CN110843907B - Operation area path planning method and device based on blocks - Google Patents
Operation area path planning method and device based on blocks Download PDFInfo
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- CN110843907B CN110843907B CN201911196765.6A CN201911196765A CN110843907B CN 110843907 B CN110843907 B CN 110843907B CN 201911196765 A CN201911196765 A CN 201911196765A CN 110843907 B CN110843907 B CN 110843907B
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Abstract
The invention relates to a method and a device for planning a path of an operation area based on blocks. The method comprises the following steps: a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block determining step, wherein a sub-block and a sub-block span are determined according to the peripheral straight line stroke, the peripheral steering stroke and each steering angle; a steering mode determining step of determining a steering mode according to the parity of the subblock span q, wherein the method further comprises: a sub-block straight-going stroke determining step, wherein the straight-going stroke of each sub-block is determined; a sub-block steering stroke determining step, which is used for determining the steering stroke of each sub-block; and a stroke planning chart manufacturing step, namely manufacturing a stroke planning chart according to the steering mode, the straight stroke and the steering stroke.
Description
The invention relates to a divisional application of an invention application with the application number of 201711304162.4, the application date of 2017, 12 and 11 months and the invention name of a method and a device for planning a path of a working area.
Technical Field
The invention relates to the technical field of agricultural machine automation, in particular to a method and a device for planning a path of a working area.
Background
In the field operation process of the tractor unit, operators often design field operation paths according to experience and common knowledge rules, and the problems of heavy plowing, missing plowing, multiple walking paths and the like exist, so that the operation production efficiency is influenced. The tractor automatic operation technology can effectively reduce the overlapping and omission between adjacent operation lines, and is an important technical means for improving the farmland operation quality and efficiency and reducing the operation cost. For the full-coverage automatic operation system of the tractor, a clear field operation path is required to be given to carry out normal walking and operation, and the planning design of the full-coverage automatic operation path has great significance.
At present, the application of Global Navigation Satellite System (GNSS) technology represented by Global Positioning System (GPS) gradually meets the accuracy requirements of agricultural production on static positioning or dynamic positioning, and the GNSS can collect geographic information of a working area before operation and reasonably plan a working path; in the operation process, the actions of steering, accelerating and decelerating, braking and the like of the tractor are controlled; and after the field operation is finished, the operation process and the operation effect are evaluated to accumulate the experience of the field operation. However, the GPS technology still has certain limitations, the system is relatively costly, and the accuracy of the system depends on the external environment of the tractor unit during the process of acquiring the geographical position of the farmland. For remote areas with weak signals, a tractor set self-sensing technology which can meet the use requirement and reduce the cost is needed to realize accurate acquisition of farmland geographic position parameters, so that the dependence on external GPS signals is not needed.
The operation path planning function is an important prerequisite necessary for realizing automatic operation of the tractor, and the optimal operation path under different operation conditions can be planned in advance or in real time before or during operation of the tractor. The turning path is a driving track curve in the process of entering a ground turning area from the tractor to finishing direction turning and entering a straight line operation area again. The minimum turning radius of the tractor limits the turning modes of the tractor, and the traditional turning modes comprise bow, semicircle, pear, fishtail and the like. However, the conventional turning paths such as the semicircular turning path, the pear turning path, the fishtail turning path and the like are long and consume a lot of time, and a turning path which is suitable for the turning angle of the boundary of the operation area is needed, so that the turning direction of the tractor unit is parallel to the turning direction when the tractor unit turns, and the path and the consumed time are optimal.
Disclosure of Invention
The present invention has been made in view of the above circumstances to mitigate or overcome one or more of the problems of the prior art, or to provide a solution thereto, and to at least provide a useful alternative.
