CN110597288A - Algorithm based on agricultural machinery field unmanned operation path planning - Google Patents
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Abstract
The invention relates to an algorithm based on unmanned operation path planning of an agricultural machinery field, and belongs to the technical field of agricultural automation. The algorithm mainly comprises the following steps: the method comprises the steps of field operation area coordinate processing, field operation area plane quantization, turning path analysis and circuit right forward walking; the agricultural machinery field unmanned operation path planning-based algorithm provided by the invention is converted from a WGS-84 coordinate system to an ECEF space coordinate system to a vertical rectangular coordinate system to obtain a vertex coordinate value under the vertical coordinate system, and the length and width of the operation are quantified through the coordinate value; calculating the minimum turning radius and the turning track according to the wheelbase, the deflection angle of a steering wheel, the width of an agricultural machine operation implement and the like of the agricultural machine; the loop right-direction walking method is provided, the effects of full coverage, zero omission and minimum overlapping operation of field operation can be achieved, the agricultural machine receives a right-turn instruction, and the excessive loss of the agricultural machine is reduced. The algorithm can effectively realize unmanned and accurate operation of agricultural machinery in the field.
Description
Technical Field
The invention relates to the technical field of agricultural automation, in particular to an algorithm based on unmanned operation path planning of agricultural machinery and a field.
Background
With the rapid development of agricultural modernization in China, the application of high and new technologies to replace manual work for agricultural mechanized operation is more and more extensive, such as unmanned aerial vehicle pesticide spraying operation and the like. Agricultural machinery is the most important mechanized tool in the field, and the traditional mode mainly takes manual driving operation as main mode, and has the problems of high personnel operation intensity, fatigue, high labor cost and the like. In recent years, the agricultural unmanned technology is applied and popularized in field operation. The path planning is particularly important in unmanned operation of agricultural machinery, the existing path planning cannot realize full coverage without overlapping and omission, accurate operation of a field cannot be achieved, or the operation frequency of the agricultural machinery is increased, the operation intensity of the agricultural machinery is increased and the loss of the agricultural machinery is accelerated in order to achieve the aim. At present, the current situation can be changed by lacking an algorithm for planning the unmanned operation path of the agricultural machinery.
Disclosure of Invention
1. The invention provides an algorithm based on unmanned operation path planning of agricultural machinery in a field, optimizes the path planning of the unmanned operation of the agricultural machinery, and realizes the precision of the operation of the agricultural machinery in the field while reducing the operation frequency of the agricultural machinery, the operation intensity of the agricultural machinery and the loss of the agricultural machinery.
2. Technical scheme
An algorithm based on unmanned operation path planning of agricultural machinery field comprises the following steps:
step 1, vertex coordinate processing: processing the vertex coordinates of the field operation area planned by the pre-path;
step 2, plane quantization: calculating the length and width of the field operation area according to the vertex coordinates of the field operation area processed in the step 1;
step 3, turning path analysis: analyzing the path turning path after the plane quantization in the step 2;
step 4, planning by a forward walking method: and 3, normalizing the right forward walking method of the agricultural machinery circuit after the turning path is confirmed.
Further, the step 1 comprises the following steps:
step 1.1, vertex processing: forming a rectangular field operation area under a WGS-84 coordinate system by processing vertexes of the earth surface which is not a plane, and confirming 4 vertexes of the rectangular field operation area;
the rectangular field operation area has 4 vertexes, and needs to be converted from a WGS-84 coordinate system to an ECEF space coordinate system, and then from the ECEF space coordinate system to a vertical rectangular coordinate system. Acquiring a vertex (phi, lambda, h) through a Beidou satellite in a WGS-84 coordinate system; the vertex of the ECEF space coordinate system is expressed as (x)1,y1,z1) (ii) a The vertices are represented as (x, y, z) in the vertical rectangular coordinate system.
Step 1.2, ECEF space coordinate system conversion: the WGS-84 coordinate system of step 1.1 is transformed into the ECEF space coordinate system. P is the vertex, N represents the radius of curvature, OD represents the projection vector of point P on the plane, and its length is: OD ═ N + h) cos Φ sin λ, and the coordinate of P in the principal system can be found in the ECEF space coordinate system by the angle λ of longitude:
step 1.3, rectangular coordinate system conversion: and (3) converting the ECEF space coordinate system in the step (1.2) to a vertical rectangular coordinate system to obtain coordinate values of the plane vertex. The coordinate system conversion is performed by the following formula:
wherein, KijBy a matrixAnd the matrix elements include:
obtaining a rotation angle t according to the rectangular field coordinate, and carrying out parallel coordinate axis processing, wherein the formula is as follows:
the coordinate value of the plane vertex can be obtained by inverse calculation through the formula.
