CN114265409A - Track information processing method and device and ground equipment - Google Patents
Track information processing method and device and ground equipment Download PDFInfo
- Publication number
- CN114265409A CN114265409A CN202111601281.2A CN202111601281A CN114265409A CN 114265409 A CN114265409 A CN 114265409A CN 202111601281 A CN202111601281 A CN 202111601281A CN 114265409 A CN114265409 A CN 114265409A
- Authority
- CN
- China
- Prior art keywords
- track
- segment
- points
- track segment
- ground equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000010365 information processing Effects 0.000 title claims abstract description 44
- 238000003672 processing method Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 69
- 238000004590 computer program Methods 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 description 11
- 238000005507 spraying Methods 0.000 description 11
- 238000003306 harvesting Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a track information processing method, a track information processing device and ground equipment, wherein the method comprises the following steps: acquiring running track data of ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment; classifying the position information according to the speed and the course angle of every two adjacent running track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different; for each set of trajectory points, a corresponding trajectory segment is generated based on the set of trajectory points. Therefore, the corresponding track section is obtained based on the traveling track data of the ground equipment, the ground equipment can be guided to operate based on the track section, the path planning of the ground equipment is more accurate, and the working efficiency of the ground equipment is improved.
Description
Technical Field
The present application relates to the field of ground equipment technologies, and in particular, to a trajectory information processing method and apparatus, and a ground equipment.
Background
With the continuous development of various ground equipment technologies and the continuous development of agricultural machinery technologies, more and more ground equipment adopt automatic operation processes. In order to improve the working efficiency of the ground equipment, operation path information can be planned for the ground equipment in advance, the operation path planned in advance cannot represent an actual path, the ground equipment needs to carry out a large amount of calculation such as road condition detection, obstacle avoidance analysis and the like in the driving process, and the existing ground equipment has the problem of low working efficiency in the automatic operation process due to rough path planning.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a method and an apparatus for processing trajectory information, and a ground device.
In a first aspect, an embodiment of the present application provides a track information processing method, where the method includes:
acquiring running track data of ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment;
classifying the plurality of driving track points according to the speed and the course angle of every two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different;
for each set of trajectory points, a corresponding trajectory segment is generated based on the set of trajectory points.
In a second aspect, an embodiment of the present application provides a job control method, including:
determining a track segment for performing work on a target plot; wherein the track segment is obtained by the track information processing method provided by the first aspect;
and controlling target ground equipment to operate the target land parcel according to the track segment.
In a third aspect, an embodiment of the present application provides a track information processing apparatus, including:
the acquisition module is used for acquiring the running track data of the ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment;
the classification module is used for classifying the plurality of driving track points according to the speed and the course angle of each two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different;
and the generating module is used for generating a corresponding track segment based on each track point set.
In a fourth aspect, an embodiment of the present application provides a job control apparatus, including:
the determining module is used for determining a track segment for performing operation on the target land; wherein the track segment is obtained by the method provided by the first aspect;
and the control module is used for controlling target ground equipment to operate the target land parcel according to the track segment.
In a fifth aspect, an embodiment of the present application provides an autopilot device, including a processor and a memory, where the memory stores a computer program; the processor, when executing the computer program, implements the steps of the trajectory information processing method provided by the first aspect, and/or implements the steps of the job control method provided by the second aspect.
In a sixth aspect, an embodiment of the present application provides a ground device, including: the driving control device is arranged on the equipment body; the driving control device is configured to obtain travel track data of the ground device in a travel process, and generate a corresponding track segment based on the travel track data through the track information processing method provided by the first aspect.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program runs on a processor, the computer program performs the trajectory information processing method provided in the first aspect, and/or performs the job control method provided in the second aspect.
The track information processing method, the track information processing device and the ground equipment provided by the application acquire the running track data of the ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment; classifying the plurality of driving track points according to the speed and the course angle of every two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different; for each set of trajectory points, a corresponding trajectory segment is generated based on the set of trajectory points. Therefore, the corresponding track section is obtained based on the traveling track data of the ground equipment, the ground equipment can be guided to operate based on the track section, the path planning of the ground equipment is more accurate, and the working efficiency of the ground equipment is improved.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a track information processing method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a relationship between positions of front wheels and rear wheels of the ground equipment provided by the embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a trajectory segment of a surface installation provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a process for thinning travel track data of a surface device according to an embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating a job control method according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a track information processing apparatus provided in an embodiment of the present application;
fig. 7 is a schematic view showing another structure of the work control apparatus according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Example 1
The embodiment of the disclosure provides a track information processing method.
Specifically, as shown in fig. 1, the track information processing method includes:
and step S101, acquiring the running track data of the ground equipment.
In this embodiment, the ground equipment may include a ground robot and agricultural equipment, wherein the agricultural equipment may or may not be equipped with an automatic driving device, and the agricultural equipment may also be internally equipped with a corresponding automatic driving system, and the automatic driving device or the automatic driving system may be used to automatically control the driving or working process of the ground equipment. The agricultural machinery equipment can be a manned or automatic agricultural vehicle machine, and can realize a vehicle machine for corresponding farmland operation, such as a tractor, a seeder and the like.
In an embodiment, the original driving track data can be directly obtained as the driving track data without denoising pretreatment. In another embodiment, in order to reduce interference, denoising preprocessing may be performed on the original driving trajectory, and preprocessed driving trajectory data may be acquired. The travel track data includes position information, speed, and heading angle corresponding to a plurality of travel track points of the ground device.
It should be noted that, because the ground device collects corresponding travel track data in real time during operation or driving in the preset operation area, the travel track data may include position information, speed, and heading angle of each travel track point, and the position information may be longitude and latitude information in the preset operation area.
Specifically, the ground equipment may collect travel track data at sampling intervals via sensors. Because the sensor can be influenced by noise, the collected data such as position information, speed, course angle and the like have noise, and the collected data of the driving track can be subjected to denoising processing in order to improve the accuracy of the data of the driving track. It is understood that the denoising process may be performed by a filtering manner. Considering ground equipment when the operation, because the influence of sensor noise and speed of traveling can lead to the orbit interval between the adjacent track point of the orbit data size nonconformity, can carry out the rarefaction to the track point and handle, guarantee that the orbit interval between the adjacent track point is relatively more even, reach the effect of removing the noise.
