CN116830884A - A method, device and storage medium for controlling full-width operation of a combine harvester - Google Patents
A method, device and storage medium for controlling full-width operation of a combine harvester Download PDFInfo
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- CN116830884A CN116830884A CN202311017970.8A CN202311017970A CN116830884A CN 116830884 A CN116830884 A CN 116830884A CN 202311017970 A CN202311017970 A CN 202311017970A CN 116830884 A CN116830884 A CN 116830884A
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- distance
- combine harvester
- crop
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/02—Self-propelled combines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
本申请涉及一种联合收割机满幅作业控制方法、装置及存储介质，所述方法包括步骤：获取联合收割机割台与作物之间的距离；获取距离预设阈值；计算所述距离和所述预设阈值之间的差值；根据所述差值控制所述联合收割机前进方向。本申请提供的一种联合收割机满幅作业控制方法、装置及存储介质成本低：仅需增加两个测距传感器即可完成满幅作业控制；降低操作难度，提升操作舒适性；提高经济效益，每趟收割均满幅作业，会降低往返次数，降低成本；算法模型精准、简洁、可靠。
The application relates to a method, device and storage medium for controlling full-width operation of a combine harvester. The method includes the steps of: obtaining the distance between the header of the combine harvester and the crops; obtaining a preset distance threshold; calculating the distance and the The difference between the preset thresholds; the forward direction of the combine harvester is controlled according to the difference. The method, device and storage medium for controlling the full-width operation of a combine harvester provided by this application are low in cost: only two ranging sensors are needed to complete the full-width operation control; the operation difficulty is reduced, the operating comfort is improved; and the economic benefits are improved , each harvesting operation is full, which will reduce the number of round trips and reduce costs; the algorithm model is accurate, simple and reliable.
Description
Technical Field
The application relates to the field of harvester control, in particular to a full-width operation control method and device of a combine harvester and a storage medium.
Background
When the harvester hand is used for harvesting grains, the advancing direction can be adjusted at any time in order to improve the working efficiency, and the full-width working state is striven for maintenance. In addition, the mu metering precision can be improved in full-width operation. Therefore, the current full-width operation is realized mainly by manual operation of a manipulator.
However, the above prior art has the following disadvantages:
(1) The energy required by operators is concentrated, and the operators are easy to fatigue;
(2) The full width operation precision is difficult to ensure.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the application provides a full-width operation control method and device of a combine harvester and a storage medium.
In a first aspect, the present application provides a full-width operation control method for a combine harvester, the method comprising the steps of:
acquiring the distance between a header of the combine harvester and crops;
acquiring a distance preset threshold value;
calculating a difference between the distance and the preset threshold;
and controlling the advancing direction of the combine harvester according to the difference value.
Preferably, the step of obtaining the distance between the combine header and the crop comprises the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
and acquiring a second distance between the right edge position of the combine header and the right crop.
Preferably, the step of obtaining a first distance between the left edge position of the combine header and the left crop comprises the steps of:
a left sensor is arranged at the left edge position of the combine header;
a first distance between itself and the left crop is detected by the left sensor.
Preferably, the step of obtaining a second distance between the right edge position of the combine header and the right crop comprises the steps of:
a right sensor is arranged at the right edge position of the combine header;
a second distance between itself and the right crop is detected by the right sensor.
Preferably, said controlling the forward direction of the combine harvester according to the difference comprises the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the first distance is greater than 0 and whether the second distance is equal to 0;
if yes, controlling the combine harvester to turn to the right.
Preferably, said controlling the forward direction of the combine harvester according to the difference comprises the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the second distance is greater than 0 and whether the first distance is equal to 0;
if yes, controlling the combine harvester to turn to the left.
Preferably, said controlling the forward direction of the combine harvester according to the difference comprises the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the first distance is greater than 0 and whether the second distance is greater than 0;
if yes, the combine harvester is controlled to keep the current running direction.