In order to achieve the above object, according to an aspect of the present invention, there is provided a block-based work area path planning method, including: a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block determining step, wherein a sub-block and a sub-block span are determined according to the peripheral straight line stroke, the peripheral steering stroke and each steering angle; a steering mode determining step of determining a steering mode according to the parity of the subblock span q, wherein the method further comprises: a sub-block straight-going stroke determining step, wherein the straight-going stroke of each sub-block is determined; a sub-block steering stroke determining step, which is used for determining the steering stroke of each sub-block; a stroke planning drawing making step, wherein a stroke planning drawing is made according to the steering mode, the straight stroke and the steering stroke; wherein the sub-block steering stroke calculating step determines the steering stroke as follows:
in the formula, SCkSet B of sub-blockspCorresponding to the turning point AkThe turning arc length of (a), k is the number of turning points, a is the set of sub-blocks BpThe first turn around turns out the ordinal number of the sub-block, B is the set of sub-blocks BpSecond turn to sub-block ordinal, d is the effective operation width, aiA steering angle being a steering point i; the sub-block straight-going stroke calculation step determines the straight-going stroke as follows:
in the formula, k1Set B of sub-blockspNumber of turn points k at the head end of the ground2Set B of sub-blockspNumber of turning points at the head and tail ends, maxpSet B of sub-blockspMaximum sub-block ordinal.
According to another aspect of the present invention, there is provided a block-based work area path planning apparatus, including: the peripheral parameter acquisition unit is used for acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; the sub-block determining unit is used for determining sub-blocks and sub-block spans according to the peripheral linear stroke, the peripheral steering stroke and each steering angle; a steering mode determination unit that determines a steering mode according to the parity of the sub-block span q, wherein: the sub-block straight-going stroke determining unit is used for determining the straight-going stroke of each sub-block; the sub-block steering stroke determining unit is used for determining the steering stroke of each sub-block; the stroke planning drawing making unit is used for making a stroke planning drawing according to the steering mode, the straight stroke and the steering stroke; wherein the sub-block steering stroke calculation unit determines the steering stroke as follows:
in the formula, SCkSet B of sub-blockspCorresponding to the turning point AkThe turning arc length of (a), k is the number of turning points, a is the set of sub-blocks BpThe first turn around turns out the ordinal number of the sub-block, B is the set of sub-blocks BpSecond turn to sub-block ordinal, d is the effective operation width, aiA steering angle being a steering point i; the sub-block straight-going stroke calculation unit determines the straight-going stroke as follows:
in the formula, k1Set B of sub-blockspNumber of turn points k at the head end of the ground2Set B of sub-blockspNumber of turning points at the head and tail ends, maxpSet B of sub-blockspMaximum sub-block ordinal.
According to the embodiment of the invention, the whole operation area is subdivided, so that the operation area can be obtained and the operation control of the agricultural machine can be carried out without depending on GPS positioning.
Drawings
Fig. 1 shows a schematic flow diagram of a method for planning a path of a work area according to an embodiment of the invention.
FIG. 2 shows a schematic flow diagram for determining a sub-block job line according to one embodiment of the present invention.
FIG. 3 illustrates an example of sub-partitions and sub-partition span determination in accordance with one embodiment of the present invention.
FIG. 4 illustrates an example of a driving interval span and steering radius strategy in a sub-block span parity mode.
FIG. 5 illustrates a real-time routing graph displayed in accordance with one embodiment of the present invention.
Fig. 6 shows a schematic block diagram of a work area path planning apparatus according to an embodiment of the present invention.
Fig. 7 shows a schematic block diagram of a steering stroke determination unit according to an embodiment.
Detailed Description
The embodiments of the present invention will be described with reference to the drawings, which are only illustrative and not intended to limit the scope of the invention.
Fig. 1 shows a schematic flow diagram of a method for planning a path of a work area according to an embodiment of the invention. FIG. 2 shows a schematic flow diagram for determining a sub-block job line according to one embodiment of the present invention. FIG. 3 illustrates an example of sub-partitions and sub-partition span determination in accordance with one embodiment of the present invention.
As shown in fig. 1, a method for planning a work area path according to an embodiment of the present invention includes: a peripheral parameter obtaining step 101, obtaining peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block operation line determining step 102, which is to determine sub-blocks and sub-block spans according to the peripheral straight-line travel, the peripheral steering travel and each steering angle; and a steering mode determining step 103, determining a steering mode according to the sub-block span.