Further, the step 2 performs planarization treatment using the following formula. The converted 4 vertex values are substituted into the following formula, and the length and the width of the actual operation of the field can be calculated.
Wherein Point represents a rectangular field vertex.
Further, the step 3 comprises the following steps:
and 3.1, analyzing and checking the turning path. The wheel track, the wheel base and the maximum deflection angle of the steering wheel of the agricultural machine determine the minimum turning radius and the space required by steering of the agricultural machine, and are deduced by the Ackermann steering geometric principle:
wherein R is the turning radius of the agricultural machine; b is the agricultural machinery wheelbase; l is the wheel track of the agricultural machinery; θ is the inside steering wheel deflection angle.
Wherein R1 is the arc radius of the outer edge of the agricultural machinery working implement; k is the longitudinal distance between the positioning reference point and the machine tool; v is the width of the agricultural machinery operation machine.
And 3.2, confirming the turning radius of the agricultural machine according to the minimum turning radius calculated in the step 3.1 and the operation width V of the agricultural machine.
When V > is 2R, the agricultural machine can enter an adjacent straight path along an arched turning path;
when V <2R, the agricultural machine needs to enter an adjacent straight path along a fishtail turning path.
Further, the step 4 comprises the following steps:
step 4.1, clockwise setting 4 top points of the field as P1, P2, P3 and P4, and sequentially defining the agricultural machinery turning points between P1-P4 as Pn1、Pn2、Pn3、Pn4、Pn5、Pn6、Pn7…, respectively; the agricultural machinery steering points between P2 and P3 are sequentially defined as Pm1、Pm2、Pm3、Pm4、Pm5、Pm6…；
Step 4.2, the first step of the walking method: the agricultural machine starts to work from the point P1, the outer edge of the agricultural machine working tool is overlapped with the point P1, and the inner edge of the agricultural machine working tool is overlapped with the point Pn1Overlap, working according to coordinatesBy the point P2, the outer edge of the agricultural working tool is overlapped with P2, and the inner edge is overlapped with Pm1And (4) overlapping. Steering to the right according to the turning path to cross a wide steering Pm of one V2Point, automatic aligning steering wheel, agricultural tool inner edge and Pm2Overlap, outer edge and Pm3Overlapping and continuing the operation;
step 4.3, a second step of the walking method: agricultural machinery slave Pm2-Pm3To Pn2-Pn3Performing work when the two sides of the agricultural machine work tool are in contact with Pn2And Pn3Overlapping, starting to make a second right turn, turning to Pn2To the two sides of the agricultural machine tool and Pn1And Pn2And (4) overlapping.
Wherein, the third step of the walking method: on both sides of the agricultural implement and Pn1And Pn2After overlapping, the agricultural machinery continues to operate forwards, and the agricultural machinery moves to two sides and Pm1Pm and2when overlapping, the next right turn is started, this turn spans 2V in width, i.e. from Pm1-Pm2Steering to Pm4-Pm5；
Step 4.4, the fourth step of the walking method: at two sides of agricultural machinery and tools and Pm4Pm and5after overlapping, the operation is continued, and the agricultural machine moves to the two sides and Pn4And Pn5When overlapping, the next right turn is started, and the turn is Pn4To the two sides of the agricultural machine tool and Pn3And Pn4Overlapping;
and 4.5, repeating the step 4.3 and the step 4.4 until the outer edge of the agricultural machine tool is superposed with the connecting line of P3 and P4, and finishing the right forward walking method planning of the field operation area.
3. Advantageous effects
In conclusion, the beneficial effects of the invention are as follows:
(1) the invention provides an algorithm based on unmanned operation path planning of agricultural machinery and a field.A rectangular vertex of the field is converted into a vertical rectangular coordinate system from an ECEF space coordinate system through a WGS-84 coordinate system to obtain a vertex coordinate value under the vertical coordinate system, and the length and the width of field operation are quantized through the coordinate value;
(2) the minimum turning radius and the turning track are calculated according to the wheelbase, the deflection angle of a steering wheel, the width of an agricultural machine operation implement and the like of the agricultural machine;
(3) the invention provides a loop right-forward walking method, which can achieve the effects of full coverage of field operation, zero omission, minimum overlapping operation, optimal path and minimum turning of agricultural machinery, wherein the agricultural machinery receives right turning instructions and then turns to the right direction, so that the excessive loss caused by the complex instructions of the agricultural machinery is reduced as much as possible;
(4) the algorithm of the invention improves the operation coverage rate of the existing algorithm, optimizes the operation path of the agricultural machine, generally improves the working efficiency of unmanned operation of the agricultural machine, reduces the excessive loss of the agricultural machine and can effectively realize unmanned accurate operation of the agricultural machine in the field.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a view of the turning structure of the agricultural machine of the present invention;
FIG. 3 is a schematic diagram of a right-side walking method of the loop of the present invention;
FIG. 4 is a steering trajectory diagram of the present patent;
FIG. 5 is an arcuate turn path trajectory diagram of the present patent;
in the figure, 1-coordinate processing; 2-plane quantization; 3-turn to analysis; 4-path walking; 3.1-agricultural machinery wheel track; 3.2-agricultural machinery wheelbase; 3.3-inboard wheel steering angle).
Detailed Description
The present invention will be further described with reference to the following specific examples, but the present invention is not limited to these examples.
Example (b):
referring to fig. 1 to 5, an algorithm based on unmanned operation path planning in agricultural land for large area includes the following steps:
step 1, vertex coordinate processing: processing the vertex coordinates of the field operation area planned by the pre-path;
step 2, plane quantization: calculating the length and width of the field operation area according to the vertex coordinates of the field operation area processed in the step 1;
step 3, turning path analysis: analyzing the path turning path after the plane quantization in the step 2;
step 4, planning by a forward walking method: and 3, normalizing the right forward walking method of the agricultural machinery circuit after the turning path is confirmed.
Further, the step 1 comprises the following steps:
step 1.1, vertex processing: forming a rectangular field operation area under a WGS-84 coordinate system by processing vertexes of the earth surface which is not a plane, and confirming 4 vertexes of the rectangular field operation area;
the rectangular field operation area has 4 vertexes, and needs to be converted from a WGS-84 coordinate system to an ECEF space coordinate system, and then from the ECEF space coordinate system to a vertical rectangular coordinate system. Acquiring a vertex (phi, lambda, h) through a Beidou satellite in a WGS-84 coordinate system; the vertex of the ECEF space coordinate system is expressed as (x)1,y1,z1) (ii) a The vertices are represented as (x, y, z) in the vertical rectangular coordinate system.
Step 1.2, ECEF space coordinate system conversion: the WGS-84 coordinate system of step 1.1 is transformed into the ECEF space coordinate system. P is the vertex, N represents the radius of curvature, OD represents the projection vector of point P on the plane, and its length is: OD ═ N + h) cos Φ sin λ, and the coordinate of P in the principal system can be found in the ECEF space coordinate system by the angle λ of longitude:
step 1.3, rectangular coordinate system conversion: and (3) converting the ECEF space coordinate system in the step (1.2) to a vertical rectangular coordinate system to obtain coordinate values of the plane vertex. The coordinate system conversion is performed by the following formula:
wherein, KijBy a matrixExpress, and matrix element packageComprises the following steps:
obtaining a rotation angle t according to the rectangular field coordinate, and carrying out parallel coordinate axis processing, wherein the formula is as follows:
the coordinate value of the plane vertex can be obtained by inverse calculation through the formula.
Further, the step 2 performs planarization treatment using the following formula. The converted 4 vertex values are substituted into the following formula, and the length and the width of the actual operation of the field can be calculated.
Wherein Point represents a rectangular field vertex.
Further, the step 3 comprises the following steps:
and 3.1, analyzing and checking the turning path. The wheel track, the wheel base and the maximum deflection angle of the steering wheel of the agricultural machine determine the minimum turning radius and the space required by steering of the agricultural machine, and are deduced by the Ackermann steering geometric principle:
wherein R is the turning radius of the agricultural machine; b is the agricultural machinery wheelbase; l is the wheel track of the agricultural machinery; θ is the inside steering wheel deflection angle.
Wherein R1 is the arc radius of the outer edge of the agricultural machinery working implement; k is the longitudinal distance between the positioning reference point and the machine tool; v is the width of the agricultural machinery operation machine.
And 3.2, confirming the turning radius of the agricultural machine according to the minimum turning radius calculated in the step 3.1 and the operation width V of the agricultural machine.
When V > is 2R, the agricultural machine can enter an adjacent straight path along an arched turning path;
when V <2R, the agricultural machine needs to enter an adjacent straight path along a fishtail turning path.
Referring to FIG. 5, a coordinate system O is shown1X1Y1Representing the turning radius. The local track of the agricultural machinery is A-O1B-C-D-E, dotted line at point A, E indicates the boundary between the field work area and the field, and W is the minimum width of the field area required for the field agricultural machine to turn. AE line and AO1The angle between the lines is beta, which is a right angle, point A and point 01Overlapping;
deducing according to the graphic coordinates, and the formula of the ground area required by turning is as follows:
W＝R1+R·|cosβ|
for the bow-shaped turning, the agricultural machinery working state is switched by stopping at A, E two points, the time consumed by turning T1 bit for one turn is obtained by the following formula:
further, referring to fig. 3 and fig. 4, the step 4 includes the following steps:
step 4.1, clockwise setting 4 top points of the field as P1, P2, P3 and P4, and sequentially defining the agricultural machinery turning points between P1-P4 as Pn1、Pn2、Pn3、Pn4、Pn5、Pn6、Pn7…, respectively; the agricultural machinery steering points between P2 and P3 are sequentially defined as Pm1、Pm2、Pm3、Pm4、Pm5、Pm6…；
Step 4.2, the first step of the walking method: the agricultural machine starts to work from the point P1, the outer edge of the agricultural machine working tool is overlapped with the point P1, and the inner edge of the agricultural machine working tool is overlapped with the point Pn1Overlapping, working according to coordinates to point P2, wherein the outer edge of the agricultural working tool overlaps with P2 and the inner edge overlaps with Pm1And (4) overlapping. According to the turning path, to the rightSteering to span a V of wide steering Pm2Point, automatic aligning steering wheel, agricultural tool inner edge and Pm2Overlap, outer edge and Pm3Overlapping and continuing the operation;
step 4.3, a second step of the walking method: agricultural machinery slave Pm2-Pm3To Pn2-Pn3Performing work when the two sides of the agricultural machine work tool are in contact with Pn2And Pn3Overlapping, starting to make a second right turn, turning to Pn2To the two sides of the agricultural machine tool and Pn1And Pn2And (4) overlapping.
Wherein, the third step of the walking method: on both sides of the agricultural implement and Pn1And Pn2After overlapping, the agricultural machinery continues to operate forwards, and the agricultural machinery moves to two sides and Pm1Pm and2when overlapping, the next right turn is started, this turn spans 2V in width, i.e. from Pm1-Pm2Steering to Pm4-Pm5；
Step 4.4, the fourth step of the walking method: at two sides of agricultural machinery and tools and Pm4Pm and5after overlapping, the operation is continued, and the agricultural machine moves to the two sides and Pn4And Pn5When overlapping, the next right turn is started, and the turn is Pn4To the two sides of the agricultural machine tool and Pn3And Pn4Overlapping;
and 4.5, repeating the step 4.3 and the step 4.4 until the outer edge of the agricultural machine tool is superposed with the connecting line of P3 and P4, and finishing the right forward walking method planning of the field operation area.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An algorithm based on unmanned operation path planning of agricultural machinery field is characterized by comprising the following steps:
step 1, vertex coordinate processing: processing the vertex coordinates of the field operation area planned by the pre-path;
step 2, plane quantization: calculating the length and width of the field operation area according to the vertex coordinates of the field operation area processed in the step 1;
step 3, turning path analysis: analyzing the path turning path after the plane quantization in the step 2;
step 4, planning by a forward walking method: and 3, normalizing the right forward walking method of the agricultural machinery circuit after the turning path is confirmed.
2. The agricultural land unmanned aerial vehicle operation path planning-based algorithm according to claim 1, wherein the step 1 comprises the following steps:
step 1.1, vertex processing: forming a rectangular field operation area under a WGS-84 coordinate system by processing vertexes of the earth surface which is not a plane, and confirming 4 vertexes of the rectangular field operation area;
step 1.2, ECEF space coordinate system conversion: converting the WGS-84 coordinate system of the step 1.1 into an ECEF space coordinate system;
step 1.3, rectangular coordinate system conversion: and (3) converting the ECEF space coordinate system in the step (1.2) to a vertical rectangular coordinate system to obtain coordinate values of the plane vertex.
3. The agricultural land unmanned aerial vehicle operation path planning-based algorithm according to claim 2, wherein the planarization processing is performed in the step 2 by adopting the following formula, and the converted 4 vertex values are substituted into the following formula to calculate the length and width of the actual land operation:
wherein Point represents a rectangular field vertex.
4. The agricultural land unmanned aerial vehicle operation path planning-based algorithm according to claim 1, wherein the step 3 comprises the steps of:
and 3.1, analyzing and checking the turning path. The wheel track, the wheel base and the maximum deflection angle of the steering wheel of the agricultural machine determine the minimum turning radius and the space required by steering of the agricultural machine, and are deduced by the Ackermann steering geometric principle:
wherein R is the turning radius of the agricultural machine; b is the agricultural machinery wheelbase; l is the wheel track of the agricultural machinery; θ is the inside steering wheel deflection angle.
Wherein R1 is the arc radius of the outer edge of the agricultural machinery working implement; k is the longitudinal distance between the positioning reference point and the machine tool; v is the width of the agricultural machinery operation machine.
And 3.2, confirming the turning radius of the agricultural machine according to the minimum turning radius calculated in the step 3.1 and the operation width V of the agricultural machine.
When V > is 2R, the agricultural machine can enter an adjacent straight path along an arched turning path;
when V <2R, the agricultural machine needs to enter an adjacent straight path along a fishtail turning path.
5. The agricultural land unmanned aerial vehicle operation path planning-based algorithm according to claim 1, wherein the step 4 comprises the steps of:
step 4.1, clockwise setting 4 top points of the field as P1, P2, P3 and P4, and sequentially defining the agricultural machinery turning points between P1-P4 as Pn1、Pn2、Pn3、Pn4、Pn5、Pn6、Pn7…, respectively; the agricultural machinery steering points between P2 and P3 are sequentially defined as Pm1、Pm2、Pm3、Pm4、Pm5、Pm6…；
Step 4.2, the first step of the walking method: the agricultural machine starts to work from the point P1, the outer edge of the agricultural machine working tool is overlapped with the point P1, and the inner edge of the agricultural machine working tool is overlapped with the point Pn1Overlap, working to point P2 according to coordinatesAt this time, the outer edge of the agricultural working tool is overlapped with P2, and the inner edge is overlapped with Pm1And (4) overlapping. Steering to the right according to the turning path to cross a wide steering Pm of one V2Point, automatic aligning steering wheel, agricultural tool inner edge and Pm2Overlap, outer edge and Pm3Overlapping and continuing the operation;
step 4.3, a second step of the walking method: agricultural machinery slave Pm2-Pm3To Pn2-Pn3Performing work when the two sides of the agricultural machine work tool are in contact with Pn2And Pn3Overlapping, starting to make a second right turn, turning to Pn2To the two sides of the agricultural machine tool and Pn1And Pn2And (4) overlapping.
Wherein, the third step of the walking method: on both sides of the agricultural implement and Pn1And Pn2After overlapping, the agricultural machinery continues to operate forwards, and the agricultural machinery moves to two sides and Pm1Pm and2when overlapping, the next right turn is started, this turn spans 2V in width, i.e. from Pm1-Pm2Steering to Pm4-Pm5；
Step 4.4, the fourth step of the walking method: at two sides of agricultural machinery and tools and Pm4Pm and5after overlapping, the operation is continued, and the agricultural machine moves to the two sides and Pn4And Pn5When overlapping, the next right turn is started, and the turn is Pn4To the two sides of the agricultural machine tool and Pn3And Pn4Overlapping;
and 4.5, repeating the step 4.3 and the step 4.4 until the outer edge of the agricultural machine tool is superposed with the connecting line of P3 and P4, and finishing the right forward walking method planning of the field operation area.
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| CN111506062A (en) * | 2020-03-30 | 2020-08-07 | 江苏大学 | Full-automatic pesticide applying ship and uniform pesticide spraying method |
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| CN112904867B (en) * | 2021-01-29 | 2023-01-06 | 山东理工大学 | Agricultural machine unmanned ground turning control method and system for wide-width operation |
| CN113848880A (en) * | 2021-08-30 | 2021-12-28 | 中车大连电力牵引研发中心有限公司 | Agricultural machinery path optimization method based on improved Q-learning |
| CN113848880B (en) * | 2021-08-30 | 2023-12-22 | 中车大连电力牵引研发中心有限公司 | Agricultural machinery path optimization method based on improved Q-learning |
| CN113907648A (en) * | 2021-10-19 | 2022-01-11 | 微思机器人(深圳)有限公司 | Method and device for determining cleaning path, sweeping robot and storage medium |
| CN114894092A (en) * | 2022-05-19 | 2022-08-12 | 西北农林科技大学 | Visual inspection system and method for operating width of agricultural implement |
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Application publication date: 20191220 |