target land block into areas based on the boundary point position information;
judging whether a plurality of operation units of an agricultural machine enter an operation area, if so, judging whether the operation units are in operated lines, and if so, controlling the operation units corresponding to the operated lines to stop operation; the method specifically comprises the following steps:
taking the current point as a base point, making rays along the heading direction, judging that the operation unit of the agricultural machine is in the operation area if the intersection point number of the rays and the boundary of the operation area is odd, and judging that the operation unit of the agricultural machine is out of the operation area if the intersection point number of the rays and the boundary of the operation area is even;
calculating the distance between the current operation line and the adjacent operated line in the operation area, judging the position relation between the operated line and the agricultural machinery in the operation area, controlling the operation unit of the corresponding overlapping operation area on the right side of the agricultural machinery to be closed if the operated line is on the right side of the agricultural machinery, and controlling the operation unit of the corresponding overlapping operation area on the left side of the agricultural machinery to be closed if the operated line is on the left side of the agricultural machinery.
2. The method of agricultural machinery section control of claim 1, further comprising, prior to the step of obtaining boundary point location information for the target plot:
and performing positioning compensation on the antenna.
3. The method of agricultural machinery segment control of claim 1, wherein the step of obtaining boundary point location information of the target plot further comprises:
acquiring pitch angle, roll angle and course angle corresponding to a running track point when the agricultural machinery runs along the boundary point of the target land block;
and calculating the compensation position of the antenna based on the pitch angle, the roll angle and the course angle, and determining the boundary point position information of the target land block based on the compensation position of the antenna.
4. The method of agricultural machinery segment control of claim 1, wherein the step of zoning the target plot based on the boundary point location information further comprises:
and dividing the target land block into the operation area and the land head area.
5. The method of claim 1, wherein the step of determining whether a plurality of work units of an agricultural machine enter a work area, if so, determining whether a plurality of the work units are in a worked row, and if so, controlling the work units corresponding to the worked row to stop the work further comprises:
and acquiring the position information of each operation unit of the agricultural machinery and performing position compensation.
6. The method of agricultural machinery section control of any of claims 1-5, further comprising:
and controlling the operation unit corresponding to the last row of the operation area to be closed.
7. An apparatus for performing the method of agricultural machine segment control of any one of claims 1-6, comprising:
the acquisition module is used for acquiring the boundary point position information of the target land block;
the dividing module is used for dividing the target land block into areas based on the boundary point position information;
the judging module is used for taking the current point as a base point, making rays along the heading direction, judging that the operation unit of the agricultural machine is in the operation area if the intersection point number of the rays and the boundary of the operation area is odd, and judging that the operation unit of the agricultural machine is out of the operation area if the intersection point number of the rays and the boundary of the operation area is even;
the control module is used for calculating the distance between the current operation line and the adjacent operated line in the operation area, judging the position relation between the operated line and the agricultural machinery in the operation area, controlling the operation unit of the corresponding overlapping operation area on the right side of the agricultural machinery to be closed if the operated line is on the right side of the agricultural machinery, and controlling the operation unit of the corresponding overlapping operation area on the left side of the agricultural machinery to be closed if the operated line is on the left side of the agricultural machinery.
8. An agricultural machinery segment control system, comprising: the system comprises a global positioning subsystem, an inertial measurement unit, a terminal, a controller and a plurality of operation unit sub-controllers, wherein the global positioning subsystem, the inertial measurement unit, the terminal and the operation unit sub-controllers are all in communication connection with the controller.
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