In the peripheral parameter obtaining step 101, a real-time vehicle speed recorder and a time-sharing acquisition sensor work cooperatively to monitor time-sharing vehicle speeds including straight-driving vehicle speeds and straight-driving time, steering vehicle speeds and steering time, and a steering angle sensor acquires and records steering angles. If these parameters have been obtained in other various manners, the peripheral parameter obtaining step 101 may also obtain these parameters by being input or received.
Specifically, a tractor (a tractor is an example of the agricultural machine of the present invention, and for convenience of description, the tractor is used to represent the agricultural machine in the following example) initially does not mount farm implements, travels straight along a predetermined work area boundary, and the real-time vehicle speed recorder collects a straight time-sharing vehicle speed signal. And stopping time-sharing vehicle speed sampling after the turning point is reached, and storing all vehicle speed signals in the straight path, for example, sending the vehicle speed signals to a data flash card. The tractor turns to along the operation region and turns to the boundary, and real-time speed recorder gathers and turns to the timesharing speed signal, turns to angle sensor collection and record and turns to the angle. And when the steering is finished, the time-sharing vehicle speed is stopped being collected, and all vehicle speed signals and steering angles in the steering path are sent to the data flash memory card. And calculating the peripheral straight travel and the peripheral steering travel of the section according to the acquired time-sharing vehicle speed signal. The tractor rounds the land block of the operation area for one circle, the steps are repeated to collect the time-sharing vehicle speed signal and the steering angle of each steering point, and the peripheral straight travel and the peripheral steering travel of each section are calculated. The peripheral straight-moving stroke and the peripheral turning stroke of each segment can also be calculated in a centralized way after collecting the vehicle speed and the time of all the segments, and the calculation is within the protection scope of the invention. In the example of fig. 3, a total of 9 straight strokes (S) are obtainedLi) And 8 steering strokes (S)Ci)。
The straight stroke and the steering stroke of each segment may be calculated as follows, for example.
When the tractor moves straight along the boundary of the operation area, the real-time speed recorder samples the frequency f according to the specific time sharing0Collecting straight-driving vehicle speed signal VL(t) sampling frequency F at a specific time division0Collecting steering vehicle speed signal VC(t) simultaneously recording the steering angle a by the steering angle sensoriBy fitting the time-sharing vehicle speed-time function, the linear travel can be calculated as
A steering stroke of
In the formula, m and n are sampling ordinal numbers. Repeating the above steps to calculate and obtain the straight travel S of each sectionLiAnd a steering stroke SCi。
Then, in a sub-block operation line determining step 102, a sub-block and a sub-block span are determined based on the peripheral straight stroke and the peripheral steering stroke.
As shown in fig. 2, according to an embodiment of the present invention, first, in a turning point coordinate determination step 201, a position coordinate of each turning point is determined according to a peripheral straight stroke and a peripheral turning stroke. Each turning point a can be determined according to the following formulanPosition coordinates of (2):
the coordinate formula of the steering point can be recurred by the first three terms as follows:
then, in a basic block section set determining step 202, a set of equidistant basic block sections is obtained according to the position coordinates of the turning point and the effective working width.
In step 202, according to one embodiment, the following may be operated:
first, the equidistant total block number N ═ x [ (x) of the work area is obtainedmax-xmin)/d]Wherein x ismaxIs the maximum value of the abscissa, x, of each steering pointminIs the minimum value of the abscissa of each turning point, and d is the effective working width.
Then, an arithmetic progression is established: { x0，x0+d，x0+2d，…，x0+jd，…，x0+ Nd, using the adjacent terms of the said difference sequence to establish interval set Cj[x0+jd，x0+(j+1)d](j ═ 0,1, …, N), i.e., sets of equidistant basic block segments, each set composition item being referred to as a basic block segment, and also referred to as a sub-block operation line.
Then, in a block ordinal interval difference determining step 203, a block ordinal interval difference of each turning point is determined according to the position coordinates of each turning point.
For example, each turning point A can be sequentially discriminatediAbscissa xiThe section to which each steering point A belongsiThe corresponding block ordinal numbers j are arranged from small to large. Assume that in the example shown in FIG. 3, the abscissa of the 8 turning points are sorted into { A } s1→0；A2→6；A8→8；A3→12；A4→15；A7→15；A5→20；A6→ 20}, calculate the adjacent partition ordinal j interval difference: { A2-A1＝6；A8-A2＝2；A3-A8＝4；A4-A3＝3；A7-A4＝0；A5-A7＝5；A6-A5＝0}。
Finally, a sub-block span determining step 204, determining the sub-blocks and the spans of the sub-blocks according to the block ordinal number interval difference, where the spans of the sub-blocks are the number of basic block intervals included in the sub-blocks.
