CN108205322A - A kind of agricultural machinery working method and system that working path is not automatically generated by map - Google Patents
A kind of agricultural machinery working method and system that working path is not automatically generated by map Download PDFInfo
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- CN108205322A CN108205322A CN201711482796.9A CN201711482796A CN108205322A CN 108205322 A CN108205322 A CN 108205322A CN 201711482796 A CN201711482796 A CN 201711482796A CN 108205322 A CN108205322 A CN 108205322A
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- 238000012271 agricultural production Methods 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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Abstract
The invention discloses a kind of agricultural machinery working method that working path is not automatically generated by map, including：Step 1：According to row spacing and the starting point coordinate and terminal point coordinate on the i-th ridge, the starting point coordinate on i+1 ridge is determined；Step 2：According to agricultural machinery min. turning radius and the row spacing, agricultural machinery is selected to turn around pattern and to generate the path of turning around of the starting point from the terminal on the i-th ridge to i+1 ridge；Step 3：According to the starting point coordinate on the i+1 ridge and the starting point coordinate and terminal point coordinate on the i-th ridge, determine the terminal point coordinate on i+1 ridge and the working path on i+1 ridge is generated according to the starting point coordinate and terminal point coordinate on i+1 ridge.The invention also discloses a kind of agricultural machinery working system, including：Starting point coordinate determining module generates turn around path module and terminal point coordinate determining module.The present invention is low to the state dependence of map and surrounding field and the generating process in path is simple, also avoids agricultural machinery and repeats operation or leak operation and low to the operative skill requirement of driver.
Description
Technical field
The present invention relates to agricultural machinery automatic Pilot technical fields, and operation road is not automatically generated by map more particularly to one kind
The agricultural machinery working method and system of diameter.
Background technology
With the continuous development of science and technology, the prevalence for having become all trades and professions using modernization machinery to replace hand labor becomes
Gesture.In modern agriculture, agricultural machinery is widely used in the agricultural production processes such as farming, sowing, fertilising, spray, harvest, agricultural machinery
Path planning it is particularly important in the operation process of field, to assist driver according to setting path carry out farm work,
So as to reduce the labor intensity of driver.
Agricultural machinery field carry out automatic Pilot operation when, a very big challenge be how no map situation
Under, it is efficient to carry out working path planning based on manual intervention as few as possible.
The method for disclosing a kind of agricultural machinery automatic path planning in field operation in the prior art is relied in this method
The current location information of existing map scale information, agricultural machinery, to obtain farmland geodata, agricultural machinery car-mounted terminal is according to farmland
The spatial data in section and node in geodata draws out section topological structure, according in the farmland geodata of return
The attribute data in section draws out the farmland adjacent with each section, and the section topological structure drawn out and farmland are carried out map
It has been shown that, current location information is demarcated on the map；The attribute letter in the farmland in the farmland geodata of return
Breath, cooks up the working path in each farmland.
This method the problem is that：Agricultural machinery need to load the cartographic information in field：This method must carry map scale
Information just can determine that the geodata in farmland, there is very strong dependence to the cartographic information in field, can not be in the situation of no map
Path during lower planning agricultural machinery working.
The prior art also disclose it is a kind of generate agricultural machinery working path method, this method be based on operation plot vector,
The prior informations such as Complete working unit parameter and path optimization's target generate the working path of agricultural machinery, realize the whole district to farmland massif
Domain covers, but this method needs to set many parameters and calculating process is more complicated.
Therefore, there are following Railway Projects for the prior art：
1st, agricultural machinery generation working path has map great dependence：The former prior art needs to load cartographic information,
It could plan agricultural machinery working path；
2nd, generation agricultural machinery working path calculation process is complicated：The latter prior art needs to set many parameters, and count
It calculates also more complicated.
Invention content
The purpose of the present invention is exactly to solve above-mentioned problems of the prior art.The purpose of the present invention is to propose to one
The agricultural machinery working method and system of working path kind are automatically generated in the case of no map so that agricultural machinery can quickly, have
Complete the job task in farmland in effect ground.