And S102, classifying the plurality of driving track points according to the speed and the course angle of each two adjacent driving track points to obtain at least one group of track point sets.
In this embodiment, the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different, so that the driving track data can be classified according to the speed and the course angle, and the track segment can be conveniently obtained subsequently.
Specifically, step S102 includes the following steps:
for every two adjacent traveling track points, if the absolute values of the speeds of the two traveling track points are greater than a preset speed threshold value and the variation value between the course angles of the two traveling track points is smaller than or equal to a preset angle threshold value, the traveling directions represented by the two traveling track points are the same, and the two traveling track points are distributed to the same group of track point sets.
For example, the travel track data includes 4 travel track points A, B, C, D, the heading angle of the travel track point a is α 1, the speed is V1, the heading angle of the travel track point B is α 2, the speed is V2, the heading angle of the travel track point C is α 3, the speed is V3, and the heading angle of the travel track point D is α 4, and the speed is V4.
If the speed V1 and the speed V2 corresponding to the travel track point A, B are both greater than the preset speed threshold value and the difference value between the heading angle alpha 1 and the heading angle alpha 2 is less than or equal to the preset angle threshold value, it is determined that the travel track points A, B are in the same direction, and the travel track points A, B are divided into a track point set. In addition, if the speed V2 and the speed V3 corresponding to the travel track point B, C are both greater than the preset speed threshold value, and the difference between the heading angle α 2 and the heading angle α 3 is less than or equal to the preset angle threshold value, it is determined that the travel track points B, C are in the same direction, and the travel track points A, B, C are divided into a track point set. For example only, the travel track data may include a large number of travel track points, and is not limited thereto.
And step S103, generating a corresponding track segment based on each track point set.
In this embodiment, each track point set may include a plurality of travel track points, and each travel track point representing the same travel direction may be connected by a connecting line to obtain a corresponding track segment. For example, if a set of track points includes track point A, B, C, a corresponding track segment is generated based on track point A, B, C.
In the embodiment, the track section is obtained based on the traveling track data, so that the ground equipment can conveniently operate through the track section, the path planning is more accurate, and the working efficiency of the ground equipment in the automatic driving or operation process is improved.
In the present embodiment, step S103 includes the following steps:
for every two adjacent traveling track points, if the absolute value of the speed of any one of the two traveling track points is smaller than or equal to a preset speed threshold value or the variation value between the course angles of the two traveling track points is larger than a preset angle threshold value, it indicates that the traveling directions represented by the two traveling track points are different, and the two traveling track points are distributed to two different sets of track point sets.
For example, in the foregoing example, if the driving directions of the driving track points A, B, C are the same, when determining whether the driving directions of the driving track points C, D are the same, if the speed V3 and/or the speed V4 corresponding to the driving track points C, D are less than or equal to the preset speed threshold, or the difference between the heading angle α 3 and the heading angle α 4 is greater than the preset angle threshold, it is determined that the driving track points C, D are in different directions, and based on this, the driving track points A, B, C are divided into a track point set, and the driving track points D are divided into another track point set.
In this embodiment, the preset speed threshold is determined according to the maximum positioning deviation and the trajectory data sampling interval, for example, a ratio of the maximum positioning deviation to the trajectory data sampling interval may be used as the preset speed threshold, which may be specifically referred to as formula 1, formula 1: v ═ Δ S/Δ t; the method comprises the following steps that a preset speed threshold value is v, the maximum positioning deviation is set to be delta S, and the track data sampling interval is set to be delta t; but is not limited thereto. It should be noted that the maximum deviation of the positioning refers to the displacement of the ground equipment during the stopping process or the starting process. The trace data sampling interval may be a default system setting or may be a custom setting.
In one embodiment, the predetermined angle threshold may be determined based on a maximum driving speed of the ground equipment, a track width between a front wheel of the ground equipment and a rear wheel of the ground equipment, and a maximum rotation angle of the front wheel of the ground equipment. One embodiment is described below:
referring to fig. 2, in the process of walking on the arc track, the motion parameters of the agricultural machinery satisfy the following formula 2 and formula 3:
equation 2: w ═ v/R
Equation 3: r is L/tan (delta)
In the formulas 2 and 3, w represents an angular speed, v represents an agricultural machine running speed, R represents a corresponding steering radius when the agricultural machine steers, L represents a wheel track between a front wheel and a rear wheel of the agricultural machine, and delta represents a maximum turning angle of the front wheel of the agricultural machine.
Thus, equation 4 can be derived from equations 2 and 3: w is v/L × tan (δ), where w represents an angular velocity, v represents an agricultural machine running speed, L represents a track between an agricultural machine front wheel and an agricultural machine rear wheel, and δ represents a maximum rotation angle of the agricultural machine front wheel.
Further, equation 5 can be derived by combining equation 1 and equation 4: theta ═ Vmax/L×tan(δ)
Wherein Theta represents the preset angle threshold, VmaxRepresents the maximum travel speed of the ground equipment, L represents the track width between the front wheels of the ground equipment and the rear wheels of the ground equipment, and delta represents the maximum rotation angle of the front wheels of the ground equipment.
In this embodiment, the track information processing method further includes:
for each track segment, when the speed of a track point in the track segment is a positive number, determining the track segment as a forward track segment; when the speed of a track point in the track segment is a negative number, determining the track segment as a backward track segment; and when the speed of one track point in the track segment is less than or equal to a preset speed threshold value, determining the track segment as a stop track segment.
Therefore, the track segments can be classified according to the speed values of the track points in the track segments, the effective information content is improved, and the ground equipment can be conveniently controlled to move forwards, stop or move backwards based on the processed track segments.
In an embodiment, the track information processing method further includes:
for each stopping track segment, determining whether the driving directions represented by a previous track segment and a next track segment adjacent to the stopping track segment are the same;
and if the driving directions represented by the previous track segment and the next track segment are the same, deleting the stopping track segment and connecting the previous track segment and the next track segment.
Therefore, the relative motion state of the adjacent previous track section and the adjacent next track section of the stopping track section can be judged, if the driving states of the two track sections before and after the stopping track section are the same, it is indicated that the adjacent previous track section and the next track section of the stopping track section should be continuously driven or continuously operated, the stopping track section may be abnormally stopped due to equipment failure or other reasons, so that the operation is interrupted, a plurality of stopping points are generated, and the interference information of the track section is excessive. In order to avoid interference, the stopping track section which is abnormally stopped can be deleted, and the front track section and the rear track section of the stopping track section are spliced together to obtain the track section which is more in line with the actual situation.