In a second aspect, the present application provides a full-width operation control device for a combine harvester, comprising:
the distance acquisition module is used for acquiring the distance between the header of the combine harvester and crops;
the threshold value acquisition module is used for acquiring a distance preset threshold value;
the difference calculating module is used for calculating the difference between the distance and the preset threshold value;
and the direction control module is used for controlling the advancing direction of the combine harvester according to the difference value.
In a third aspect, an electronic device is provided, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the combine full width operation control methods described above.
In a fourth aspect, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform any of the combine full width operation control methods described above.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
the full-width operation control method and device for the combine harvester, provided by the application, have the advantages that the cost of a storage medium is low: full-width operation control can be completed only by adding two ranging sensors; the operation difficulty is reduced, and the operation comfort is improved; the economic benefit is improved, the full-width operation is carried out in each harvest, the round trip times are reduced, and the cost is reduced; the algorithm model is accurate, simple and reliable.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a full-width operation control method of a combine harvester according to an embodiment of the application;
fig. 2 is a schematic structural diagram of a full-width operation control device of a combine harvester according to an embodiment of the application;
fig. 3 is a schematic structural diagram of an electronic device according to the present application;
fig. 4 is a schematic structural diagram of a non-transitory computer readable storage medium according to the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is a schematic flow chart of a full-width operation control method of a combine harvester according to an embodiment of the application.
The application provides a full-width operation control method of a combine harvester, which comprises the following steps:
s1: acquiring the distance between a header of the combine harvester and crops;
in an embodiment of the present application, the step of obtaining the distance between the header of the combine and the crop includes the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
and acquiring a second distance between the right edge position of the combine header and the right crop.
Specifically, the combine header has crops on both the left and right sides, the distance between the left and left crops being defined as a first distance, and the distance between the right and right crops being defined as a second distance.
In an embodiment of the present application, the step of obtaining a first distance between a left edge position of the combine header and a left crop includes:
a left sensor is arranged at the left edge position of the combine header;
a first distance between itself and the left crop is detected by the left sensor.
Specifically, the first distance d1 between the objects to be harvested on the left side of the header relative to the left side of the header is obtained by an ultrasonic sensor (or an optical sensor) mounted on the left side of the header of the combine harvester.
In an embodiment of the present application, the step of obtaining the second distance between the right edge position of the combine header and the right crop includes the steps of:
a right sensor is arranged at the right edge position of the combine header;
a second distance between itself and the right crop is detected by the right sensor.
Specifically, the second distance d2 between the objects to be harvested on the right side of the header relative to the right side of the header is obtained by an ultrasonic sensor (or an optical sensor) mounted on the right side of the header of the combine harvester. In general, the header edge on one side is inserted into the middle of the object to be harvested, so that the measured value is 0. Therefore, only one side measurement d1 or d2 is obtained during normal harvesting operation.
S2: acquiring a distance preset threshold value;
s3: calculating a difference between the distance and the preset threshold;
specifically, the distance preset threshold is 0, and the difference between the first distance and the second distance and the distance preset threshold is the first distance d1 and the second distance d2.
S4: and controlling the advancing direction of the combine harvester according to the difference value.
In an embodiment of the present application, the controlling the advancing direction of the combine according to the difference value includes the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the first distance is greater than 0 and whether the second distance is equal to 0;
if yes, controlling the combine harvester to turn to the right.
Specifically, when d1 (or d 2) +.d0, it is indicated that the header is not harvesting full width at this time. When d1 > 0 and d2=0, it is explained that the header is not full-width harvested on the left side at this time, and the harvester is controlled to turn to the right in the advancing direction so as to control the target such that d1 tends to 0.
In an embodiment of the present application, the controlling the advancing direction of the combine according to the difference value includes the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the second distance is greater than 0 and whether the first distance is equal to 0;
if yes, controlling the combine harvester to turn to the left.