In order to achieve the above object, the technical solution adopted by the present invention is：
A kind of agricultural machinery working method that working path is not automatically generated by map, including：
Step 1：According to the row spacing in field and the starting point coordinate and terminal point coordinate on the i-th ridge, determine that the starting point on i+1 ridge is sat
Mark；
Step 2：According to agricultural machinery min. turning radius and the row spacing, agricultural machinery is selected to turn around pattern and to generate from the i-th ridge
Terminal is to the path of turning around of the starting point on i+1 ridge；
Step 3：According to the starting point coordinate on the i+1 ridge and the starting point coordinate and terminal point coordinate on the i-th ridge, determine i-th+
The terminal point coordinate on 1 ridge, and according to the working path on the starting point coordinate and terminal point coordinate on i+1 ridge generation i+1 ridge；
Wherein, i is positive integer.
Further, the beginning and end on the 1st ridge is preset.
Further, the agricultural machinery pattern that turns around turns around to turn around with staggered form including arch.
Further, when the min. turning radius is less than or equal to the row spacing of half, arch is selected to turn around pattern,
The path of turning around includes two arc sections and a straightway, wherein described two arc sections are connected to the straightway
Both ends and approximately form an arch.
Further, when the min. turning radius is more than the row spacing of half, staggered form is selected to turn around pattern, institute
It states path of turning around and includes a straightway and two arc sections, wherein described two arc sections are connected to the straightway
Both ends simultaneously intersect.
Further, when the field be irregular shape when, for irregular shape boundary in advance demarcate one or
Multiple auxiliary magnets.
Further, agricultural machinery by before being when described two arc sections and straightway to traveling.
Further, agricultural machinery is preceding to traveling when by described two arc sections, by being to swing to during the straightway
Traveling.
Further, agricultural machinery packs up carrier in the terminal for reaching each ridge automatically, and in the starting point for reaching each ridge
Shi Zidong puts down carrier.
A kind of agricultural machinery working system that working path is not automatically generated by map, including：
Starting point coordinate determining module for the starting point coordinate and terminal point coordinate according to row spacing and the i-th ridge, determines i+1
The starting point coordinate on ridge；
Turn around path-generating module, for agricultural machinery according to agricultural machinery min. turning radius and the row spacing, to be selected to turn around pattern
And generate the path of turning around of the starting point from the terminal on the i-th ridge to i+1 ridge；
Terminal point coordinate determining module, for the starting point coordinate according to the i+1 ridge and starting point coordinate and the end on the i-th ridge
Point coordinates determines the terminal point coordinate on i+1 ridge, and the work on i+1 ridge is generated according to the starting point coordinate and terminal point coordinate on i+1 ridge
Industry path；
Wherein, i is positive integer.
The beneficial effects of the invention are as follows：
1st, generating process low to the state dependence of map and surrounding field and path is simple：In the situation of no map
Under, the present invention automatically generates the working path of agricultural machinery, avoids repeating to set each of field according to the min. turning radius of agricultural machinery
The beginning and end of ridge straight line path, while reduce the error that setting beginning and end is brought by hand, it decreases artificial dry
It is pre- and reduce dependence of the agricultural machinery to field state around.
2nd, agricultural machinery is avoided to repeat operation or leakage operation:The present invention can combine carrier when generating next ridge working path
Width using GNSS-RTK airmanships, makes the tracking error of generation control in Centimeter Level accuracy rating, it is ensured that adjacent field
Seamless connection between ridge avoids agricultural machinery from repeating operation and/or leakage operation.
3rd, the operative skill of driver is required low：Agricultural machinery is automatically reminded to driver when generating turning path and adjusts shelves
Position, brake, it is ensured that driver can also fulfil assignment when being unfamiliar with agricultural machinery and driving.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an implementation in a kind of agricultural machinery working method that working path is not automatically generated by map of the present invention
Example can directly turn around to carry out the schematic diagram under the handling situations on next ridge in agricultural machinery；
Fig. 2 is a kind of another implementation of agricultural machinery working method that working path is not automatically generated by map of the present invention
Example can not directly turn around to carry out the schematic diagram under the handling situations on next ridge in agricultural machinery；
Fig. 3 A-3D are an a kind of reality of agricultural machinery working method that working path is not automatically generated by map of the present invention
Apply the coordinate schematic diagram that path is automatically generated in example；
Fig. 4 is a kind of one embodiment of agricultural machinery working system that working path is not automatically generated by map of the present invention
Structure chart.