If the driving states of the front and rear track sections of the stopping track section are different, it is indicated that the adjacent front track section and the adjacent rear track section of the stopping track section should be subjected to direction adjustment, and are not abnormal stopping scenes in continuous driving or continuous operation, the stopping track section may be generated by driving operations such as turning around and the like which need to be stopped, and can be considered to belong to a normal stopping scene, in order to meet the stopping state under the actual condition, the central point of the stopping track section is calculated, the stopping track section is replaced by the central point, a smooth track section can be obtained, and the subsequent operation based on the track section is facilitated. Referring to fig. 3, fig. 3 shows a first track segment 301 and a second track segment 302 of the ground equipment, in which a stop track segment is deleted from the first track segment 301 and the second track segment 302, and a forward track segment and a backward track segment are reserved, and from the first track segment 301 and the second track segment 302, the ground equipment performs forward operation to a working edge according to the first track segment 301, turns around after reaching the working edge, and performs forward operation to another opposite working edge according to the second track segment 302. Accordingly, in an embodiment, the track information processing method may further include:
if the driving directions represented by the previous track segment and the next track segment are different, determining to obtain a stopping position point according to the stopping track segment;
generating a transition segment for connecting the previous track segment and the next track segment based on the stop position point.
In the above embodiment, the driving directions represented by the previous track segment and the next track segment are different, which means that the stopping track segment is the operation processing of the ground equipment that temporarily stops turning around at the ground, and therefore, it can be considered that the stopping track segment at this time is caused by turning around, so that only one stopping position point is determined from the stopping track segment, and a transition segment for prompting turning around is generated according to the stopping position point, thereby facilitating the operation processing of the whole block. In one embodiment, the stopping position point may be selected as a midpoint of the stopping track segment, and other points may be selected from the stopping track segment as the stopping position points according to actual requirements, such as terrain requirements.
Referring to fig. 3 again, point Q in fig. 3 is determined as the stop position point, the stop point Q is connected to point P of the second track segment 302, and the line segment PQ is taken as the transition segment.
In an embodiment, the track information processing method further includes:
for each stopping track segment, determining whether other track segments exist after the stopping track segment;
and if no other track segment exists after the stopping track segment, determining to obtain an operation end point according to the stopping track segment.
Therefore, the operation end point can be determined, and the operation tasks of other ground equipment can be conveniently arranged by combining the track section and the operation end point.
In one embodiment, the driving trace data further includes job information corresponding to a plurality of driving trace points, and the method further includes:
for each track point set, determining the operation information of the track point set according to the operation information corresponding to each driving track point of the track point set;
and taking the operation information of the track point set as the operation information of the track segment.
In the present embodiment, the operation information includes whether the agricultural machine is operating or not, and the type of operation performed by the agricultural machine, for example, information that the agricultural machine is performing a leveling operation, a raking operation, a spraying operation, a topping operation, a harvesting operation, a picking operation, and the like.
Therefore, the operation information corresponding to each track segment is marked, so that the operation information of each track segment can be conveniently and visually known in the follow-up process, the follow-up operation management or continuous operation or repeated operation can be conveniently carried out according to the track segment marked with the operation information, and the operation efficiency of the agricultural machine is improved.
The following describes a process of performing denoising processing on the acquired original travel track data to obtain travel track data.
In an embodiment, denoising the acquired original driving track data to obtain driving track data includes:
if the distance between two adjacent original driving track points is larger than or equal to the positioning noise of the positioning device, adjusting the position information of a next original driving track point in the two adjacent original driving track points and/or the speed of the next original driving track point by adopting a median filtering processing mode;
if the distance between two adjacent original driving track points is smaller than the positioning noise of the positioning device, the position information of the latter original driving track point in the two adjacent original driving track points and/or the speed of the latter original driving track point are adjusted by adopting a mean value filtering processing mode.
In this embodiment, if d represents the Positioning noise of the Positioning device, the Positioning device may be a Global Positioning System (GPS), Δ d represents a distance between two adjacent original travel track points, and when the distance Δ d between two adjacent original travel track points is greater than or equal to the Positioning noise d, that is, Δ d > ═ d, the median filtering processing mode is adopted to adjust the position information of a subsequent original travel track point in the two adjacent original travel track points and/or adjust the speed of the subsequent original travel track point. The median filtering processing mode is to eliminate isolated noise points based on the ordering statistical theory.
In this embodiment, when the distance Δ d between two adjacent original driving trace points is smaller than the positioning noise d, that is, Δ d < d, the mean filtering processing mode is selected to adjust the position information of the previous original driving trace point and/or the position information of the next original driving trace point of the two adjacent original driving trace points, and to adjust the speed of the previous original driving trace point and/or the speed of the next original driving trace point.
Specifically, the mean filtering processing mode is that the position information of n original driving track points before the previous original driving track point of two adjacent original driving track points and the average position information of the n original driving track points of the previous original driving track point are selected to replace the position information of the previous original driving track point; and selecting the position information of n original driving track points before the next original driving track point of two adjacent original driving track points and the average position information of the n original driving track points of the next original driving track point to replace the next original driving track point. And selecting the average value of the front n speeds and the back n speeds of the speed of the previous original driving track point to replace the agricultural machine speed corresponding to the previous original driving track point. And selecting the average value of the front n agricultural machine speeds and the back n speeds of the speed of the back original traveling track point to replace the speed of the back original traveling track point.
Therefore, the median filtering and the mean filtering are utilized to carry out collaborative noise reduction filtering, different filtering methods are determined according to the distance between two adjacent original driving track points, noise reduction processing can be carried out on the position information and/or the speed of the original driving track according to different interference degrees of the sensor, and the accuracy of the noise reduction processing of the driving track data is further ensured.
In another embodiment, denoising the acquired original driving trajectory data to obtain driving trajectory data includes:
if the distance between two adjacent original driving track points is larger than a preset distance threshold value, two adjacent original driving track points are reserved;
and if the distance between two adjacent original traveling track points is smaller than a preset distance threshold value, retaining a previous original traveling track point in the two adjacent original traveling track points, and deleting a next original traveling track point in the two adjacent original traveling track points.