In the above block ordinal interval difference, there is A4、A7And A5、A6The difference value of the ordinal number interval of the blocks is 0, then the turning point A is4And A7、A5And A6Considered as head-to-tail equivalence. Thus, 5 non-zero tile ordinal interval differences are obtained, indicating that the work area can be divided into 5 sub-tiles. The interval differences 6, 2, 4, 3, 5 are the span of each sub-block.
Each sub-block may be represented as BpqWhere p is the sub-block ordinal and q is the sub-block span. Illustrated by fig. 3: { A1→A2：B16；A2→A8：B22；A8→A3：B34；A3→A4：B43；A5→A7：B55}. The first sub-block comprises B11-B16These 6 basic block intervals.
After determining the sub-tiles and sub-tile spans in step 102, step 103 is entered, and a steering mode, i.e., an arrangement of how to steer, is set according to the sub-tiles and their spans.
According to one embodiment, two steering modes are set according to the parity of the sub-block span q. As shown in fig. 4, in the odd mode, when the head end of the sub-block is turned around, the tractor travels the land with the interval span of (q +1)/2 according to the turning angle; similarly, when the tail end of the sub-block is turned around and steered, the tractor drives the land with the interval span of (q-1)/2 according to the steering angle. For example, for the 5 th sub-block, the turn order and direction are: b is55：{B53↓，B51↑，B54↓，B52↑，B55↓, since q ═ 5, (5+1)/2 ═ 3, B is the first to be started53Go straight down and arrive at the other end, since (5-1)/2 is 2 and 3-2 is 1, from B51And turning back. In the same way, B43：{B42↑，B41↓，B43↑}。
Under the even number mode, the first end is turned around and the steering angle is driven by the land parcel with the interval span of q/2, and the tail end is turned around and the steering angle is driven by the land parcel with the interval span of q/2-1. Sub-block B16The sub-blocks have a span of 6 and a turn order and direction of { B }11↑，B14↓，B12↑，B15↓，B13↑，B16↓. In the same way, B22：{B22↑，B21↓}；B34：{B31↑，B33↓，B32↑，B34↓}。
According to an embodiment of the present invention, step 104 is further included. In step 104, the respective block straight-ahead stroke and steering stroke are determined.
According to one embodiment, the per-block straight run may be calculated as follows: set B of sub-blocks11 st sliver block B11Straight stroke SL1As a reference, sub-block B11The straight travel can be recorded as: sB11＝SL1. Sub-block B of 2 nd strip12Straight stroke is at SL1On the basis, a straight travel is added from head to tail and is respectively recorded as d/tan alpha1And
wherein, the sub-block set B1The 1 st turning point and the 8 th turning point are respectively arranged at the head end and the tail end of the steering wheel. From which the set of sub-blocks B can be recurred1The straight travel is as follows:
sub-block set B can be recurred according to geometric relationship2The straight travel is as follows:
by parity of reasoning, sub-block set BpThe straight travel can be calculated in the same way.
Each sub-block BpqThe straight travel stroke can be calculated by the following formula:
in the formula, k1Set B of sub-blockspNumber of turn points k at the head end of the ground2Set B of sub-blockspGround head and tail end turnNumber of dot orders, maxpSet B of sub-blockspMaximum sub-block ordinal.
According to one embodiment, the respective block steering strokes may be calculated as follows.
Turning radius and steering radius SCi/aiAnd minimum turning radius r of tractorminThe following steps are involved: when the span of the head-to-tail turning interval is 1, the turning radius and the turning radius SCi/aiIrrelevantly, the minimum turning radius r of the tractor is obtained when the tractor is turned out and turned backmin. When the span of the head-to-tail turning interval is larger than 1, the turning radius of the head-to-tail turning is the turning radius S of the turning pointCi/aiThe secondary turning radius is the minimum turning radius r of the tractormin. Meanwhile, when entering the next sub-block, the turning directions of the head end and the tail end are opposite to those of the previous sub-block, and the turning directions of the head end and the tail end of the same sub-block are the same. In particular, the tractor sends a reverse turning command by the steering control unit when entering the next sub-block in the automatic operation process.