Specific embodiment
It is described below for the open present invention so that those skilled in the art can realize the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious deformations.It defines in the following description
The present invention basic principle can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " when being used in this specification specifies the feature, number, step, operation, component, element or combination to deposit
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
As seen from Figure 1, in the field (such as rectangle) of rule, one kind in the present embodiment is not automatically generated by map
The specific works step of the agricultural machinery working method of working path is as follows, including：
Step 1：According to the row spacing in field and the starting point coordinate and terminal point coordinate on the i-th ridge, determine that the starting point on i+1 ridge is sat
Mark；
Step 2：According to agricultural machinery min. turning radius and the row spacing, agricultural machinery is selected to turn around pattern and to generate from the i-th ridge
Terminal is to the path of turning around of the starting point on i+1 ridge；
Step 3：According to the starting point coordinate on the i+1 ridge and the starting point coordinate and terminal point coordinate on the i-th ridge, determine i-th+
The terminal point coordinate on 1 ridge；And the working path on i+1 ridge is generated according to the starting point coordinate and terminal point coordinate on i+1 ridge；
Wherein, i is positive integer.
In the present embodiment, referring to Fig. 1, in step 1, agricultural machinery is travelled from the starting point A automatic linears in pre-set section one
To terminal B, the initialization in path is carried out.It here, can be by two manually demarcated to the straight-line travelling of terminal B from starting point A
Auxiliary magnet is completed, the two auxiliary magnets can be starting point A and terminal B or starting point A and intermediate point B2。
Specifically, the straight line operation of agricultural machinery from point A to point B can be carried out by two ways in step 1：
Mode one, artificial two auxiliary magnets demarcated on section one, i.e. point A and point B in Fig. 12, agricultural machinery is by the two
Auxiliary magnet is from starting point A automatically along line segment AB2Extended line move forward, so as to which straight line is driven to terminal B (the i.e. fields in section one
The end)；
Mode two, the artificial beginning and end for demarcating section one, i.e. point A and point B, agricultural machinery in Fig. 1 are automatically straight from starting point A
Line is driven to terminal B.
No matter by above any mode, agricultural machinery may be by GNSS-RTK (Global Navigation Satellite System-carrier wave phase
Position differential technique) obtain the coordinate (X of point AA,YA) and point B coordinate (XB,YB), the coordinate precision of point A and point B can reach li
Meter level.
In the present embodiment, after agricultural machinery point of arrival B, according to the row spacing L set in advance and steering, referring to Fig. 3 A, agriculture is obtained
Coordinate (the X of the starting point E in the lower ridge culture industry section two of machineE, YE),
XE=XB+sin(θE)×L×T
YE=YB-cos(θE)×L×T
Wherein (XA,YA) be point A coordinate, (XB,YB) be point B coordinate, L is row spacing, and T is changes ridge steering (wherein agricultural machinery
T is taken as 1 during right-hand rotation, and T is taken as -1 when agricultural machinery turns left), in the present embodiment, agricultural machinery is turned right, and T values are 1.
Step 2：According to the point A, point B of above-mentioned acquisition and the coordinate of point E, agricultural machinery when reaching B points, pack up automatically carrier or
Driver is reminded to pack up carrier manually, obtains changing the path on ridge from dynamic auxiliary according to such a way, agricultural machinery, which enters, to turn around to turn
Path.
According to the relationship of agricultural machinery min. turning radius R and row spacing L, it is divided into the following two kinds and turns around pattern.
It, usually will not be directly using agricultural machinery in order to protect the hydraulic steering of agricultural machinery in practical Project Realization
Min. turning radius carrys out R and turns, so can be protected plus a parameter Z, in the present embodiment, the value of Z can be with
For 0.1*R, but it is not limited to this.