Referring to fig. 4, the original travel track data includes 5 original travel track points A1, a2, A3, A4, and A5, if the distance between the original travel track points A1 and a2 is smaller than the preset distance threshold, the original travel track point a2 is deleted, if the distance between the original travel track points A1A3 is greater than the preset distance threshold, A3 is reserved, and if the distances between the original travel track points A3 and A4, A4 and A5 are greater than the preset distance threshold, the original travel track points A4 and A5 are reserved, so that only the original travel track points A1, A3, A4, and A5 remain after adjustment.
In the embodiment, the determined running track can be ensured to be smooth and tidy through the thinning processing of the original running track data, the noise reduction effect of the original running track data is improved, and the operation speed of the whole track determining process is effectively improved by reducing the calculation times of the running track of the agricultural machine.
The track information processing method provided by the embodiment of the disclosure performs denoising processing on initial agricultural machinery track data to obtain preprocessed agricultural machinery track data, wherein the preprocessed agricultural machinery track data comprises a plurality of position information, and agricultural machinery speed and agricultural machinery course angle corresponding to each position information; determining a position information sequence according to the agricultural machine speed and the agricultural machine course angle corresponding to two adjacent position information, wherein the position information sequence comprises at least two continuous position information in the same driving direction; and generating a track segment according to the position information sequence. Therefore, the track section is obtained based on the initial agricultural machine track data, the agricultural machine can conveniently operate through the track section, the agricultural machine path planning is more accurate, and the working efficiency of the agricultural machine in the automatic driving process is improved.
Example 2
In addition, the embodiment of the disclosure provides a job control method.
Specifically, referring to fig. 5, the job control method includes:
in step S501, a track segment for performing a job on a target land is determined.
In this embodiment, the track segment is obtained according to the track information processing method of any embodiment in embodiment 1, and this embodiment can implement a specific process of the track information processing method of embodiment 1, and for related descriptions, reference may be made to embodiment 1, and details are not described herein in order to avoid repetition.
And S502, controlling target ground equipment to operate the target land parcel according to the track segment.
In this embodiment, the track segment is obtained based on the traveling track data of the ground equipment in the traveling or operating process in the preset operating area, the ground equipment is controlled to travel or operate in the preset operating area which is the same as the track segment, the track segment can be directly used as the basis of the control parameters of the ground equipment, the ground equipment is controlled to travel or operate in the operating area which is different from the track segment, the track segment can provide path planning information with reference value, the path planning of the ground equipment is more accurate, and therefore the working efficiency of the ground equipment in the traveling or operating process is improved.
In this embodiment, the track segment carries operation information; the job information includes at least one of: equipment model, operation type and land parcel information;
the determining a track segment for performing work on a target plot includes:
and determining a corresponding track section according to the operation type or the plot information of the target plot.
It should be noted that the equipment model is a factory model of the ground equipment, the same type of ground equipment may have multiple models, and the ground equipment of different models may have different configurations. For example, the tractor models can be B1, B2 and the like, and the tractor models B1 and B2 are configured differently. The job types include: any one of land leveling work, harrowing work, spraying work, topping work, picking work, harvesting work, and the like. The plot information includes source collection plot information indicating a plot type to which the track segment is applicable or travel track data corresponding to the track segment, for example, the plot type to which the track segment is applicable may be classified by plants as applicable to fields, mountain forests, slopes, and the plot type to which the track segment is applicable may be classified by plot shapes as regular plots, irregular plots, and the like.
In this embodiment, the track segment carries data such as a job type and parcel information, and a track segment matched with the job type or parcel information of the target parcel can be searched from a plurality of track segments according to the job type or parcel information of the target parcel, so as to determine the track segment corresponding to the target parcel.
In this embodiment, the controlling the target ground device to perform the operation on the target parcel according to the track segment includes:
determining target ground equipment according to the operation type of the target land block and/or the equipment model corresponding to the track segment;
and controlling the target ground equipment to operate the target land parcel.
In this embodiment, in order to select the ground equipment matched with the target parcel, the first type of ground equipment capable of completing the corresponding operation type may be determined according to the operation type of the target parcel, for example, spraying equipment is used for spraying operation, picking equipment is used for picking operation, and if the operation type of the target parcel is spraying operation, the first type of ground equipment is determined to be spraying equipment. And then, determining corresponding second type ground equipment according to the equipment model carried by the track segment, for example, if the equipment model X carried by the track segment corresponds to spraying equipment, determining the spraying equipment as the second type ground equipment.
Any one of the ground devices from the first type of ground device may be selected as the target ground device, such that the requirements of the type of operation on the target ground for the device may be met. Or any ground equipment is selected from the second type of ground equipment as the target ground equipment, so that the requirement of the track segment on the equipment can be met. Ground equipment belonging to both the first type of ground equipment and the second type of ground equipment can also be selected as target ground equipment, so that the requirements of the operation type and the track section of the target ground on the equipment can be met simultaneously.
In this embodiment, the target parcel includes at least two sub-areas with different job types; the track segment carries operation information; the job information includes at least one of: equipment model, operation type and land parcel information;
the determining a track segment for performing work on a target plot includes: determining a track segment corresponding to each subregion according to the operation type or the plot information of each subregion in the target plot;
the operation of the target land parcel by controlling the target ground equipment according to the track segment comprises the following steps: for each sub-area, determining target ground equipment corresponding to the sub-area according to the operation type of the sub-area and/or the track segment corresponding to the sub-area; and for each sub-area, controlling the target ground equipment corresponding to the sub-area to operate the sub-area.
It can be understood that, because the land area is relatively large, the actual production can be divided into a plurality of sub-areas on one land, and different types of job processing can be performed on different sub-areas.
For example, if the target plot includes a first sub-area for spraying and a second sub-area for harvesting, if the first sub-area acting device is determined to be the first ground device according to the spraying of the first sub-area and the track segment corresponding to the first sub-area, if the second sub-area acting device is determined to be the second ground device according to the harvesting of the first sub-area and the track segment corresponding to the second sub-area, the first ground device is controlled to spray in the first sub-area, and the second ground device is controlled to harvest in the second sub-area.