In sub-blocks B11Vector block B14Turning to the example, set of sub-blocks B1The corresponding steering arc length is S when the number of the steering points is 1C1The sub-block B14Radius of track rminThe length of the orbit arc is rmin(π-α1) The stroke of a straight line segment between turning directions is 2d/sin alpha1From this, a sub-block B can be obtained11Vector block B14The steering stroke is as follows, denoted NB1(1→4)：
NB1(1→4)＝SC1+rmin(π-α1)+2d/sinα1
Set of sub-blocks B1The steering angles are equal and the sub-block spans q are equal, so the steering non-operation strokes are equal, and the method specifically comprises the following steps:
NB1＝NB1(1→4)＝NB1(2→5)＝NB1(3→6)
similarly, each sub-block set BpThe steering stroke can be calculated by:
in the formula, SCkSet B of sub-blockspCorresponding to the turning point AkThe turning arc length of (a), k is the number of turning points, a is the set of sub-blocks BpThe first turn around turns out the ordinal number of the sub-block, B is the set of sub-blocks BpTwice to go back to sub-block ordinal.
According to one embodiment, the method for planning a path of a work area of the present invention further includes: a stroke planning drawing making step 105, making a stroke planning drawing according to the steering mode, the straight stroke and the steering stroke; and a display step 106 of displaying the trip plan drawing. FIG. 5 illustrates a real-time trip planning graph displayed in accordance with one embodiment of the present invention. The path diagram is manufactured according to the peripheral straight travel, the steering travel, the sub-block execution travel and the steering travel, and is used for displaying the whole operation area and each sub-block in a visual mode.
The following describes an apparatus according to an embodiment of the present invention with reference to the drawings. Where the apparatus and method of the present invention have corresponding parts, the description of the apparatus may be used to assist in the understanding of the method above and the description of the method may be used to understand the apparatus of the present invention.
Fig. 6 shows a schematic block diagram of a work area path planning apparatus according to an embodiment of the present invention.
As shown in fig. 6, the work area path planning apparatus according to an embodiment of the present invention includes: a peripheral parameter obtaining unit 501 for obtaining peripheral linear strokes and peripheral steering strokes of the agricultural machine in a predetermined operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes; a sub-block operation line determination unit 502 that determines sub-blocks and sub-block spans according to the peripheral straight-line stroke, the peripheral steering stroke, and each steering angle; the steering mode determining unit 503 determines a steering mode according to the parity of the subblock span q.
According to one embodiment, the steering mode determination unit determines the steering mode as follows: when the span q of the sub-blocks is odd, and the head ends of the sub-blocks are turned around to steer, the agricultural machine runs to the operation line with the sequence number of (q +1)/2 of the sub-blocks according to the steering angle; when the tail end of the sub-block is turned around and steered, the agricultural machine runs to the operation line with the sequence number of (q-1)/2 of the sub-block according to the steering angle;
when the span q of the sub-blocks is an even number, the vehicle runs to the operation line with the sequence number q/2 of the sub-block when the head end turns around, and runs to the operation line with the sequence number q/2-1 of the sub-block when the tail end turns around.
According to one embodiment, the work area path planning apparatus further comprises: a sub-block straight-going stroke determining unit 504 that determines a straight-going stroke of each sub-block; a steering stroke determination unit 505 that determines the steering stroke of each sub-block; a stroke planning drawing making unit 506 that makes a stroke planning drawing according to the steering mode, the straight stroke, and the steering stroke; and a display unit 507 displaying the trip plan drawing.