Specifically, when d2 > 0 and d1=0, it is explained that the header right side is not full-width harvesting at this time, and the harvester advancing direction is controlled to be turned to the left side so that the control target is such that d2 tends to 0.
In an embodiment of the present application, the controlling the advancing direction of the combine according to the difference value includes the steps of:
acquiring a first distance between the left edge position of the combine header and a left crop;
acquiring a second distance between the right edge position of the combine header and the right crop;
judging whether the first distance is greater than 0 and whether the second distance is greater than 0;
if yes, the combine harvester is controlled to keep the current running direction.
Specifically, when d1 and d2 are both greater than 0, the last time of field harvesting is performed, and the combine harvester is controlled to keep the current running direction so as to keep d1 and d2 not less than 0.
As shown in fig. 2, the present application provides a full-width operation control device of a combine harvester, comprising:
a distance acquisition module 10 for acquiring a distance between a combine header and a crop;
a threshold value obtaining module 20, configured to obtain a distance preset threshold value;
a difference calculating module 30, configured to calculate a difference between the distance and the preset threshold;
a direction control module 40 for controlling the forward direction of the combine according to the difference.
The full-width operation control device of the combine harvester can execute the full-width operation control method of the combine harvester.
It is to be understood that the above-described embodiments of the present application are merely illustrative of or explanation of the principles of the present application and are in no way limiting of the application. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application should be included in the scope of the present application. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Referring now to fig. 3, a schematic diagram of an electronic device 100 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 3, the electronic device 100 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 101 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 102 or a program loaded from a storage means 108 into a Random Access Memory (RAM) 103. In the RAM 103, various programs and data necessary for the operation of the electronic apparatus 100 are also stored. The processing device 101, ROM 102, and RAM 103 are connected to each other by a bus 104. An input/output (I/O) interface 105 is also connected to bus 104.
In general, the following devices may be connected to the I/O interface 105: input devices 106 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 107 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 108 including, for example, magnetic tape, hard disk, etc.; and a communication device 109. The communication means 109 may allow the electronic device 100 to communicate wirelessly or by wire with other devices to exchange data. While an electronic device 100 having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 109, or from the storage means 108, or from the ROM 102. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 101.
Referring now to fig. 4, there is shown a schematic diagram of a computer readable storage medium suitable for use in implementing embodiments of the present disclosure, the computer readable storage medium storing a computer program which, when executed by a processor, is capable of implementing a combine full width job control method as described in any one of the above.
The full-width operation control method and device for the combine harvester, provided by the application, have the advantages that the cost of a storage medium is low: full-width operation control can be completed only by adding two ranging sensors; the operation difficulty is reduced, and the operation comfort is improved; the economic benefit is improved, the full-width operation is carried out in each harvest, the round trip times are reduced, and the cost is reduced; the algorithm model is accurate, simple and reliable.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311017970.8A CN116830884A (en) | 2023-08-14 | 2023-08-14 | A method, device and storage medium for controlling full-width operation of a combine harvester |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311017970.8A CN116830884A (en) | 2023-08-14 | 2023-08-14 | A method, device and storage medium for controlling full-width operation of a combine harvester |
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| CN116830884A true CN116830884A (en) | 2023-10-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118805538A (en) * | 2024-06-06 | 2024-10-22 | 邵阳学院 | An intelligent and efficient vegetable defoliating harvester control system and method |
| CN119861717A (en) * | 2025-01-03 | 2025-04-22 | 潍柴雷沃智慧农业科技股份有限公司 | Control method, device, equipment, medium and agricultural machine for full-width harvesting |
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| CN115119609A (en) * | 2021-03-26 | 2022-09-30 | 凯斯纽荷兰(中国)管理有限公司 | System and method for controlling an agricultural header |
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| CN119861717A (en) * | 2025-01-03 | 2025-04-22 | 潍柴雷沃智慧农业科技股份有限公司 | Control method, device, equipment, medium and agricultural machine for full-width harvesting |
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