In this embodiment, the controlling the target ground device corresponding to the sub-area to perform the operation on the sub-area includes:
when the model of the target ground equipment is different from the model of the equipment carried by the track section, adjusting the track section according to the model of the target ground equipment and the model of the equipment carried by the track section to obtain a track section corresponding to the target ground equipment;
and controlling the target ground equipment to operate in the sub-area according to the track segment corresponding to the target ground equipment.
It can be understood that, configuration parameters of different types of ground devices are different, for example, the maximum driving speed of the ground device, the radius of the front wheel of the ground device, the radius of the rear wheel, the radius of the front wheel, the distance between the radii of the rear wheel, and the like are different, and the track segment can be adjusted according to the configuration parameters of the target ground device and the configuration parameters corresponding to the device signal carried by the track segment, so as to obtain the track segment corresponding to the target ground device. The current ground equipment is conveniently and accurately controlled to run or operate, and the running or operating efficiency is improved.
In this embodiment, the target ground device is controlled to repeatedly perform operations such as spraying and harvesting in the operation area according to the track segment corresponding to the target ground device, and may also be a following operation with other ground devices, a multi-farm-machine cooperative operation, and the like, which is not limited herein.
The job control method provided by the embodiment determines a track segment for performing a job on a target plot; and controlling target ground equipment to operate the target land parcel according to the track segment. Therefore, the target ground equipment can accurately finish the operation process in the target plot according to the corresponding track section, and the operation efficiency is improved.
Example 3
In addition, the embodiment of the disclosure provides a track information processing device.
Specifically, as shown in fig. 6, the trajectory information processing device 600 includes:
an obtaining module 601, configured to obtain travel track data of a ground device; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment;
the classification module 602 is configured to classify the multiple travel track points according to the speed and the heading angle of each two adjacent travel track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different;
a generating module 603, configured to, for each track point set, generate a corresponding track segment based on the track point set.
Optionally, the classification module 602 is further configured to, for every two adjacent travel track points, indicate that the travel directions represented by the two travel track points are the same if the absolute values of the speeds of the two travel track points are greater than a preset speed threshold and the variation value between the course angles of the two travel track points is less than or equal to a preset angle threshold, and allocate the two travel track points to the same set of track point sets.
Optionally, the classification module 602 is further configured to, for every two adjacent travel track points, indicate that the travel directions represented by the two travel track points are different if the absolute value of the speed of any one of the two travel track points is less than or equal to a preset speed threshold or the variation value between the course angles of the two travel track points is greater than a preset angle threshold, and allocate the two travel track points to two different sets of track point sets.
Optionally, the preset speed threshold is determined according to the maximum positioning deviation and the track data sampling interval; and/or the presence of a gas in the gas,
the preset angle threshold is determined according to the maximum driving speed, the maximum rotation angle of the front wheel of the ground equipment and the wheel track between the front wheel and the rear wheel.
Optionally, the track information processing apparatus 600 further includes:
the determining module is used for determining each track segment as a forward track segment when the speed of a track point in the track segment is a positive number; when the speed of a track point in the track segment is a negative number, determining the track segment as a backward track segment; and when the speed of one track point in the track segment is less than or equal to a preset speed threshold value, determining the track segment as a stop track segment.
Optionally, the track information processing apparatus 600 further includes:
the first adjusting module is used for determining whether the driving directions represented by a previous track segment and a next track segment which are adjacent to the stopping track segment are the same or not for each stopping track segment;
and if the driving directions represented by the previous track segment and the next track segment are the same, deleting the stopping track segment and connecting the previous track segment and the next track segment.
Optionally, the track information processing apparatus 600 further includes:
the second adjusting module is used for determining and obtaining a stopping position point according to the stopping track section if the driving directions represented by the previous track section and the next track section are different;
generating a transition segment for connecting the previous track segment and the next track segment based on the stop position point.
Optionally, the track information processing apparatus 600 further includes:
the first processing module is used for determining whether other track segments exist after each stopping track segment;
and if no other track segment exists after the stopping track segment, determining to obtain an operation end point according to the stopping track segment.
Optionally, the travel track data further includes job information corresponding to a plurality of travel track points, and the track information processing apparatus 600 further includes:
the second processing module is further used for determining operation information of each track point set according to the operation information corresponding to each driving track point of the track point sets;
and taking the operation information of the track point set as the operation information of the track segment.
It should be noted that the track information processing apparatus of this embodiment can implement the steps of the track information processing method in embodiment 1, and the specific implementation manner can refer to the description of the corresponding contents in embodiment 1, which is not described herein again.
The track information processing device provided by the embodiment of the disclosure acquires the running track data of the ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment; classifying the plurality of driving track points according to the speed and the course angle of every two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different; for each set of trajectory points, a corresponding trajectory segment is generated based on the set of trajectory points. Therefore, the corresponding track section is obtained based on the traveling track data of the ground equipment, the ground equipment can be guided to operate based on the track section, the path planning of the ground equipment is more accurate, and the working efficiency of the ground equipment is improved.
Example 4
In addition, the embodiment of the disclosure provides a work control device.
Specifically, as shown in fig. 7, the work control apparatus 700 includes:
a determining module 701, configured to determine a track segment for performing a job on a target land; wherein, the track segment is obtained by the track information processing method provided by the embodiment 1;
and the control module 702 is configured to control target ground equipment to perform operation on the target land parcel according to the track segment.
Optionally, the track segment carries operation information; the job information includes at least one of: the device model, the operation type, the land parcel information, and the determining module 701 are further configured to determine a corresponding track segment according to the operation type or the land parcel information of the target land parcel.
Optionally, the control module 702 is further configured to determine a target ground device according to the operation type of the target land and/or the device model corresponding to the track segment;
and controlling the target ground equipment to operate the target land parcel.
Optionally, the target plot includes at least two sub-areas with different operation types; the track segment carries operation information; the job information includes at least one of: equipment model, operation type and land parcel information; the determining module 701 is further configured to determine, according to the operation type or the parcel information of each sub-area in the target parcel, a track segment corresponding to each sub-area;
the control module 702 is further configured to, for each sub-area, determine, according to the operation type of the sub-area and/or the track segment corresponding to the sub-area, a target ground device corresponding to the sub-area; and for each sub-area, controlling the target ground equipment corresponding to the sub-area to operate the sub-area.
