CN115200589B - Agricultural machinery edge folding track planning method and device, computer terminal and storage medium - Google Patents

Agricultural machinery edge folding track planning method and device, computer terminal and storage medium Download PDF

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Publication number
CN115200589B
CN115200589B CN202211125452.3A CN202211125452A CN115200589B CN 115200589 B CN115200589 B CN 115200589B CN 202211125452 A CN202211125452 A CN 202211125452A CN 115200589 B CN115200589 B CN 115200589B
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edge
distance
edge folding
line
track
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CN115200589A (en
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贾士伟
翁雷
磨键琨
王瑞峰
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Bochuang Linkage Technology Co ltd
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Beijing Bochuang Liandong Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic

Abstract

The invention relates to the field of trajectory planning, and discloses a method and a device for planning an agricultural machinery edge closing trajectory, a computer terminal and a storage medium, wherein the method comprises the following steps: acquiring an initial operation line of a land parcel to be operated, and calculating a first distance required to be reserved for planning a margin closing track according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land parcel; adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line; respectively planning edge folding paths around the actual operation line according to the turning radius and the operation width of the agricultural machine, and planning a connecting track between the end and the edge folding paths and a connecting track between the edge folding paths by combining the end of the operation line to obtain the edge folding tracks. After the agricultural machine works, the edge folding operation can be performed, the waste land is reduced, and the automation degree of the agricultural machine is improved.

Description

Agricultural machinery edge folding track planning method and device, computer terminal and storage medium
Technical Field
The invention relates to the field of trajectory planning, in particular to a method and a device for planning an agricultural machinery edge closing trajectory, a computer terminal and a storage medium.
Background
The automatic driving of the agricultural machinery can reduce the labor intensity of agricultural machinery workers and improve the operation efficiency and the land utilization rate. If fully unmanned agricultural machinery automatic driving is realized, a complete path planning is needed. The complete path planning includes path planning of all operation lines and edge closing path planning after the operation line planning. If only the path planning of the operation row is carried out and the path planning of the edge closing is not carried out, the edge closing operation needs manual operation, and the original purpose of the all-unmanned agricultural machinery operation is violated. Therefore, in order to realize the automatic driving of the fully unmanned agricultural machinery, a path planning algorithm with a margin is necessary.
Disclosure of Invention
In a first aspect, the application provides a method for planning an agricultural machinery edging track, comprising:
acquiring an initial operation line of a land to be operated, and calculating a first distance to be reserved for edge closing track planning according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land;
adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line;
planning edge-closing paths around the actual operation line according to the turning radius of the agricultural machine and the operation width, planning a connecting track between the end and the edge-closing path and a connecting track between the edge-closing paths by combining the end of the operation line, and obtaining the edge-closing path.
Further, calculating the first distance according to the work width and the base distance between the end point of the initial work line and the edge of the land parcel comprises:
calculating the quotient of the basic distance and the operation width, and rounding up to obtain the number of edge lines;
and multiplying the number of the edge closing lines and the operation width to obtain the first distance.
Further, according to the turning radius and the operation width of the agricultural machinery, respectively planning edge folding paths around the actual operation line comprises:
respectively generating edge folding paths of the edge folding line numbers from inside to outside in four directions of the actual operation line according to the operation width;
the edge folding paths of the actual operation lines in the first direction and the third direction are parallel to line segments formed by end points of the actual operation lines; and the edge-closing paths of the actual operation lines in the second direction and the fourth direction are parallel to the actual operation lines.
Further, the generation of the edge closing path of the actual job row in the first direction and the third direction includes:
the line segment formed by the edge folding path in the first row and each actual operation line end point is spaced by half the operation width, and then the edge folding paths are sequentially generated by taking the operation width as the interval;
the generation of the edge closing paths of the actual operation line in the second direction and the fourth direction comprises the following steps:
and sequentially generating the edge closing paths of the edge closing line numbers by taking the operation width as an interval.
Further, the method also comprises the following steps:
and determining the end point of each edge closing path according to the position of each vertex angle of the area where the actual operation line is located and the turning radius.
Furthermore, the length of each edge closing path on the same side is sequentially increased from inside to outside.