Fig. 7 shows a schematic block diagram of a steering stroke determination unit according to an embodiment. As shown in fig. 7, according to an embodiment of the present invention, the steering stroke determining unit may include: a turning radius determining unit 601 for determining turning radius including a turn-out radius and a turn-back radius, wherein when the span of the head-to-tail turn interval is 1, the turning radius is the minimum turning radius r of the tractormin(ii) a When the span of the head-to-tail turning interval is larger than 1, the turning radius S of the turning point is the turning radius of the first turningCi/aiThe secondary turning radius is the minimum turning radius r of the tractorminIn which S isCiIs the steering arc length of the steering point, aiA steering angle for the steering point; the block steering stroke calculation unit 602 determines the steering stroke according to the steering radius, the steering arc length, the steering angle, and the effective working width. The steering stroke may be calculated according to the formula described above.
In the above embodiment of the present invention, the units of the respective physical quantities are as follows:
straight-going vehicle speed signal VL(t): kilometer per hour (km/h)
Steering vehicle speed signal VC(t): kilometer per hour (km/h)
Sampling frequency f0、F0: hertz (Hz)
Minimum turning radius rmin: rice (m)
Turning radius SCi/ai: rice (m)
Arc length S of steeringCi: rice (m)
Steering angle ai: radian (rad)
Straight-line stroke: rice (m)
Turning arc stroke: rice (m)
Effective working width d: rice (m)
Steering stroke: rice (m)
Straight travel: rice (m)
According to the embodiment of the invention, the whole operation area is subdivided, so that the operation area can be obtained and the operation control of the agricultural machine can be carried out without depending on GPS positioning.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A block-based working area path planning method comprises the following steps:
a peripheral parameter acquiring step, namely acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes;
a sub-block determining step, wherein a sub-block and a sub-block span are determined according to the peripheral straight line stroke, the peripheral steering stroke and each steering angle;
a steering mode determination step of determining a steering mode based on the parity of the sub-block span q,
wherein the method further comprises:
a sub-block straight-going stroke determining step, wherein the straight-going stroke of each sub-block is determined;
a sub-block steering stroke determining step, which is used for determining the steering stroke of each sub-block;
a stroke planning drawing making step, wherein a stroke planning drawing is made according to the steering mode, the straight stroke and the steering stroke;
wherein the sub-block steering stroke calculating step determines the steering stroke as follows:
in the formula, S kCSet B of sub-blocks p Corresponding to the turning point A k The turning arc length of (a), k is the number of turning points,aset B of sub-blocks p Turning around for the first time to turn out the ordinal number of the sub-block,bset B of sub-blocks p Twice, the sub-block ordinal number is turned back, d is the effective operation width,a i a steering angle being a steering point i;
the sub-block straight-going stroke calculation step determines the straight-going stroke as follows:
in the formula (I), the compound is shown in the specification,k 1 set B of sub-blocks p The number of the head end turning points of the ground,k 2 set B of sub-blocks p Number of turning points at the head and tail ends, max p Set B of sub-blocks p Maximum sub-block ordinal.
2. The method of claim 1, wherein the sub-block steering trip determining step comprises:
determining a steering radius, namely determining the steering radius, wherein the steering radius comprises a turning-out radius and a turning-back radius, and when the span of the head-to-tail turning interval is 1, the steering radius is the minimum turning radius r of the agricultural machinerymin(ii) a When the span of the head-to-tail turn-around interval is larger than 1, the radius of the first turn-around turn-out isThe turning radius S of the turning point iC/a i The secondary turning radius is the minimum turning radius r of the agricultural machineryminIn which S is iCIs the steering arc length of the steering point,a i is the steering angle of the steering point,
and calculating the block steering stroke, namely determining the steering stroke according to the steering radius, the steering arc length, the steering angle and the effective operation width.
3. The method according to claim 1, wherein in the peripheral parameter acquiring step, a real-time vehicle speed recorder and a time-sharing acquisition sensor are used for cooperating to monitor time-sharing vehicle speed including straight-driving vehicle speed and straight-driving time, steering vehicle speed and steering time, and a steering angle sensor is used for acquiring and recording steering angles, so that peripheral straight-line travel, peripheral steering travel and steering angles between the peripheral straight-line travel and the peripheral steering travel of the agricultural machine in a preset operation area are acquired.
4. The method according to claim 3, wherein in the peripheral parameter acquisition step, the straight stroke and the turning stroke of each segment are calculated as follows:
when the agricultural machine moves straight along the boundary of the operation area, the real-time speed recorder samples the frequency according to the specific time sharingf 0Collecting straight-driving vehicle speed signal VL(t) sampling frequency at a specific time divisionF 0Collecting steering vehicle speed signal VC(t) simultaneously recording the steering angle by the steering angle sensora i By fitting the time-sharing vehicle speed-time function, the linear travel can be calculated as
The steering stroke is
In the formula, m and n are sampling ordinal numbers, and the straight travel S of each section can be calculatedLlAnd turn toTo the stroke SCl。
5. The method of claim 1, further comprising a displaying step for displaying the trip planning map.
6. A block-based work area path planning apparatus, comprising:
the peripheral parameter acquisition unit is used for acquiring peripheral linear strokes and peripheral steering strokes of the agricultural machine in a preset operation area and steering angles between the peripheral linear strokes and the peripheral steering strokes;
the sub-block determining unit is used for determining sub-blocks and sub-block spans according to the peripheral linear stroke, the peripheral steering stroke and each steering angle;
a steering mode determination unit which determines a steering mode according to the parity of the sub-block span q;
wherein:
the sub-block straight-going stroke determining unit is used for determining the straight-going stroke of each sub-block;
the sub-block steering stroke determining unit is used for determining the steering stroke of each sub-block;
the stroke planning drawing making unit is used for making a stroke planning drawing according to the steering mode, the straight stroke and the steering stroke;
wherein the sub-block steering stroke calculation unit determines the steering stroke as follows:
in the formula, S kCSet B of sub-blocks p Corresponding to the turning point A k The turning arc length of (a), k is the number of turning points,aset B of sub-blocks p Turning around for the first time to turn out the ordinal number of the sub-block,bset B of sub-blocks p Twice, the sub-block ordinal number is turned back, d is the effective operation width,a i a steering angle being a steering point i;
the sub-block straight-going stroke calculation unit determines the straight-going stroke as follows:
in the formula (I), the compound is shown in the specification,k 1 set B of sub-blocks p The number of the head end turning points of the ground,k 2 set B of sub-blocks p Number of turning points at the head and tail ends, max p Set B of sub-blocks p Maximum sub-block ordinal.
7. The apparatus according to claim 6, wherein the steering stroke determining unit includes:
the turning radius determining unit is used for determining turning radius, the turning radius comprises a turning-out radius and a turning-back radius, and when the span of the head-to-tail turning interval is 1, the turning radius is the minimum turning radius r of the agricultural machinerymin(ii) a When the span of the head-to-tail turning interval is larger than 1, the turning radius S of the turning point is the turning radius of the first turning iC/a i The secondary turning radius is the minimum turning radius r of the agricultural machineryminIn which S is iCIs the steering arc length of the steering point,a i is the steering angle of the steering point,
and the block steering stroke calculation unit determines the steering stroke according to the steering radius, the steering arc length, the steering angle and the effective operation width.
8. The device according to claim 7, wherein the peripheral parameter acquisition unit monitors the time-sharing vehicle speed including the straight-ahead vehicle speed and the straight-ahead time, the steering vehicle speed and the steering time by using a real-time vehicle speed recorder and a time-sharing acquisition sensor in cooperation, and acquires and records the steering angle by using a steering angle sensor, so as to obtain the peripheral straight-line stroke, the peripheral steering stroke and the steering angle between each peripheral straight-line stroke and each peripheral steering stroke of the agricultural machine in the preset operation area.
9. The apparatus according to claim 8, wherein the peripheral parameter acquisition unit calculates the straight stroke and the steering stroke of each segment as follows:
when the agricultural machine moves straight along the boundary of the operation area, the real-time speed recorder samples the frequency according to the specific time sharingf 0Collecting straight-driving vehicle speed signal VL(t) sampling frequency at a specific time divisionF 0Collecting steering vehicle speed signal VC(t) simultaneously recording the steering angle by the steering angle sensora i By fitting the time-sharing vehicle speed-time function, the linear travel can be calculated as
The steering stroke is
In the formula, m and n are sampling ordinal numbers, and the straight travel S of each section can be calculatedLlAnd a steering stroke SCl。
10. The apparatus of claim 6, further comprising a display unit for displaying the trip planning map.
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