It should be noted that the job control apparatus of this embodiment can implement the job control method in embodiment 2, and the specific implementation manner can refer to the description of the corresponding content in embodiment 2, which is not described herein again.
The track information processing device provided by the embodiment determines a track segment for performing a job on a target land; and controlling target ground equipment to operate the target land parcel according to the track segment. Therefore, the target ground equipment can accurately finish the operation process in the target plot according to the corresponding track section, and the operation efficiency is improved.
Example 5
Further, the disclosed embodiments provide an autopilot device comprising a processor and a memory, the memory storing a computer program; the processor implements the steps of the trajectory information processing method provided in embodiment 1 and/or implements the steps of the job control method provided in embodiment 2 when running the computer program.
It should be noted that the automatic driving device may be a self-driving device, and the specific implementation of the processor in this embodiment may refer to the description of the corresponding content in embodiment 1 or embodiment 2, which is not described herein again.
Example 6
Furthermore, an embodiment of the present disclosure provides a ground device, including: the driving control device is arranged on the equipment body; the driving control device is configured to obtain travel track data of the ground device during travel, and generate a corresponding track segment based on the travel track data by using the track information processing method provided in embodiment 1.
Optionally, the driving control device is further configured to control the apparatus body to perform work by the work control method provided in embodiment 2.
The driving control device may be a self-driving device, or may be a control system disposed inside the ground equipment, which is not limited herein.
For a specific implementation process of the ground device in this embodiment, reference may be made to the description of corresponding contents in embodiment 1 or embodiment 2, which is not described herein again.
Example 7
The present application also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steps of the trajectory information processing method of embodiment 1, and/or performs the steps of the job control method provided in embodiment 2.
It should be noted that, for the specific implementation steps of this embodiment, reference may be made to the description of corresponding contents in the foregoing embodiments 1 and 2, which are not described herein again.
In this embodiment, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (20)
1. A track information processing method, characterized in that the method comprises:
acquiring running track data of ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment;
classifying the plurality of driving track points according to the speed and the course angle of every two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different;
for each set of trajectory points, a corresponding trajectory segment is generated based on the set of trajectory points.
2. The method of claim 1, wherein classifying the plurality of waypoints according to the speed and heading angle of each two adjacent waypoints to obtain at least one set of waypoints comprises:
for every two adjacent traveling track points, if the absolute values of the speeds of the two traveling track points are greater than a preset speed threshold value and the variation value between the course angles of the two traveling track points is smaller than or equal to a preset angle threshold value, the traveling directions represented by the two traveling track points are the same, and the two traveling track points are distributed to the same group of track point sets.
3. The method of claim 1, wherein classifying the plurality of waypoints according to the speed and heading angle of each two adjacent waypoints to obtain at least one set of waypoints comprises:
for every two adjacent traveling track points, if the absolute value of the speed of any one of the two traveling track points is smaller than or equal to a preset speed threshold value or the variation value between the course angles of the two traveling track points is larger than a preset angle threshold value, it indicates that the traveling directions represented by the two traveling track points are different, and the two traveling track points are distributed to two different sets of track point sets.
4. The method according to claim 2 or 3, wherein the preset speed threshold is determined according to a maximum deviation of positioning and a trajectory data sampling interval; and/or the presence of a gas in the gas,
the preset angle threshold is determined according to the maximum driving speed, the maximum rotation angle of the front wheel of the ground equipment and the wheel track between the front wheel and the rear wheel.
5. The method of claim 1, further comprising:
for each track segment, when the speed of a track point in the track segment is a positive number, determining the track segment as a forward track segment; when the speed of a track point in the track segment is a negative number, determining the track segment as a backward track segment; and when the speed of one track point in the track segment is less than or equal to a preset speed threshold value, determining the track segment as a stop track segment.
6. The method of claim 5, further comprising:
for each stopping track segment, determining whether the driving directions represented by a previous track segment and a next track segment adjacent to the stopping track segment are the same;
and if the driving directions represented by the previous track segment and the next track segment are the same, deleting the stopping track segment and connecting the previous track segment and the next track segment.
7. The method of claim 6, further comprising:
if the driving directions represented by the previous track segment and the next track segment are different, determining to obtain a stopping position point according to the stopping track segment;
generating a transition segment for connecting the previous track segment and the next track segment based on the stop position point.
8. The method according to any one of claims 5 to 7, further comprising:
for each stopping track segment, determining whether other track segments exist after the stopping track segment;
and if no other track segment exists after the stopping track segment, determining to obtain an operation end point according to the stopping track segment.
9. The method according to claim 1, wherein the travel track data further includes job information corresponding to a plurality of travel track points, the method further comprising:
for each track point set, determining the operation information of the track point set according to the operation information corresponding to each driving track point of the track point set;
and taking the operation information of the track point set as the operation information of the track segment.
10. A method of job control, the method comprising:
determining a track segment for performing work on a target plot; wherein the track segment is obtained by the method of any one of claims 1 to 9;
and controlling target ground equipment to operate the target land parcel according to the track segment.
11. The method of claim 10, wherein the track segment carries job information; the job information includes at least one of: equipment model, operation type and land parcel information;
the determining a track segment for performing work on a target plot includes:
and determining a corresponding track section according to the operation type or the plot information of the target plot.
12. The method of claim 10, wherein said controlling a target ground device to work on the target parcel according to the trajectory segment comprises:
determining target ground equipment according to the operation type of the target land block and/or the equipment model corresponding to the track segment;
and controlling the target ground equipment to operate the target land parcel.
13. The method of claim 10, wherein the target parcel comprises at least two sub-areas differing in job type; the track segment carries operation information; the job information includes at least one of: equipment model, operation type and land parcel information;
the determining a track segment for performing work on a target plot includes: determining a track segment corresponding to each subregion according to the operation type or the plot information of each subregion in the target plot;
the operation of the target land parcel by controlling the target ground equipment according to the track segment comprises the following steps: for each sub-area, determining target ground equipment corresponding to the sub-area according to the operation type of the sub-area and/or the track segment corresponding to the sub-area; and for each sub-area, controlling the target ground equipment corresponding to the sub-area to operate the sub-area.