Further, the planning, by combining the end of the operation line, a connection trajectory between the end and the edge folding path, and a connection trajectory between the edge folding paths, and obtaining an edge folding trajectory includes:
determining a steering direction when the edge folding operation is carried out and a starting point on a corresponding edge folding path according to the ending end of the actual operation line, and determining a connecting track for transferring the agricultural machinery from the ending end to a first edge folding path according to the starting point and the ending end;
and determining the edge folding sequence of each edge folding path according to the steering direction during the edge folding operation, determining a connecting track between each edge folding path in the same circle and a connecting track during switching to the next circle according to the turning radius of the agricultural machine, so as to finish the planning of the edge folding track.
In a third aspect, the present application further provides an agricultural machinery edge folding trajectory planning device, including:
the calculation module is used for acquiring an initial operation line of a land parcel to be operated and calculating a first distance required to be reserved for planning an edge closing track according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land parcel;
the adjusting module is used for adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line;
and the planning module is used for respectively planning edge folding paths around the actual operation line according to the turning radius of the agricultural machine and the operation width, planning a connecting track between the end and the edge folding paths and a connecting track between the edge folding paths by combining the end of the operation line, and obtaining the edge folding tracks.
In a third aspect, the present application further provides a computer terminal, which includes a processor and a memory, where the memory stores a computer program, and the computer program, when running on the processor, executes the agricultural machinery edging trajectory planning method.
In a fourth aspect, the present application further provides a readable storage medium, which stores a computer program, where the computer program, when executed on a processor, executes the agricultural machine closing edge trajectory planning method.
The invention discloses a method and a device for planning an agricultural machinery edge folding track, a computer terminal and a storage medium, wherein the method comprises the following steps: acquiring an initial operation line of a land to be operated, and calculating a first distance to be reserved for edge closing track planning according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land; adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line; planning edge-closing paths around the actual operation line according to the turning radius of the agricultural machine and the operation width, planning a connecting track between the end and the edge-closing path and a connecting track between the edge-closing paths by combining the end of the operation line, and obtaining the edge-closing path. After the agricultural machine works, the edge folding operation can be performed, the wasted land is reduced, the automation degree of the agricultural machine is improved, and the agricultural machine can adapt to various working tracks.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 shows a flow chart of an agricultural machinery edging track planning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an initial working line of an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating an actual working line of an embodiment of the present application;
fig. 4 shows a schematic diagram of edge closing path planning in the embodiment of the present application;
FIG. 5 is a schematic diagram illustrating an edge closing path transition according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an edge closing trajectory according to an embodiment of the present application;
fig. 7 shows a schematic structural diagram of an agricultural machinery edging track planning device according to an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are intended to indicate only specific features, numerals, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the presence of or adding to one or more other features, numerals, 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 various embodiments of the present invention 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 of the present invention.
The technical scheme of the application is applied to planning the working track of the farmland, and then planning the edge folding track to carry out edge folding operation. The term "edging" means that the agricultural machinery has a turning radius, and when the agricultural machinery needs to turn around and enter the next working line from the working line to the ground, the ground is an area for working, and the ground area also needs to be worked, i.e. edging, so that the land is not wasted.
And planning the edge closing track on the basis of the planned working track to realize the full utilization of the field.
The following describes the technical aspects of the present application in terms of specific embodiments.
Example 1
As shown in fig. 1, the agricultural machinery edging track planning method of the present application includes the following steps:
step S100, obtaining an initial operation line of a land parcel to be operated, and calculating a first distance required to be reserved for edge closing track planning according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land parcel.
The initial operation line of the embodiment is generated according to the mode of the operation path selected by the agricultural machinery, the operation track can be a method for planning the farmland operation path such as a set line path, a zigzag path and the like, and the specific methods for generating the paths are not the focus of the application and are not developed in detail here. Before a specific working path is generated, a working line is generated. As shown in fig. 2, as a schematic diagram of an operation line, in a plot ABCD, reference edges AB are selected one by one, and then operation lines parallel to AB are generated, each operation line needs to be separated by an operation width, so that when an agricultural machine works in one operation line, another operation line is not affected.
In order to ensure that the agricultural machine is switched between the operation lines, the two ends of each operation line and the corresponding edges need to have enough distance to support the turning radius of the agricultural machine, so that the distance between the two ends of each operation line and the edges can be the sum of the turning radius, the mechanical distance and a preset safety distance, the distance is a basic distance and is a distance established when the operation lines are generated, the distance is not a final distance for edge folding, for the operation lines, the distance between the two ends of each operation line and the edges cannot be smaller than the basic distance, and otherwise, the agricultural machine cannot turn smoothly.
Wherein the mechanical distance is half of the maximum value between the working width and the wheelbase of the rear axle of the agricultural vehicle, for example, the working width is 2 meters, and the wheelbase of the rear axle of the agricultural vehicle is 1.5 meters, because the working width is the maximum, the mechanical distance is 1 meter, that is, half of the working width.
The basic distance of the present embodiment can be obtained by measurement, and it should be noted that, when the basic distances of the work lines are actually generated, there is an error inevitably, so the obtained basic distances of the work lines are different, and for the sake of uniformity, the largest distance among the obtained basic distances is selected as the basic distance.
In order to plan the edge closing path, the distance between the end point of the operation line and the edge needs to be adjusted to generate a proper first distance. And calculating the quotient of the basic distance and the operation width, and rounding up to obtain the number of the edge lines at the basic distance. And multiplying the edge closing line number and the operation width to obtain the first distance.
For example, if the base distance is 3 meters and the working width is 2 meters, 1.5 obtained by dividing 3 by 2 can be calculated, which means that at most 1 edge closing path can be planned under the base distance, but a land with a width of 1 meter will be wasted, but the third planned path may exceed the edge of the land, and if the distance between the working line and the edge of the land is less than 3 meters, the agricultural machinery may not be able to turn over, and the replanning can be performed by increasing the distance between the two ends of the working line and the edge of the land as small as possible. It is then possible to round 1.5 up to 2 and then take 2 working widths as the first distance, i.e. 4 meters as the first distance.
The first distance is obtained for readjusting the initial operation line so as to facilitate planning of the edge closing path in the follow-up process.
And S200, adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line.
As shown in fig. 2, the periphery of the operation line of the present embodiment has four directions, wherein the first direction and the third direction are directions toward which two ends of the operation line face, that is, a left direction and a right direction in the drawing, and are also two directions toward which the agricultural machine faces during actual operation, and the second direction and the fourth direction are side surfaces of the operation line, that is, an upper direction and a lower direction in the drawing.
In order to plan a better edge folding track, the initial operation line needs to be adjusted, it should be noted that the edge folding track is used to fill up the space occupied by the agricultural machinery when turning, and because the turning tracks are all present at the end points of the operation line, both the turning tracks are present in the first direction and the third direction, if the edge folding track is planned according to the initial operation line, even if the edge folding track is planned in the two directions, the edge folding tracks in the two directions are not connected by a path, so that enough space needs to be reserved in the fourth direction and the second direction to set the edge folding track, so that the agricultural machinery can carry out edge folding operation in a circular manner, and cannot run over the ground block which has been operated during the edge folding operation. Therefore, the length of the first distance calculated in step 100 is set aside in all four directions of the work line.
The adjusted actual working lines are shown in fig. 3, and compared to the initial working lines in fig. 2, the lengths of all the working lines are reduced, and the number of lines is correspondingly reduced.
And step S300, respectively planning edge folding paths around the actual operation line according to the turning radius and the operation width of the agricultural machinery, and planning a connecting track between the end and the edge folding paths and a connecting track between the edge folding paths by combining the end of the operation line to obtain the edge folding paths.
After the actual working line is obtained, the corresponding edge closing path can be set at the reserved position, and the edge closing path is actually also the working line, so that the edge closing paths need to be set at intervals of one working width.
The edge closing paths are sequentially generated from inside to outside, the innermost edge closing path is taken as a first row, and the second row and the third row are sequentially taken from outside to inside.
Here, the first distance between the two working widths is used for explanation, and as shown in fig. 4, the edge folding paths in the fourth direction and the second direction are sequentially generated according to the working widths, wherein the edge folding paths in the two directions are parallel to the actual working line, so that the edge folding path in the first row and the nearest working line need to be separated by one working width.
In the first direction and the third direction, the line segments formed by connecting the edge-closing paths and the end points of the actual working line are parallel, so that the distance between the first edge-closing path and the end points of the actual working line is half of the working width in the two directions, and the distance is separated by one working width from the second edge-closing path.
That is, in the first direction and the third direction, the calculation formula of the edge closing path distance between the edge closing path and the line segment formed by the end point of the actual operation line is as follows:
L=(N-0.5)K
in the formula, L is the distance of the edge closing path, N is the number of rows of the edge closing path from inside to outside, and K is the operation width.
The position of each edge-receiving path is determined, and then the length and the edge-receiving track of each edge-receiving path are further determined.
The length of each edge closing path is determined according to the turning radius of the agricultural machine, the length is determined by the end point of the edge closing path, the agricultural machine can not be matched with the turning radius easily if the length is too long because the agricultural machine can turn from the tail end of the edge closing path to the starting end of the next edge closing path, and redundant land is wasted if the length is too short. For this purpose, the end points of the edge closing paths can be determined according to the length of the actual working line.
For example, the first row of the edge narrowing path in the fourth direction has the start end and the end which are necessarily symmetrical, so that the coordinates of one end can be determined to the coordinates of the other end. When the agricultural machinery runs to the tail end, the agricultural machinery needs to turn and just turns to the first row of the edge closing path in the first direction, and the turning track does not pass through the actual working row.
Therefore, the abscissa of the end of the first row of the edge folding path in the fourth direction and the abscissa of the first row of the edge folding path in the first direction can have at least one turning radius difference. And the distance between the first row of edge folding paths and the actual working row in the first direction is half of the working width, so that when the abscissa of the tail end of the first row of edge folding paths in the fourth direction is different from the abscissa of the corresponding end point of the adjacent actual working row by the difference between the turning radius and the half of the working width, the tail end coordinate of the first row of edge folding paths in the fourth direction can be determined, and the length of the edge folding paths is determined.
The end points of the edge paths in the other directions can be determined in a similar manner. It is understood that the length of the edge closing path in the same direction may be the same or different, which may be determined according to the shape of the land. For example, when the plot is a regular quadrilateral, the edge closing path may gradually increase as the number of rows increases. Because the edge closing path is farther away from the actual working line along with the increase of the number of the rows and is less prone to overlap with the actual working line when the agricultural machine turns, the length of the edge closing path can be a little longer than that of the last edge closing path, so that more land is cultivated by the agricultural machine, and the waste of the land is reduced. If the land is a convex quadrangle, the two ends of the land are narrow, and the center of the land is wide, the edge closing path can be as long as possible, and even the number of lines is reduced along with the increase of the number of lines, so that the land can have enough space to turn during the operation of the agricultural machinery.
After the position and the end point of the edge-closing path are determined, an edge-closing track can be planned, and the specific edge-closing track is related to the working track of the agricultural machinery on the actual working line. For agricultural machinery, the agricultural machinery can work according to a working track on an actual working line, and no matter what the working track is, after the agricultural machinery finishes working, the agricultural machinery inevitably leaves the working line from one of four corner end points of the actual working line, and the end point is an ending end. The following edge closing track can be determined according to the ending end, for example, when a' is the ending end, a counterclockwise circle is needed, that is, the edge closing operation is started from the first edge closing path in the third direction, because the counterclockwise rotation only needs to be 90 degrees and the clockwise rotation needs to be 180 degrees, the turning space needed for the clockwise rotation is obviously larger. Similarly, if B' is the end, the edge closing operation is performed on the edge closing path in the first row in the first direction in the clockwise direction.
It can be understood that, how many turns of the edge folding path are moved in one direction, the agricultural machine needs to travel for many turns to carry out the edge folding operation, and after one turn of the agricultural machine is traveled, the agricultural machine needs to be switched to the next edge folding path to carry out the next turn of the operation. That is, when B' is the end, after the trimming operation is started on the trimming route in the first row in the first direction, the vehicle has completed one turn, and the trimming operation is started in the second row in the first direction.
After the direction is determined, the starting point of the corresponding path needs to be determined, for the agricultural machinery, the agricultural machinery needs to turn from the end to the edge folding path, the radian of the turn is related to the turning radius, the starting point on the corresponding edge folding path needs to be calculated according to the turning radius, and after the starting point is obtained, a connecting track which is exactly the connecting track which the agricultural machinery can drive from the end to the corresponding edge folding path can be planned, wherein the starting point can be the starting end of the edge folding path or not according to different plans of the connecting track.
Specifically, let the coordinates of the ending end be B' (X, Y) because of the starting point P (X) 0 ,Y 0 ) On the first row edge closing path in the first direction, X is known 0 Is the sum of X and half the job width. Y is 0 Then the half of the turn according to the agricultural machinery is neededThe radius R is calculated and also influenced by the job width, so Y 0 Is Y minus a certain adjustment value a.
Wherein the value of a is between 0.5R and 2R.
Similarly, if the coordinate of the ending end is D', Y of the starting point P 0 Is the sum of Y and a working width, X 0 May follow a similar Y as described above with the coordinate of the ending point being B 0 To calculate. When the other two corners are end ends, the calculation method is similar to the above method, and is not described herein again.
After the coordinates of the starting point P are obtained, a connection trajectory can be planned according to the two coordinates of the ending end and the starting point, so that the agricultural machine can reach the edge closing path from the ending end as smoothly as possible.
After entering a first edge folding path from a starting point, the agricultural machinery runs to the tail end of the edge folding path, then turns to the starting end of the next edge folding path, returns to the starting point after all the edge folding paths in the four directions run, and transfers from the starting point to the next circle.
As shown in fig. 5, a schematic diagram of transferring the trimming path is shown, where point E is the starting point, the straight line where point E is located is the first row trimming path of the first trimming path, and after the agricultural machine runs for one turn, the agricultural machine returns to point E to transfer to the second row trimming path, and therefore, a starting point F of the second trimming path needs to be calculated. And finally finishing the planning of the edge closing track.
The final edge closing track is shown in fig. 6, the edge closing track takes B' as the edge closing track planned by the ending end, and the agricultural machine can surround the land for two circles through the edge closing estimation to realize the edge closing operation of the land. After the edge is finished, the user can leave the plot to finish the whole work.
According to the agricultural machinery edge folding track planning method, the working line is further adjusted on the basis of the planned working line, so that a proper edge folding path can be generated on the working land, and then the connecting track between each edge folding path and the connecting track between two adjacent circles are planned according to the edge folding paths, and finally a complete edge folding track is formed. Not only can guarantee the land utilization rate and realize continuous work, but also is suitable for agricultural machinery with small turning radius or large turning radius, and realizes that full-automatic operation carries out reasonable route planning.
Example 2
The application also provides an agricultural machinery edge folding track planning device, as shown in fig. 7, includes:
the calculation module 10 is configured to obtain an initial operation line of a land parcel to be operated, and calculate a first distance to be reserved for edge closing trajectory planning according to an operation width and a basic distance between an end of the initial operation line and an edge of the land parcel;
the adjusting module 20 is configured to adjust the operation length of the initial operation line according to the first distance to obtain an actual operation line;
and the planning module 30 is configured to plan edge folding paths around the actual operation line according to the turning radius of the agricultural machine and the operation width, and plan a connection track between the end and the edge folding path and a connection track between the edge folding paths in combination with the end of the operation line to obtain the edge folding path.
The application also provides a computer terminal, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program executes the agricultural machinery edge closing trajectory planning method when running on the processor.
The application also provides a readable storage medium, which stores a computer program, and the computer program executes the agricultural machinery edging track planning method when running on a processor.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.