Pattern one：When min. turning radius R is less than or equal to the row spacing L of half, i.e. R+Z ＜=0.5*L, agricultural machinery energy
It is enough directly to turn around to carry out the operation on next ridge, arch is selected to turn around pattern, referring to Fig. 1, arch turns around under pattern in the present embodiment
Path include one CD of one BC of circular arc section, two DE of arc section and straightway, wherein one BC of circular arc section and arc section two
DE is connected to the both ends of one CD of straightway and approximately forms an arch.All sections in the present embodiment are all agricultures
Machine is completed by preceding to traveling.
The path specifically generated is as follows：
1st, the path of one BC of generation arc section：
(1) central coordinate of circle (X of one BC of arc section is calculatedBC,YBC)：
The distance between BE is：
Central coordinate of circle (the X of one BC of arc sectionBC,YBC) be：
XBC=XB+(R+Z)/DistanceBE×(XB-XE)
YBC=YB+(R+Z)/DistanceBE×(YB-YE)
Wherein (XB,YB) be point B coordinate, (XE,YE) be point E coordinate.
(2) coordinate (X of the starting point C of one CD of straightway is calculatedC, YC)：
The length of one AB of section is：
Using the principle of similar triangles, referring to Fig. 3 B, the coordinate (X of the starting point C of one CD of straightway is obtainedC, YC)：
Wherein, (XBC,YBC) be one BC of arc section central coordinate of circle, (XA,YA) for one AB of section starting point A coordinate,
(XB,YB) for one AB of section terminal B coordinate.
(3) the starting point B to central coordinate of circle (X of one BC of arc section is calculatedBC,YBC) angle, θBWith terminal C to central coordinate of circle
(XBC,YBC) angle, θC, referring to Fig. 3 C, obtain differential seat angle θdiff,
θdiff=θB-θC
Carrying out conversion using AngleTrailer function pairs angle makes θdiffValue between-π to π, AngleTrailer
Function is for example：
(4) path point above one BC of generation arc section calculates the coordinate of respective point on one BC paths of arc section：
According to preset path point interval, 1 BC points all of the above of generation circular arc section referring to Fig. 3 D, calculate k-th
The corresponding angle, θ of pointk, obtain k-th point of coordinate (Xk,Yk), such as during k=0, the B points on as one BC of arc section；K=1
When, it is that first point is obtained on one BC of arc section according to preset route interval.In the present embodiment, path point interval for example may be used
Using value as 0.1 meter, but it is not limited to this, or and it is shorter or longer, depending on actual needs.
θk=θB+θdelta
Xk=XBC+(R+Z)×cos(θk)
Yk=YBC+(R+Z)×sin(θk)
WhereinFor the differential seat angle θ from all the points point B to point kdiff(j)Accumulated value.
2nd, the path of one CD of generation linear section
According to the method for above-mentioned calculating C point coordinates, similarly, the central coordinate of circle (X of two DE of arc section is calculatedDE,YDE), into
And according to the principle of similar triangles, (be similar to and calculate C point coordinates, as shown in Figure 3B) obtains the terminal D seats of two DE of arc section
Mark (XD,YD), no longer list calculating process in detail herein.
According to the coordinate of the starting point C of straightway one and the coordinate of terminal D, the path of one CD of straightway can be directly determined.
3rd, the path of two DE of generation arc section：
The calculating step in the path of two DE of arc section is similar with step 3.1.1, only by the arc section one in step 3.1.1
The starting point B of BC is changed to point D, and circular arc terminal C is changed to point E, calculates the central coordinate of circle (X of two DE of arc sectionDE,YDE), and then generate circle
Path point above two DE of segmental arc.
Agricultural machinery puts down carrier or driver is reminded to put carrier automatically after completing the operation of two DE of arc section, reaching E points
Under, into two EF of section.
Step 3：Generate the path of two EF of section：
Two EF of section is straight line operation, according to the coordinate (X of the starting point E got in step 1E,YE) between point A and point B
Coordinate difference obtain two EF of section terminal F coordinate (XF,YF),
XF=XE-(XB-XA)
YF=YE-(YB-YA)
According to the coordinate of starting point E and the coordinate of terminal F, the path of two EF of section is determined.
After treating agricultural machinery straight-line travelling to F points, repeat step 1 and step 2, agricultural machinery carry out changing ridge and generates next ridge automatically
The path of operation.
Agricultural machinery inputs the letter that stops operation after the completion of entire working region operation or when midway being needed to stop agricultural machinery work
Number, stop the generation in path, complete the automatic Pilot operation in region.
Pattern two：Fig. 2 is an alternative embodiment of the invention, similar to the above embodiments, is differed only in, and works as minimum
When turning radius R is more than the row spacing L of half, i.e. R+Z ＞ 0.5*L, agricultural machinery can not directly turn around to carry out the work on next ridge
Industry selects staggered form to turn around pattern, and referring to Fig. 2, the turn around path of the generation under pattern of staggered form includes straight line in the present embodiment
Section four HI of two GH, three BG of arc section and arc section, wherein three BG of arc section and four HI of arc section are connected to the straightway
Two both ends simultaneously intersect.In the path calculated, in two GH of straightway, agricultural machinery is by the mode of reversing to enter
Next ridge carries out operation, other sections：Three BG of arc section, four HI agricultural machinery of arc section are preceding to traveling, in the present embodiment
The computational methods and step 3.1 in specific generation path are similar, are not repeating herein.
Fig. 3 is an alternative embodiment of the invention, and at least one side in this field is irregular line segment.Its with it is above-mentioned
The difference of embodiment is, when agricultural machinery to the irregular side when driving, need manually to demarcate terminal on irregular side, carry out
It changes ridge and generation working path is similar with previous embodiment, details are not described herein.
Referring to Fig. 1 and Fig. 4, the one of a kind of agricultural machinery working system that working path is not automatically generated by map of the invention
A embodiment, including：
Starting point coordinate determining module, for the starting point coordinate (X according to one AB of row spacing L and sectionA,YA) and terminal point coordinate
(XB,YB), determine the starting point coordinate (X of two EF of sectionE, YE)；
Generation is turned around path module, for agricultural machinery according to agricultural machinery min. turning radius R and the row spacing L, to be selected to turn around mould
Formula is arch pattern, and is generated in turn around path and the figure of the starting point point E from the terminal point B of one AB of section to two EF of section
The path of one BC of arc section, straightway CD and two DE of arc section；
Terminal point coordinate determining module, for the starting point coordinate (X according to two EF of sectionE, YE) and one AB of section rise
Point coordinates (XA,YA) and terminal point coordinate (XB,YB), determine the terminal point coordinate (X of two EF of sectionF,YF)。
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and deformation, but these corresponding changes and change in accordance with the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (10)
- A kind of 1. agricultural machinery working method that working path is not automatically generated by map, which is characterized in that including：Step 1：According to the row spacing in field and the starting point coordinate and terminal point coordinate on the i-th ridge, the starting point coordinate on i+1 ridge is determined；Step 2：According to agricultural machinery min. turning radius and the row spacing, agricultural machinery is selected to turn around pattern and to generate terminal from the i-th ridge To the path of turning around of the starting point on i+1 ridge；Step 3：According to the starting point coordinate on the i+1 ridge and the starting point coordinate and terminal point coordinate on the i-th ridge, i+1 ridge is determined Terminal point coordinate, and generate according to the starting point coordinate and terminal point coordinate on i+1 ridge the working path on i+1 ridge；Wherein, i is positive integer.
- 2. agricultural machinery working method according to claim 1, which is characterized in that the beginning and end on the 1st ridge is to preset 's.
- 3. agricultural machinery working method according to claim 1, which is characterized in that the pattern that the agricultural machinery turns around turns around including arch It turns around with staggered form.
- 4. agricultural machinery working method according to claim 3, which is characterized in that when the min. turning radius is less than or equal to two During/mono- row spacing, arch is selected to turn around pattern, the path of turning around includes two arc sections and a straightway, wherein institute Two arc sections are stated to be connected to the both ends of the straightway and approximately form an arch.
- 5. agricultural machinery working method according to claim 3, which is characterized in that when the min. turning radius be more than two/ During one row spacing, staggered form is selected to turn around pattern, the path of turning around includes a straightway and two arc sections, wherein described Two arc sections are connected to the both ends of the straightway and intersect.
- 6. agricultural machinery working method according to claim 1, which is characterized in that right when the field is irregular shape One or more auxiliary magnets are demarcated in advance in the boundary of irregular shape.
- 7. agricultural machinery working method according to claim 4, which is characterized in that agricultural machinery is by described two arc sections and directly To traveling before being during line segment.
- 8. agricultural machinery working method according to claim 5, which is characterized in that agricultural machinery by being during described two arc sections Forward direction travels, by being to swing to traveling during the straightway.
- 9. the agricultural machinery working method according to claim 1-8, which is characterized in that agricultural machinery in the terminal for reaching each ridge from It is dynamic to pack up carrier, and carrier is put down automatically in the starting point for reaching each ridge.
- 10. a kind of agricultural machinery working system that working path is not automatically generated by map, which is characterized in that including：Starting point coordinate determining module for the starting point coordinate and terminal point coordinate according to row spacing and the i-th ridge, determines i+1 ridge Starting point coordinate；Turn around path-generating module, for agricultural machinery according to agricultural machinery min. turning radius and the row spacing, to be selected to turn around pattern and life Into the terminal from the i-th ridge to the path of turning around of the starting point on i+1 ridge；Terminal point coordinate determining module is sat for the starting point coordinate according to the i+1 ridge and the starting point coordinate and terminal on the i-th ridge Mark determines the terminal point coordinate on i+1 ridge, and the operation road on i+1 ridge is generated according to the starting point coordinate and terminal point coordinate on i+1 ridge Diameter；Wherein, i is positive integer.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108413977A (en) * | 2018-02-11 | 2018-08-17 | 西安智加科技有限公司 | A kind of intelligent agricultural machinery automatic job exchange method and interactive system |
| CN109470249A (en) * | 2018-11-07 | 2019-03-15 | 河海大学 | A kind of optimum path planning of submarine navigation device and obstacle avoidance design method |
| CN109945813A (en) * | 2019-03-26 | 2019-06-28 | 首都师范大学 | The determination method of agricultural machinery equipment installation offset |
| CN109975509A (en) * | 2019-02-22 | 2019-07-05 | 安徽农业大学 | A kind of robot control method of soil moisture detection and data processing |
| CN111399508A (en) * | 2020-03-20 | 2020-07-10 | 安徽省现代农业装备产业技术研究院有限公司 | Intelligent agriculture system and intelligent agriculture method |
| CN111624988A (en) * | 2019-02-26 | 2020-09-04 | 北京合众思壮科技股份有限公司 | Planning method and device for U-turn path |
| CN111750860A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Round-trip path planning method and device and electronic equipment |
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| CN108413977A (en) * | 2018-02-11 | 2018-08-17 | 西安智加科技有限公司 | A kind of intelligent agricultural machinery automatic job exchange method and interactive system |
| CN109470249A (en) * | 2018-11-07 | 2019-03-15 | 河海大学 | A kind of optimum path planning of submarine navigation device and obstacle avoidance design method |
| CN109975509A (en) * | 2019-02-22 | 2019-07-05 | 安徽农业大学 | A kind of robot control method of soil moisture detection and data processing |
| CN111624988A (en) * | 2019-02-26 | 2020-09-04 | 北京合众思壮科技股份有限公司 | Planning method and device for U-turn path |
| CN109945813A (en) * | 2019-03-26 | 2019-06-28 | 首都师范大学 | The determination method of agricultural machinery equipment installation offset |
| CN111399508A (en) * | 2020-03-20 | 2020-07-10 | 安徽省现代农业装备产业技术研究院有限公司 | Intelligent agriculture system and intelligent agriculture method |
| CN111399508B (en) * | 2020-03-20 | 2023-12-22 | 中联智慧农业股份有限公司 | Intelligent agriculture system and intelligent agriculture method |
| CN111750860A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Round-trip path planning method and device and electronic equipment |
| CN111750860B (en) * | 2020-05-29 | 2021-10-08 | 广州极飞科技股份有限公司 | Round-trip path planning method and device and electronic equipment |
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