14. The method of claim 13, wherein the controlling the target ground equipment corresponding to the sub-area to perform work on the sub-area comprises:
when the model of the target ground equipment is different from the model of the equipment carried by the track section, adjusting the track section according to the model of the target ground equipment and the model of the equipment carried by the track section to obtain a track section corresponding to the target ground equipment;
and controlling the target ground equipment to operate in the sub-area according to the track segment corresponding to the target ground equipment.
15. A trajectory information processing apparatus characterized by comprising:
the acquisition module is used for acquiring the running track data of the ground equipment; the driving track data comprises position information, speed and course angles corresponding to a plurality of driving track points of the ground equipment;
the classification module is used for classifying the plurality of driving track points according to the speed and the course angle of each two adjacent driving track points to obtain at least one group of track point sets; the driving directions represented by the track points of the same group of track point sets are the same, and the driving directions represented by the track points of different groups of track point sets are different;
and the generating module is used for generating a corresponding track segment based on each track point set.
16. An operation control apparatus, characterized in that the apparatus comprises:
the determining module is used for determining a track segment for performing operation on the target land; wherein the track segment is obtained by the method of any one of claims 1 to 9;
and the control module is used for controlling target ground equipment to operate the target land parcel according to the track segment.
17. An autopilot device comprising a processor and a memory, the memory having stored thereon a computer program; the processor, when running the computer program, implements the steps of the trajectory information processing method of claims 1 to 9 and/or implements the steps of the job control method of claims 10 to 14.
18. A ground apparatus, comprising: the driving control device is arranged on the equipment body; the driving control device is used for acquiring running track data of ground equipment in a running process and generating a corresponding track section based on the running track data through the track information processing method of claims 1-9.
19. The ground equipment according to claim 18, wherein the driving control device is further configured to control the equipment body to perform work by the work control method according to any one of claims 10 to 14.
20. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the trajectory information processing method of any one of claims 1 to 9 and/or performs the job control method of any one of claims 10 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111601281.2A CN114265409B (en) | 2021-12-24 | 2021-12-24 | Track information processing method and device and ground equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111601281.2A CN114265409B (en) | 2021-12-24 | 2021-12-24 | Track information processing method and device and ground equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114265409A true CN114265409A (en) | 2022-04-01 |
| CN114265409B CN114265409B (en) | 2024-07-09 |
Family
ID=80829862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111601281.2A Active CN114265409B (en) | 2021-12-24 | 2021-12-24 | Track information processing method and device and ground equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114265409B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016488A (en) * | 2022-06-22 | 2022-09-06 | 上海联适导航技术股份有限公司 | Intelligent agricultural machine leveling track drawing method and system, agricultural machine and storage medium |
| CN115525640A (en) * | 2022-11-25 | 2022-12-27 | 三亚海兰寰宇海洋信息科技有限公司 | Target object trajectory processing method, device and equipment |
| CN115733867A (en) * | 2022-12-29 | 2023-03-03 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
| CN115816451A (en) * | 2022-11-29 | 2023-03-21 | 江苏启威星装备科技有限公司 | Manipulator operation control method and system |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495631A (en) * | 2011-12-09 | 2012-06-13 | 中国科学院合肥物质科学研究院 | Intelligent control method of driverless vehicle tracking desired trajectory |
| CN103593430A (en) * | 2013-11-11 | 2014-02-19 | 胡宝清 | Clustering method based on mobile object spatiotemporal information trajectory subsections |
| CN106877875A (en) * | 2017-01-22 | 2017-06-20 | 齐鲁工业大学 | A kind of vehicle running orbit compression method based on threshold value combination algorithm |
| JP2017200490A (en) * | 2017-08-02 | 2017-11-09 | 株式会社クボタ | Working vehicle collaborative system |
| CN107657637A (en) * | 2017-09-25 | 2018-02-02 | 中国农业大学 | A kind of agricultural machinery working area acquisition methods |
| CN108873913A (en) * | 2018-08-22 | 2018-11-23 | 深圳乐动机器人有限公司 | From mobile device work compound control method, device, storage medium and system |
| CN109154821A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Orbit generation method, device and unmanned ground vehicle |
| CN110502021A (en) * | 2019-09-24 | 2019-11-26 | 一米信息服务(北京)有限公司 | A kind of agricultural machinery working paths planning method and system |
| CN110852354A (en) * | 2019-10-22 | 2020-02-28 | 上海中旖能源科技有限公司 | Vehicle track point identification method and device |
| CN110962858A (en) * | 2019-12-23 | 2020-04-07 | 潍柴动力股份有限公司 | Target identification method and device |
| JP2020099224A (en) * | 2018-12-20 | 2020-07-02 | 株式会社クボタ | Travelling working machine |
| CN111448528A (en) * | 2017-12-07 | 2020-07-24 | 洋马动力科技有限公司 | Travel route setting device |
| CN111723304A (en) * | 2020-01-03 | 2020-09-29 | 腾讯科技（深圳）有限公司 | Track point identification method and related device |
| CN111986226A (en) * | 2020-08-25 | 2020-11-24 | 浙江工业大学 | Target track abnormity detection method |
| CN112414410A (en) * | 2020-11-19 | 2021-02-26 | 广州极飞科技有限公司 | Path generation method, device operation method and device control system |
| CN112417231A (en) * | 2020-12-03 | 2021-02-26 | 深圳前海微众银行股份有限公司 | Vehicle turning data processing method, device and equipment |
| CN112834249A (en) * | 2020-12-31 | 2021-05-25 | 广州极飞科技股份有限公司 | Steering parameter detection method, device, equipment and storage medium |
| CN113011815A (en) * | 2021-03-11 | 2021-06-22 | 深圳市城市交通规划设计研究中心股份有限公司 | Truck stop point extraction method and travel characteristic determination method and device |