Claims (7)

1. An agricultural machinery edge folding track planning method is characterized by comprising the following steps:
acquiring an initial operation line of a land parcel to be operated, and calculating a first distance required to be reserved for planning a margin closing track according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land parcel; the basic distance is the sum of a turning radius, a mechanical distance and a preset safety distance, and the mechanical distance is half of the maximum value of the working width and the wheelbase of the agricultural machine rear axle;
calculating the first distance according to the working width and the basic distance between the initial working line end point and the edge of the land parcel comprises the following steps:
calculating the quotient of the basic distance and the operation width, and rounding up to obtain the number of edge lines;
multiplying the number of edge closing lines by the operation width to obtain the first distance;
adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line;
respectively generating edge folding paths of the edge folding line numbers from inside to outside in four directions of the actual operation line according to the operation width;
the edge folding paths of the actual operation lines in the first direction and the third direction are parallel to line segments formed by end points of the actual operation lines; the edge closing paths of the actual operation lines in the second direction and the fourth direction are parallel to the actual operation lines;
determining a steering direction when the edge folding operation is carried out and a starting point on a corresponding edge folding path according to the ending end of the actual operation line, and determining a connecting track for transferring the agricultural machinery from the ending end to a first edge folding path according to the starting point and the ending end;
and determining the edge folding sequence of each edge folding path according to the steering direction during the edge folding operation, determining a connecting track between each edge folding path in the same circle and a connecting track during switching to the next circle according to the turning radius of the agricultural machine, so as to finish the planning of the edge folding track.
2. The agricultural machinery edging track planning method according to claim 1, wherein the generation of the edging paths of the actual operation lines in the first direction and the third direction comprises:
according to a first line, dividing a line segment formed by the edge folding path and each actual operation line end point by half of the operation width, and then sequentially generating the edge folding path by taking the operation width as an interval;
the generation of the edge closing paths of the actual operation line in the second direction and the fourth direction comprises the following steps:
and sequentially generating the edge closing paths of the edge closing line numbers by taking the operation width as an interval.
3. The agricultural machinery edging track planning method according to claim 1, characterized by further comprising:
and determining the end point of each edge closing path according to the position of each vertex angle of the area where the actual operation line is located and the turning radius.
4. The agricultural machinery edging track planning method according to claim 3, wherein the lengths of the edging paths on the same side are sequentially increased from inside to outside.
5. The utility model provides an agricultural machinery edge folding track planning device which characterized in that includes:
the calculation module is used for acquiring an initial operation line of a land to be operated, and calculating a first distance to be reserved for edge closing track planning according to an operation width and a basic distance between an end point of the initial operation line and the edge of the land, wherein the basic distance is the sum of a turning radius, a mechanical distance and a preset safety distance, and the mechanical distance is half of the maximum value of the operation width and the rear axle distance of the agricultural machine; the calculating the first distance according to the operation width and the basic distance between the initial operation line end point and the land parcel edge comprises the following steps: calculating the quotient of the basic distance and the operation width, and rounding up to obtain the number of edge lines; multiplying the number of edge narrowing lines by the operation width to obtain the first distance;
the adjusting module is used for adjusting the operation length of the initial operation line according to the first distance to obtain an actual operation line;
the planning module is used for generating edge closing paths of the edge closing line numbers from inside to outside in the four directions of the actual operation lines according to the operation width; the edge closing paths of the actual operation lines in the first direction and the third direction are parallel to line segments formed by end points of the actual operation lines; the edge closing paths of the actual operation lines in the second direction and the fourth direction are parallel to the actual operation lines; determining a steering direction when the edge folding operation is carried out according to the end of the actual operation line, determining a starting point on a corresponding edge folding path, and determining a connecting track of the agricultural machine transferred from the end to a first edge folding path according to the starting point and the end; and determining the edge folding sequence of each edge folding path according to the steering direction during the edge folding operation, determining a connecting track between each edge folding path in the same circle and a connecting track during switching to the next circle according to the turning radius of the agricultural machine, so as to finish the planning of the edge folding track.
6. A computer terminal, characterized by comprising a processor and a memory, the memory storing a computer program which, when run on the processor, performs the agricultural closing trajectory planning method of any one of claims 1 to 4.
7. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the agricultural run-flat trajectory planning method of any one of claims 1 to 4.
CN202211125452.3A 2022-09-16 2022-09-16 Agricultural machinery edge folding track planning method and device, computer terminal and storage medium Active CN115200589B (en)

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