| CN113052265A (en) * | 2021-04-26 | 2021-06-29 | 上海海事大学 | Moving object track simplification algorithm based on feature selection |
| CN113177042A (en) * | 2021-05-12 | 2021-07-27 | 中移智行网络科技有限公司 | Map track line processing method and device |
| CN113581289A (en) * | 2021-09-01 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Zero offset dynamic calibration method and device, electronic equipment and storage medium |
-
2021
- 2021-12-24 CN CN202111601281.2A patent/CN114265409B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495631A (en) * | 2011-12-09 | 2012-06-13 | 中国科学院合肥物质科学研究院 | Intelligent control method of driverless vehicle tracking desired trajectory |
| CN103593430A (en) * | 2013-11-11 | 2014-02-19 | 胡宝清 | Clustering method based on mobile object spatiotemporal information trajectory subsections |
| CN106877875A (en) * | 2017-01-22 | 2017-06-20 | 齐鲁工业大学 | A kind of vehicle running orbit compression method based on threshold value combination algorithm |
| JP2017200490A (en) * | 2017-08-02 | 2017-11-09 | 株式会社クボタ | Working vehicle collaborative system |
| CN107657637A (en) * | 2017-09-25 | 2018-02-02 | 中国农业大学 | A kind of agricultural machinery working area acquisition methods |
| CN109154821A (en) * | 2017-11-30 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Orbit generation method, device and unmanned ground vehicle |
| CN111448528A (en) * | 2017-12-07 | 2020-07-24 | 洋马动力科技有限公司 | Travel route setting device |
| CN108873913A (en) * | 2018-08-22 | 2018-11-23 | 深圳乐动机器人有限公司 | From mobile device work compound control method, device, storage medium and system |
| JP2020099224A (en) * | 2018-12-20 | 2020-07-02 | 株式会社クボタ | Travelling working machine |
| CN110502021A (en) * | 2019-09-24 | 2019-11-26 | 一米信息服务(北京)有限公司 | A kind of agricultural machinery working paths planning method and system |
| CN110852354A (en) * | 2019-10-22 | 2020-02-28 | 上海中旖能源科技有限公司 | Vehicle track point identification method and device |
| CN110962858A (en) * | 2019-12-23 | 2020-04-07 | 潍柴动力股份有限公司 | Target identification method and device |
| CN111723304A (en) * | 2020-01-03 | 2020-09-29 | 腾讯科技（深圳）有限公司 | Track point identification method and related device |
| CN111986226A (en) * | 2020-08-25 | 2020-11-24 | 浙江工业大学 | Target track abnormity detection method |
| CN112414410A (en) * | 2020-11-19 | 2021-02-26 | 广州极飞科技有限公司 | Path generation method, device operation method and device control system |
| CN112417231A (en) * | 2020-12-03 | 2021-02-26 | 深圳前海微众银行股份有限公司 | Vehicle turning data processing method, device and equipment |
| CN112834249A (en) * | 2020-12-31 | 2021-05-25 | 广州极飞科技股份有限公司 | Steering parameter detection method, device, equipment and storage medium |
| CN113011815A (en) * | 2021-03-11 | 2021-06-22 | 深圳市城市交通规划设计研究中心股份有限公司 | Truck stop point extraction method and travel characteristic determination method and device |
| CN113052265A (en) * | 2021-04-26 | 2021-06-29 | 上海海事大学 | Moving object track simplification algorithm based on feature selection |
| CN113177042A (en) * | 2021-05-12 | 2021-07-27 | 中移智行网络科技有限公司 | Map track line processing method and device |
| CN113581289A (en) * | 2021-09-01 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Zero offset dynamic calibration method and device, electronic equipment and storage medium |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016488A (en) * | 2022-06-22 | 2022-09-06 | 上海联适导航技术股份有限公司 | Intelligent agricultural machine leveling track drawing method and system, agricultural machine and storage medium |
| CN115525640A (en) * | 2022-11-25 | 2022-12-27 | 三亚海兰寰宇海洋信息科技有限公司 | Target object trajectory processing method, device and equipment |
| CN115525640B (en) * | 2022-11-25 | 2023-04-07 | 三亚海兰寰宇海洋信息科技有限公司 | Target object trajectory processing method, device and equipment |
| CN115816451A (en) * | 2022-11-29 | 2023-03-21 | 江苏启威星装备科技有限公司 | Manipulator operation control method and system |
| CN115816451B (en) * | 2022-11-29 | 2024-01-16 | 江苏启威星装备科技有限公司 | Manipulator operation control method and system |
| CN115733867A (en) * | 2022-12-29 | 2023-03-03 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
| CN115733867B (en) * | 2022-12-29 | 2024-04-16 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114265409B (en) | 2024-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114265409B (en) | Track information processing method and device and ground equipment | |
| Ball et al. | Vision‐based obstacle detection and navigation for an agricultural robot | |
| EP3571912A1 (en) | Method and system for planning a turn path of a vehicle | |
| Higuti et al. | Under canopy light detection and ranging‐based autonomous navigation | |
| Subramanian et al. | Sensor fusion using fuzzy logic enhanced kalman filter for autonomous vehicle guidance in citrus groves | |
| Stentz et al. | A system for semi-autonomous tractor operations | |
| CN110254722B (en) | Aircraft system, aircraft system method and computer-readable storage medium | |
| JP7069001B2 (en) | Field work vehicle | |
| JP7381402B2 (en) | automatic driving system | |
| WO2019167199A1 (en) | Control device, mobile body, and program | |
| CN114910079A (en) | Navigation path planning method and device, electronic equipment and readable storage medium | |
| Peng et al. | Depth camera based row-end detection and headland manuvering in orchard navigation without GNSS | |
| CN110780669A (en) | Forest robot navigation and information acquisition method | |
| WO2023055383A1 (en) | Vehicle row follow system | |
| WO2019167205A1 (en) | Management device, management system, moving body and program | |
| CN114115214A (en) | Vision-based agricultural machinery driving method, system, equipment and storage medium | |
| CN116466724A (en) | Mobile positioning method and device of robot and robot | |
| CN113334387B (en) | Welding robot control method and device, storage medium and welding robot | |
| CN115097833A (en) | Automatic obstacle avoidance method and system for pesticide application robot and storage medium | |
| WO2020262416A1 (en) | Automatic traveling system, agricultural work machine, program, recording medium with program recorded thereon, and method | |
| CN112526986B (en) | Ridge-following operation method and device | |
| Inoue et al. | Autonomous Navigation and Obstacle Avoidance in an Orchard Using Machine Vision Techniques for a Robotic Mower | |
| Furioli et al. | Cost-effective tractor localization for semi-autonomous vineyard operations | |
| Xue | Guidance of an agricultural robot with variable angle-of-view camera arrangement in cornfield | |
| CN116088533B (en) | Information determination method, remote terminal, device, mower and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |