CN115290095A

CN115290095A - Agricultural machine operation path automatic planning method and system, agricultural machine and storage medium

Info

Publication number: CN115290095A
Application number: CN202211191199.1A
Authority: CN
Inventors: 李晓宇; 王铮; 陈星�
Original assignee: Shaanxi Gengchen Technology Co ltd
Current assignee: Shaanxi Gengchen Technology Co ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2022-11-04

Abstract

The invention discloses an agricultural machinery operation path automatic planning method, a system, agricultural machinery and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining boundary vertex information of a current operation area of the agricultural machine, turning radius of the agricultural machine and width of agricultural implements carried by the agricultural machine, generating a plurality of linear operation paths in the current operation area according to the width of the agricultural implements and the boundary vertex information, enabling the linear operation paths to be parallel to each other, enabling the distance between the linear operation paths to be the width of the agricultural implements, generating a plurality of curve operation paths according to the turning radius, enabling any linear operation path to be connected with another linear operation path through a certain curve operation path, enabling the radius of each curve operation path to be not smaller than the turning radius, and controlling the agricultural machine to operate along each linear operation path and each curve operation path in sequence. The intelligent agricultural machine operation path planning method can automatically plan the operation path of the agricultural machine in the unmanned driving process of the intelligent agricultural machine, and improves the operation efficiency of the intelligent agricultural machine.

Description

Agricultural machine operation path automatic planning method and system, agricultural machine and storage medium

Technical Field

The invention relates to the technical field of intelligent agricultural machinery, in particular to an automatic planning method and system for an agricultural machinery operation path, an agricultural machinery and a storage medium.

Background

Along with the development of the automatic driving technology of the agricultural machinery, the automatic driving intelligent agricultural machinery is adopted to harvest the crops in the agricultural harvesting or farming period in many areas at present in order to improve the harvesting efficiency, and compared with the traditional manual harvesting, the intelligent agricultural machinery not only greatly reduces the labor cost, but also correspondingly improves the harvesting efficiency.

However, when the agricultural machinery is in a reciprocating type automatic driving process and turns around through operation, a large-area non-operation area is often formed at the turning part and the center of a land due to the limited turning radius of the agricultural machinery, at present, repeated operation is usually carried out for many times or harvesting work is continued after reversing to avoid the existence of the non-operation area, but the repeated operation affects the operation efficiency of the agricultural machinery and increases the energy consumption of the agricultural machinery, in the process of continuing harvesting work after reversing, the agricultural machinery needs to undergo multiple processes of speed reduction, stable stopping, reversing, speed reduction, stable stopping and continuous operation, and multiple times of reversing is often needed in one cultivated land, so that the automatic operation efficiency of the agricultural machinery is reduced, and the farming and harvesting efficiency in busy seasons is affected.

Therefore, an automatic planning method for an agricultural machine operation path is needed at present, the operation path of the agricultural machine is automatically planned in the intelligent agricultural machine unmanned driving process, the phenomenon that the agricultural machine cannot normally turn due to limited turning radius in the agricultural machine turning process is avoided, the agricultural machine can operate on all operation areas without backing up in the agricultural machine unmanned driving process, and the operation efficiency of the intelligent agricultural machine is improved.

Disclosure of Invention

In order to solve the technical problem that the efficiency or the quality of automatic operation of the agricultural machine is reduced due to the limited turning radius in the automatic driving process of the agricultural machine, the invention provides an automatic planning method and system for an operation path of the agricultural machine, the agricultural machine and a storage medium, and the specific technical scheme is as follows:

the invention provides an automatic planning method for an agricultural machinery operation path, which comprises the following steps:

obtaining boundary vertex information of a current operation area of an agricultural machine, turning radius of the agricultural machine and agricultural implement width of agricultural implements carried by the agricultural machine;

generating a plurality of linear operation paths in the current operation area according to the width of the farm tool and the boundary vertex information, wherein the linear operation paths are parallel to each other and the distance between the linear operation paths is the width of the farm tool;

generating a plurality of curve operation paths according to the turning radius, so that any one straight line operation path is connected with another straight line operation path through a certain curve operation path, and the radius of each curve operation path is not smaller than the turning radius;

and controlling the agricultural machine to work along each linear working path and each curve working path in sequence.

According to the agricultural machine operation path automatic planning method provided by the invention, the straight line operation path and the curve operation path of the agricultural machine are planned in advance according to the boundary vertex information, the turning radius and the agricultural implement width of the operation area, and the radius of the curve operation path is not smaller than the turning radius in the process of planning the curve operation path, so that the situation that the agricultural machine has an unoperated area in the turning process and needs to carry out repeated operation for many times is avoided, and meanwhile, the agricultural machine does not need to back the vehicle before turning and then turn the vehicle, so that the operation energy consumption of the agricultural machine is reduced, and the operation efficiency of the agricultural machine is improved.

In some embodiments, the generating a plurality of curved working paths according to the turning radius specifically includes:

selecting a target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes, wherein each grouping scheme corresponds to each turning radius one to one, the grouping scheme is used for dividing all the straight line operation paths into a plurality of operation groups, each operation group comprises a preset number of the straight line operation paths and a preset number of the curve operation paths, and the paths of the straight line operation paths and the curve operation paths in each operation group and the shortest path for the agricultural machinery to travel through all the straight line operation paths in the operation group;

and generating a plurality of curve operation paths according to the target grouping scheme.

The agricultural machinery operation path automatic planning method provided by the invention has the advantages that the grouping schemes corresponding to the turning radii one by one are preset, the corresponding curve paths are stored in each grouping scheme, and when the agricultural machinery operates according to the curve paths and the straight line operation paths stored in each grouping scheme, the operation requirement of an operation area is realized through the shortest path, the agricultural machinery can directly determine the operation path of the agricultural machinery in the operation area according to the turning radii of the agricultural machinery, the operation efficiency of the agricultural machinery is improved, the time for planning the operation path is reduced, and the requirement of the agricultural machinery on the operation capacity of hardware equipment is reduced.

In some embodiments, the selecting the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes specifically includes:

when the turning radius is not larger than the width of the farm implement, selecting a first grouping scheme from a plurality of preset grouping schemes as the target grouping scheme, wherein the first grouping scheme is used for dividing all the linear operation paths into a plurality of first operation groups, and each first operation group comprises five linear operation paths and five curve operation paths;

the five linear operation paths in each first operation grouping are a first linear operation path, a second linear operation path, a third linear operation path, a fourth linear operation path and a fifth linear operation path in sequence along a fixed direction, and the five curved operation paths in each first operation grouping comprise a first curved operation path, a second curved operation path, a third curved operation path, a fourth curved operation path and a fifth curved operation path;

the first curved working path in each first working group is connected between the same side end points of the first straight working path and the third straight working path, the second curved working path is connected between the same side end points of the third straight working path and the fifth straight working path, the third curved working path is connected between the same side end points of the fifth straight working path and the second straight working path, the fourth curved working path is connected between the same side end points of the second straight working path and the fourth straight working path, and the fifth curved working path is connected between the fourth straight working path and the same side end point of the first straight working path in the next first working group.

The invention provides an automatic planning method for agricultural machinery operation paths, which discloses a scheme for planning paths in an operation area when the turning radius is not more than the width of an agricultural implement, so that the shortest operation path of the agricultural machinery is directly planned according to the scheme under the condition that the turning radius of the agricultural machinery is not more than the width of the agricultural implement, and the planning efficiency of the agricultural machinery operation paths is greatly improved.

In some embodiments, the selecting a target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes specifically further includes:

when the turning radius is larger than the width of the farm tool but not larger than twice the width of the farm tool, selecting a second grouping scheme from a plurality of preset grouping schemes as the target grouping scheme, wherein the second grouping scheme is used for dividing all the linear operation paths into a plurality of second operation groups, and each second operation group comprises seven linear operation paths and seven curved operation paths;

the seven linear working paths in each second work grouping are a sixth linear working path, a seventh linear working path, an eighth linear working path, a ninth linear working path, a tenth linear working path, an eleventh linear working path and a twelfth linear working path in sequence along a fixed direction, and the seven curved working paths in each second work grouping comprise a sixth curved working path, a seventh curved working path, an eighth curved working path, a ninth curved working path, a tenth curved working path, an eleventh curved working path and a twelfth curved working path;

the sixth curved work path in each of the second work consists is connected between the same side end points of the sixth straight work path and the ninth straight work path, the seventh curved work path is connected between the same side end points of the ninth straight work path and the twelfth straight work path, the eighth curved work path is connected between the same side end points of the twelfth straight work path and the eighth straight work path, the ninth curved work path is connected between the same side end points of the eighth straight work path and the eleventh straight work path, the tenth curved work path is connected between the same side end points of the eleventh straight work path and the seventh straight work path, the eleventh curved work path is connected between the same side end points of the seventh straight work path and the tenth straight work path, and the twelfth curved work path is connected between the tenth straight work path and the same side end points of the sixth straight work path in the next second work consist.

The invention provides an automatic planning method for agricultural machinery operation paths, which discloses a scheme for planning paths in an operation area when a turning radius is larger than the width of an agricultural implement but not larger than twice the width of the agricultural implement, so that the shortest operation path of the agricultural machinery is directly planned according to the scheme under the condition that the turning radius of the agricultural machinery is larger than the width of the agricultural implement but not larger than twice the width of the agricultural implement, and the planning efficiency of the agricultural machinery operation paths is greatly improved.

In some embodiments, the selecting the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes specifically further includes:

when the turning radius is larger than two times of the width of the farm tool but not larger than three times of the width of the farm tool, selecting a third grouping scheme from a plurality of preset grouping schemes as the target grouping scheme, wherein the third grouping scheme is used for dividing all the linear operation paths into a plurality of third operation groups, and each third operation group comprises nine linear operation paths and nine curved operation paths;

the nine linear working paths in each third working grouping are a thirteenth linear working path, a fourteenth linear working path, a fifteenth linear working path, a sixteenth linear working path, a seventeenth linear working path, an eighteenth linear working path, a nineteenth linear working path, a twentieth linear working path and a twenty-first linear working path in sequence along a fixed direction, and the nine curved working paths in each third working grouping comprise a thirteenth curved working path, a fourteenth curved working path, a fifteenth curved working path, a sixteenth curved working path, a seventeenth curved working path, an eighteenth curved working path, a nineteenth curved working path, a twentieth curved working path and a twenty-first curved working path;

in each of the third work groups, the thirteenth curved work path is connected between the same side end points of the thirteenth straight work path and the seventeenth straight work path, the fourteenth curved work path is connected between the same side end points of the seventeenth straight work path and the twenty first straight work path, the fifteenth curved work path is connected between the same side end points of the twenty first straight work path and the sixteenth straight work path, the sixteenth curved work path is connected between the same side end points of the sixteenth straight work path and the twentieth straight work path, the seventeenth curved work path is connected between the same side end points of the twentieth straight work path and the fifteenth straight work path, the eighteenth curved work path is connected between the same side end points of the fifteenth straight work path and the nineteenth straight work path, the nineteenth curved work path is connected between the same side end points of the nineteenth straight work path and the fourteenth straight work path, the twentieth curved work path is connected between the same side end points of the fourteenth straight work path and the eighteenth straight work path, and the eighteenth straight work path is connected between the same side end points of the twenty third straight work path.

The invention provides an automatic planning method for agricultural machinery operation paths, which discloses a scheme for planning paths in an operation area when the turning radius is more than two times of the width of agricultural implements but not more than three times of the width of agricultural implements, so that the shortest operation path planning of agricultural machinery is directly carried out according to the scheme under the condition that the turning radius of agricultural machinery is more than two times of the width of agricultural implements but not more than three times of the width of agricultural implements, and the planning efficiency of the agricultural machinery operation paths is greatly improved.

In some embodiments, after selecting the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes, before generating a plurality of curved working paths according to the target grouping scheme, the method further includes:

after all the straight line operation paths are divided into a plurality of operation groups according to the target grouping scheme, when the rest of the straight line operation paths which are less than the preset number cannot form a complete operation group, the rest of the straight line operation paths are coded into the last operation group in the target grouping scheme;

according to the number of the linear operation paths in the last operation grouping after the rest of the linear operation paths are grouped, a target last operation grouping scheme is selected from a plurality of preset last operation grouping schemes corresponding to the grouping scheme, each last operation grouping scheme corresponds to the number of the linear operation paths one by one, and each last operation grouping scheme comprises a plurality of preset curve operation paths.

The method for automatically planning the agricultural machinery operation path provided by the invention can be used for editing the residual linear operation paths into the last operation marshalling in the target grouping scheme when the residual linear operation paths with the quantity less than the preset quantity can not form the complete operation marshalling, so that the influence of the residual linear operation paths which can not form the complete operation marshalling on the planning scheme in the operation path planning process is avoided, and meanwhile, the plurality of last operation marshalling schemes are preset according to the quantity of the residual linear operation paths, so that the shortest operation path planning of the agricultural machinery can be directly carried out according to the last operation marshalling scheme in the agricultural machinery operation path planning process, and the agricultural machinery operation path planning efficiency is greatly improved.

In some embodiments, after selecting the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes, and before generating a plurality of curved working paths according to the target grouping scheme, the method further includes:

after all the straight line operation paths are divided into a plurality of first operation groups according to the first grouping scheme, when the remaining straight line operation paths cannot form a complete first operation group, the remaining straight line operation paths are grouped into the last first operation group in the first grouping scheme;

when six straight line operation paths exist in the last first operation grouping, a first last operation grouping scheme is selected, wherein the six straight line operation paths in the first last operation grouping scheme are a twenty-second straight line operation path, a twenty-third straight line operation path, a twenty-fourth straight line operation path, a twenty-fifth straight line operation path, a twenty-sixth straight line operation path and a twenty-seventh straight line operation path in sequence along a fixed direction, and the five curve operation paths in the first last operation grouping scheme comprise a twenty-second curve operation path, a twenty-third curve operation path, a twenty-fourth curve operation path, a twenty-fifth curve operation path and a twenty-sixth curve operation path;

the twenty-second curved working path is connected between the same-side end points of the twenty-second and twenty-fourth linear working paths, the twenty-third curved working path is connected between the same-side end points of the twenty-fourth and twenty-sixth linear working paths, the twenty-fourth curved working path is connected between the same-side end points of the twenty-sixth and twenty-third linear working paths, the twenty-fifth curved working path is connected between the same-side end points of the twenty-third and twenty-fifth linear working paths, and the twenty-sixth curved working path is connected between the same-side end points of the twenty-fifth and twenty-seventh linear working paths.

The invention provides an automatic planning method for agricultural machinery operation paths, which particularly discloses a scheme for planning paths in an operation area when six straight line operation paths exist in a last operation marshalling, so that the shortest operation path of agricultural machinery can be directly planned according to the scheme under the condition that six straight line operation paths exist in the last operation marshalling, and the planning efficiency of the agricultural machinery operation paths is greatly improved.

In some embodiments, the generating a plurality of curved operation paths according to the target grouping scheme specifically further includes:

acquiring path points of each curve operation path in the target grouping scheme, and taking the rest path points except the first path point and the last path point in each curve operation path as target path points;

calculating an ideal path between the previous path point and the next path point by a Dubins curve algorithm according to the previous path point, the next path point, the direction angle of the agricultural machine at the previous path point, the direction angle of the agricultural machine at the next path point and the turning radius of each target path point in the same curve working path;

and taking the ideal path between the path points in the same curve working path as the curve working path.

In some embodiments, the agricultural machine comprises a GNSS positioning device, a steering control device, an angle sensor, and a control processor;

the GNSS positioning device is used for acquiring the current position positioning information of the agricultural machinery;

the angle sensor is used for acquiring the current direction angle of the agricultural machine;

the steering control device is used for steering control over the agricultural machine;

the control processor is respectively connected with the GNSS positioning device, the steering control device and the angle sensor and is used for controlling the agricultural machinery to sequentially carry out operation along each linear operation path and each curve operation path according to the current position positioning information and the current direction angle.

In some embodiments, according to another aspect of the present invention, the present invention also provides an automatic planning system for an agricultural machinery working path, comprising:

the agricultural machinery working area control device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring boundary vertex information of a current working area of an agricultural machinery, turning radius of the agricultural machinery and agricultural implement width of agricultural implements carried by the agricultural machinery;

the first generation module is connected with the acquisition module and used for generating a plurality of linear operation paths in the current operation area according to the width of the farm tool and the boundary vertex information, wherein the linear operation paths are parallel to each other and the distance between the linear operation paths is the width of the farm tool;

the second generation module is connected with the acquisition module and used for generating a plurality of curve operation paths according to the turning radius, so that any one straight line operation path is connected with another straight line operation path through a certain curve operation path, and the radius of each curve operation path is not smaller than the turning radius;

and the control module is respectively connected with the first generation module and the second generation module and is used for controlling the agricultural machinery to sequentially operate along each linear operation path and each curve operation path.

In some embodiments, according to another aspect of the present invention, the present invention further provides an intelligent agricultural machine, which includes a processor, a memory and a computer program stored in the memory and operable on the processor, and the processor is configured to execute the computer program stored in the memory to implement the operations performed by the agricultural machine operation path automatic planning method.

In some embodiments, according to another aspect of the present invention, the present invention further provides a storage medium, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the agricultural machinery working path automatic planning method.

The agricultural machinery operation path automatic planning method, the agricultural machinery operation path automatic planning system, the agricultural machinery and the storage medium provided by the invention at least comprise the following technical effects:

(1) By planning a straight line operation path and a curve operation path of the agricultural machine in advance according to boundary vertex information, turning radius and agricultural implement width of an operation area and enabling the radius of the curve operation path to be not smaller than the turning radius in the process of planning the curve operation path, the situation that the agricultural machine needs to carry out repeated operation for many times in an unoperated area in the turning process is avoided, and meanwhile, the agricultural machine does not need to back a car before turning and then turn the curve is avoided, so that the operation energy consumption of the agricultural machine is reduced, and the operation efficiency of the agricultural machine is improved;

(2) The method comprises the steps that a grouping scheme corresponding to turning radii one by one is preset, a plurality of corresponding curve paths are stored in each grouping scheme, and when the agricultural machine works according to the curve paths and the straight line working paths stored in each grouping scheme, the working requirement of a working area is realized through the shortest path, the agricultural machine can directly determine the working path of the agricultural machine in the working area according to the turning radii of the agricultural machine, the working efficiency of the agricultural machine is improved, meanwhile, the time for planning the working path is reduced, and the requirement of the agricultural machine on the computing capacity of hardware equipment is reduced;

(3) The scheme for planning the path in the operation area under the condition of different turning radii is disclosed, so that the shortest operation path of the agricultural machine is directly planned according to the scheme when the turning radius of the agricultural machine is changed, and the operation path planning efficiency of the agricultural machine is greatly improved;

(4) When the plurality of remaining straight line operation paths which are less than the preset number cannot form the complete operation marshalling, the plurality of remaining straight line operation paths are marshalled into the last operation marshalling in the target grouping scheme, so that the influence of the remaining straight line operation paths which cannot form the complete operation marshalling on the planning scheme in the operation path planning process is avoided, and meanwhile, according to the number of the remaining straight line operation paths, the plurality of last operation marshalling schemes are preset, so that the shortest operation path planning of the agricultural machinery can be directly performed according to the last operation marshalling scheme in the agricultural machinery operation path planning process, and the agricultural machinery operation path planning efficiency is greatly improved;

(5) The scheme is that when six straight-line operation paths exist in the last operation marshalling, path planning is carried out in an operation area, under the condition that six straight-line operation paths exist in the last operation marshalling, the shortest operation path planning of the agricultural machine is directly carried out according to the scheme, and the planning efficiency of the operation path of the agricultural machine is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a flow chart of an automatic planning method for agricultural machinery operation path according to the present invention;

FIG. 2 is a flow chart of a curved operation path generated in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 3 is another flow chart of the method for automatically planning the operation path of the agricultural machinery according to the present invention;

FIG. 4 is a flow chart of a curved operation path generated when the turning radius is not greater than the width of the agricultural implement in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 5 is a diagram illustrating an exemplary curved operation path when the turning radius is not greater than the width of the agricultural implement in the method for automatically planning the operation path of the agricultural machine according to the present invention;

FIG. 6 is a flow chart of a curved operation path generated when the turning radius is larger than the width of the farm implement but not larger than twice the width of the farm implement in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 7 is a diagram illustrating an exemplary curved operation path when the turning radius is greater than the width of the farm implement but not greater than twice the width of the farm implement in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 8 is a flow chart of a curved operation path generated when the turning radius is greater than two times of the width of the agricultural implement but not greater than three times of the width of the agricultural implement in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 9 is a diagram illustrating an exemplary curved working path with a turning radius greater than two times the width of the farm implement but not greater than three times the width of the farm implement in the method for automatically planning a working path of an agricultural machine according to the present invention;

fig. 10 is a flowchart of generating a curved operation path according to a target grouping scheme in the method for automatically planning an operation path of an agricultural machine according to the present invention;

FIG. 11 is a schematic diagram of an automatic planning system for agricultural machinery operation path according to the present invention;

FIG. 12 is a schematic view of an intelligent agricultural machine according to the present invention.

Reference numbers in the figures: the system comprises an acquisition module-10, a first generation module-20, a second generation module-30, a control module-40, an intelligent agricultural machine-100, a processor-110, a memory-120 and a computer program-121.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. Moreover, in an effort to provide a concise understanding of the drawings, components having the same structure or function may be shown in some of the drawings in a single schematic representation or may be labeled in multiple representations. In this document, "a" means not only "only one of this but also a case of" more than one ".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, without inventive effort, other drawings and embodiments can be derived from them.

One embodiment of the present invention, as shown in fig. 1, provides an automatic planning method for agricultural machinery operation path, comprising the steps of:

s100, boundary vertex information of a current operation area of the agricultural machine, turning radius of the agricultural machine and width of the agricultural machine carrying the agricultural machine are obtained.

Specifically, the agricultural machinery can be controlled to run along the boundary of the current operation area before formal operation of the agricultural machinery, boundary tracks are obtained according to a positioning device on the agricultural machinery, boundary vertex information of the current operation area is obtained in a manual marking or outermost peripheral coordinate identification mode, the turning radius of the agricultural machinery and the width of an agricultural implement carried by the agricultural machinery are obtained through manual input according to hardware parameters of the agricultural machinery, the turning radius of the agricultural machinery refers to the radius of the shortest turning curve when the agricultural machinery turns 180 degrees, and the scheme can be applied to various operations such as agricultural machinery cultivation, harvesting, paddy field beating, rice transplanting and the like according to the type of the agricultural implement carried by the agricultural machinery.

S200, a plurality of linear operation paths are generated in the current operation area according to the width of the farm tool and the boundary vertex information.

Specifically, in a normal case, when the current working area is a rectangle, a plurality of straight working paths parallel to one side of the rectangle are generated in the current working area, the agricultural machine starts from one end of the edge straight working path during working and runs along the straight working path, and when running to the other end of the straight working path, the agricultural machine moves to the same side end of the straight working path which is not worked, and continues to run along the current straight working path until the whole area in the current working area is worked.

In the process of generating a plurality of linear operation paths in the current operation area, the distance between all the linear operation paths is set to be the width of the farm implement, so that the condition that an unessential operation area exists when the distance between all the linear operation paths is larger than the width of the farm implement can be avoided, meanwhile, the condition that an unessential operation path is increased when the distance between all the linear operation paths is smaller than the width of the farm implement can be avoided, and the condition that the whole-course operation path is shortest after the agricultural machine runs along the current linear operation path can be ensured.

S300, generating a plurality of curve working paths according to the turning radius.

Specifically, in the process of generating the curved operation path, it is required to meet the requirement that any straight operation path passes through a certain curved operation path and is connected with another straight operation path, the agricultural machine starts from one end of the current straight operation path, when the agricultural machine runs to the other end of the current straight operation path along the current straight operation path, the agricultural machine moves to the same side end of the straight operation path which is not operated through the curved operation path, the condition that the radius of each curved operation path is not smaller than the turning radius is met in the process of generating the curved operation path, and the condition that the planned curved operation path is smaller than the turning radius in the turning process of the agricultural machine so that the agricultural machine needs to be backed up before turning is avoided.

S400, controlling the agricultural machinery to work along each linear working path and each curve working path in sequence.

Specifically, the agricultural machine is controlled to start from one end of the edge straight line operation path during operation, travel along the straight line operation path, move to the same side end of the straight line operation path which is not operated through the curve operation path when traveling to the other end of the straight line operation path, and continue to travel along the current straight line operation path until the operation is completed in the whole operation area.

According to the automatic planning method for the agricultural machinery operation path, the straight line operation path and the curve operation path of the agricultural machinery are planned in advance according to the boundary vertex information, the turning radius and the agricultural implement width of the operation area, the radius of the curve operation path is not smaller than the turning radius in the process of planning the curve operation path, the situation that the agricultural machinery has an area without operation in the turning process and needs repeated operation for many times is avoided, meanwhile, the agricultural machinery does not need to turn after backing up the vehicle before turning, the energy consumption of agricultural machinery operation is reduced, and the operation efficiency of the agricultural machinery is improved.

In one embodiment, in the process of acquiring the boundary vertex information of the current operating area of the agricultural machine, the turning radius of the agricultural machine, and the width of the agricultural implement carried by the agricultural machine in step S100, after acquiring the boundary trajectory, the boundary trajectory may be inwardly reduced by a safety distance according to a preset safety distance to obtain a safety boundary trajectory, and then the boundary vertex information of the safety boundary trajectory is acquired as the boundary vertex information of the current operating area by manual labeling or outermost coordinate recognition.

In one embodiment, as shown in fig. 2, the step S300 generates a plurality of curved working paths according to the turning radius, specifically including:

s310, selecting a target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes.

Specifically, a plurality of grouping schemes are preset, each grouping scheme corresponds to one agricultural machinery turning radius, for example, when the agricultural machinery turning radius is A, the grouping scheme corresponds to A, and when the agricultural machinery turning radius is B, the grouping scheme corresponds to B.

In the process of executing the grouping scheme, the agricultural machine divides all the linear operation paths in the current operation area into a plurality of operation groups, each operation group comprises a preset number of linear operation paths and a preset number of curve operation paths, for example, in the grouping scheme a, all the linear operation paths in the current operation area are divided into a plurality of operation groups, each operation group comprises five linear operation paths and five curve operation paths, and the five curve operation paths are connected between the five linear operation paths in the current operation group and the first linear operation path in the next operation group.

Further, when planning the grouping scheme in advance, the paths of the straight line operation path and the curve operation path in each operation grouping and the shortest path for the agricultural machinery to travel through all the straight line operation paths in the operation grouping are met.

S340, generating a plurality of curve operation paths according to the target grouping scheme.

The method for automatically planning the operation path of the agricultural machine provided by the embodiment stores a plurality of corresponding curve paths in each grouping scheme through the preset grouping scheme corresponding to the turning radius one to one, and when the agricultural machine operates according to the plurality of curve paths and straight line operation paths stored in each grouping scheme, the operation requirement of an operation area is realized through the shortest path, the operation path of the agricultural machine in the operation area can be directly determined by the agricultural machine according to the turning radius of the agricultural machine, the operation efficiency of the agricultural machine is improved, the time for planning the operation path is reduced, and the requirement of the agricultural machine on the operation capacity of hardware equipment is reduced.

In one embodiment, as shown in fig. 3, after the step S310 selects the target grouping scheme corresponding to the turning radius from the plurality of preset grouping schemes, before the step S340 generates the plurality of curved working paths according to the target grouping scheme, the method further includes the steps of:

and S320, after all the straight line operation paths are divided into a plurality of operation marshalling according to the target grouping scheme, when the rest of the straight line operation paths which are less than the preset number cannot form complete operation marshalling, the rest of the straight line operation paths are compiled into the last operation marshalling in the target grouping scheme.

Illustratively, after all the straight-line job paths are divided into five job groupings according to the target grouping scheme, each job grouping comprising five straight-line job paths and five curved-line job paths, the remaining two straight-line job paths cannot constitute a complete job grouping, and the remaining two straight-line job paths are grouped into the last fifth job grouping of the target grouping scheme, wherein the last fifth job grouping comprises seven straight-line job paths.

S330, according to the number of the linear operation paths in the last operation grouping after the rest linear operation paths are compiled, a target last operation grouping scheme is selected from a plurality of preset last operation grouping schemes corresponding to the grouping scheme.

Specifically, each grouping scheme corresponds to a plurality of last job grouping schemes, and when each job grouping in the grouping scheme includes N straight line job paths and N curved line job paths, the grouping scheme corresponds to N-1 last job grouping schemes, for example, each job grouping in the grouping scheme a includes five straight line job paths and five curved line job paths, and then the grouping scheme a corresponds to four last job grouping schemes.

Each last job grouping scheme is in one-to-one correspondence with the number of straight line job paths, for example, a last job grouping scheme a corresponds to 6 of the number of straight line job paths, a last job grouping scheme b corresponds to 7 of the number of straight line job paths, and the like, each last job grouping scheme comprises a plurality of preset curve job paths, and when each last job grouping scheme is planned, the paths of the straight line job paths and the curve job paths in each last job grouping scheme and the shortest path for the agricultural machinery to travel through all the straight line job paths in the last job grouping scheme are met.

According to the automatic agricultural machinery operation path planning method provided by the embodiment, when the plurality of remaining straight line operation paths with the quantity less than the preset quantity cannot form the complete operation marshalling, the plurality of remaining straight line operation paths are compiled into the last operation marshalling in the target grouping scheme, so that the influence of the remaining straight line operation paths which cannot form the complete operation marshalling on the planning scheme in the operation path planning process is avoided, and meanwhile, the plurality of last operation marshalling schemes are preset according to the quantity of the remaining straight line operation paths, so that the shortest operation path planning of the agricultural machinery can be directly performed according to the last operation marshalling scheme in the agricultural machinery operation path planning process, and the agricultural machinery operation path planning efficiency is greatly improved.

In one embodiment, as shown in fig. 4 and 5, the step S300 generates a plurality of curved work paths according to the turning radius, and specifically includes:

s311, when the turning radius is not larger than the width of the farm tool, selecting a first grouping scheme from a plurality of preset grouping schemes as a target grouping scheme.

Specifically, the first grouping scheme is configured to divide all the straight line working paths into a plurality of first working groupings, each of the first working groupings includes five straight line working paths and five curved line working paths, the five straight line working paths in each of the first working groupings are, in order along a fixed direction, a first straight line working path, a second straight line working path, a third straight line working path, a fourth straight line working path and a fifth straight line working path, wherein the fixed direction may be set from right to left in a display screen and may be set from east to west in a latitude and longitude coordinate system, and the direction is used only as a description of the first straight line working path, the second straight line working path, the third straight line working path, the fourth straight line working path and the fifth straight line working path and does not include practical significance.

The five curved operation paths in each first operation grouping comprise a first curved operation path, a second curved operation path, a third curved operation path, a fourth curved operation path and a fifth curved operation path, the first curved operation path in each first operation grouping is connected between the end points on the same side of the first straight operation path and the third straight operation path, the second curved operation path is connected between the end points on the same side of the third straight operation path and the fifth straight operation path, the third curved operation path is connected between the end points on the same side of the fifth straight operation path and the second straight operation path, the fourth curved operation path is connected between the end points on the same side of the second straight operation path and the fourth straight operation path, and the fifth curved operation path is connected between the fourth straight operation path and the end point on the same side of the first straight operation path in the next first operation grouping.

S322, after dividing all the straight line job paths into a plurality of first job marshalling according to the first grouping scheme, when the remaining two straight line job paths cannot form a complete first job marshalling, the remaining straight line job paths are marshalled into the last first job marshalling in the first grouping scheme.

S332 selects the second last job grouping scheme when there are seven straight job paths in the last first job grouping.

Specifically, the seventh straight-line working path in the second last work grouping scheme is a twenty-eighth straight-line working path, a twenty-ninth straight-line working path, a thirty-eighth straight-line working path, a thirty-eleventh straight-line working path, a thirty-second straight-line working path, a thirty-third straight-line working path and a thirty-fourth straight-line working path in sequence along the fixed direction, and the sixth curved working path in the second last work grouping scheme comprises a twenty-seventh curved working path, a twenty-eighth curved working path, a twenty-ninth curved working path, a thirty-eleventh curved working path and a thirty-second curved working path.

The twenty-seventh curve operation path is connected between the same side end points of the twenty-eighth straight line operation path and the thirty-second straight line operation path, the twenty-eighth curve operation path is connected between the same side end points of the thirty-eighth straight line operation path and the thirty-second straight line operation path, the twenty-ninth curve operation path is connected between the same side end points of the thirty-second straight line operation path and the thirty-fourth straight line operation path, the thirty-fourth curve operation path is connected between the same side end points of the thirty-fourth straight line operation path and the twenty-ninth straight line operation path, the thirty-eleventh curve operation path is connected between the same side end points of the twenty-ninth straight line operation path and the thirty-eleventh straight line operation path, and after the agricultural machine finishes the thirty-third straight line operation path, the operation of all the land blocks in the current operation area is judged to be finished.

In fig. 5, all the straight line work paths in the current work area are divided into five first work groups, each of the first four first work groups from right to left includes five straight line work paths and five curved line work paths, the five straight line work paths in the first four first work groups from right to left sequentially include a first straight line work path, a second straight line work path, a third straight line work path, a fourth straight line work path and a fifth straight line work path, the last first work group includes seven straight line work paths and six curved line work paths, and the seven straight line work paths in the last first work group sequentially include a twenty-eighth straight line work path, a twenty-ninth straight line work path, a thirty-fourth straight line work path, a thirty-second straight line work path, a thirty-third straight line work path and a thirty-fourth straight line work path from right to left.

In one embodiment, after the step S311 selects the first grouping scheme from the plurality of preset grouping schemes as the target grouping scheme when the turning radius is not greater than the width of the farm implement, and before the step S340 generates the plurality of curved working paths according to the target grouping scheme, the method further includes the steps of:

s321 groups the remaining straight-line job paths into a last first job grouping in the first grouping scheme when the remaining straight-line job paths cannot form a complete first job grouping after all the straight-line job paths are divided into a plurality of first job groupings according to the first grouping scheme.

S331 selects a first last job grouping scheme when a straight line job path exists in a last first job grouping.

Specifically, the sixth straight-line working path in the first last-level working grouping scheme is a twenty-second straight-line working path, a twenty-third straight-line working path, a twenty-fourth straight-line working path, a twenty-fifth straight-line working path, a twenty-sixth straight-line working path and a twenty-seventh straight-line working path in sequence along the fixed direction, and the five curved working paths in the first last-level working grouping scheme include a twenty-second curved working path, a twenty-third curved working path, a twenty-fourth curved working path, a twenty-fifth curved working path and a twenty-sixth curved working path.

The twenty-second curve operation path is connected between the same-side end points of the twenty-second straight line operation path and the twenty-fourth straight line operation path, the twenty-third curve operation path is connected between the same-side end points of the twenty-fourth straight line operation path and the twenty-sixth straight line operation path, the twenty-fourth curve operation path is connected between the same-side end points of the twenty-sixth straight line operation path and the twenty-third straight line operation path, the twenty-fifth curve operation path is connected between the same-side end points of the twenty-third straight line operation path and the twenty-fifth straight line operation path, the twenty-sixth curve operation path is connected between the same-side end points of the twenty-fifth straight line operation path and the twenty-seventh straight line operation path, and after the twenty-seventh straight line operation path is completed by the agricultural machinery, it is judged that all the land blocks in the current operation area have completed operation.

Similarly, after all the linear operation paths are divided into a plurality of operation groups according to the first grouping scheme, the situations that the remaining three or four linear operation paths cannot form a complete first operation group are not listed one by one, and a plurality of curve operation paths in the last first operation group are planned by referring to the last operation grouping scheme in the above embodiment so as to meet the path of the linear operation path and the curve operation path in the last operation grouping scheme and the shortest path for the agricultural machinery to run through all the linear operation paths in the last operation grouping scheme.

The method for automatically planning the operation path of the agricultural machine, which is provided by the embodiment, discloses a scheme for planning the path in an operation area when the turning radius is not more than the width of the agricultural implement, so that the shortest operation path of the agricultural machine can be directly planned according to the scheme under the condition that the turning radius of the agricultural machine is not more than the width of the agricultural implement, and the planning efficiency of the operation path of the agricultural machine is greatly improved.

In one embodiment, as shown in fig. 6 and 7, the step S300 generates a plurality of curved working paths according to the turning radius, and specifically further includes:

s312, when the turning radius is larger than the width of the farm implement but not larger than twice the width of the farm implement, selecting a second grouping scheme from a plurality of preset grouping schemes as a target grouping scheme.

Specifically, the second grouping scheme is used to divide all the straight-line work paths into a plurality of second work groups, each of which includes seven straight-line work paths and seven curved-line work paths, and the seven straight-line work paths in each of the second work groups are, in order along a fixed direction, a sixth straight-line work path, a seventh straight-line work path, an eighth straight-line work path, a ninth straight-line work path, a tenth straight-line work path, an eleventh straight-line work path, and a twelfth straight-line work path, wherein the fixed direction may be set from right to left in a display screen, and may be set from east to west in a latitude and longitude coordinate system, and the direction serves only as descriptions of the sixth straight-line work path, the seventh straight-line work path, the eighth straight-line work path, the ninth straight-line work path, the tenth straight-line work path, the eleventh straight-line work path, and the twelfth straight-line work path, and does not include practical meanings.

The seventh curved working path in each second working group comprises a sixth curved working path, a seventh curved working path, an eighth curved working path, a ninth curved working path, a tenth curved working path, an eleventh curved working path and a twelfth curved working path, the sixth curved working path in each second working group is connected between the end points on the same side of the sixth straight working path and the ninth straight working path, the seventh curved working path is connected between the end points on the same side of the ninth straight working path and the twelfth straight working path, the eighth curved working path is connected between the end points on the same side of the twelfth straight working path and the eighth straight working path, the ninth curved working path is connected between the end points on the same side of the eighth straight working path and the eleventh straight working path, the tenth curved working path is connected between the end points on the same side of the eleventh straight working path and the seventh straight working path, the eleventh curved working path is connected between the end points on the same side of the seventh straight working path and the tenth straight working path, and the twelfth curved working path is connected between the end points on the same side of the sixth straight working path in the tenth straight working path and the next second working group.

S323 divides all the straight-line work paths into a plurality of second work groups according to the second grouping scheme, and when the remaining six straight-line work paths cannot form a complete second work group, groups the remaining straight-line work paths into the last second work group in the second grouping scheme.

S333 selects a third last job grouping plan when thirteen straight job paths exist in the last second job grouping.

Specifically, thirteen linear operation paths in the third last operation grouping scheme are a thirty-fifth linear operation path to a forty-seventh linear operation path in sequence along the fixed direction, and twelve curved operation paths in the third last operation grouping scheme include a thirty-third curved operation path to a forty-fourth curved operation path.

Wherein the thirty-third curved work path is connected between the same side end points of the thirty-fifth and thirty-eighth straight work paths, the thirty-fourth curved work path is connected between the same side end points of the thirty-eighth and forty-seventh straight work paths, the thirty-fifth curved work path is connected between the same side end points of the forty-fourth and forty-fourth straight work paths, the thirty-sixth curved work path is connected between the same side end points of the forty-fourth and forty-seventh straight work paths, the thirty-seventh curved work path is connected between the same side end points of the forty-seventh and thirty-seventh straight work paths, the thirty-eighth curved work path is connected between the same side end points of the thirty-seventh and forty-fourth straight work paths, the thirty-ninth curved work path is connected between the same side end points of the forty-fourth and forty-third straight work paths, the forty-fourth curved work path is connected between the same side end points of the forty-third and forty-sixth straight work paths, the forty-first curved work path is connected between the same side end points of the forty-sixth and forty-sixth straight work paths, the forty-ninth curved work path is connected between the same side end points of the thirty-fifth and forty-ninth straight work paths, the thirty-ninth straight work path is connected between the same side end points of the thirty-fifth straight work path and the thirty-fifth straight work path, the thirty-sixth work path is connected between the same side end points of the thirty-ninth straight work path and the thirty-fifth straight work path, the thirty-sixth straight work path and the thirty-ninth straight work path, and judging that all the plots in the current operation area are finished with operation.

In fig. 7, all the linear operation paths in the current operation area are divided into three second operation groups, each of the first two second operation groups from right to left includes seven linear operation paths and seven curved operation paths, the seven linear operation paths in the first second operation group from right to left sequentially include a sixth linear operation path, a seventh linear operation path, an eighth linear operation path, a ninth linear operation path, a tenth linear operation path, an eleventh linear operation path and a twelfth linear operation path, the last second operation group includes thirteen linear operation paths and twelve curved operation paths, and the seven linear operation paths in the last first operation group from right to left sequentially include thirty-fifth linear operation paths to forty-seventh curved operation paths.

Similarly, after all the linear operation paths are divided into a plurality of operation groups according to the second grouping scheme, the situations that the remaining one, two, three, four, five and six linear operation paths cannot form a complete second operation group are not listed one by one, and a plurality of curve operation paths in the last second operation group are planned by referring to the last operation grouping scheme in the above embodiment, so that the paths of the linear operation paths and the curve operation paths in the last operation grouping scheme and the shortest path for the agricultural machinery to travel through all the linear operation paths in the last operation grouping scheme are met.

The method for automatically planning the agricultural machinery operation path provided by the embodiment discloses a scheme for planning the path in an operation area when the turning radius is larger than the width of an agricultural implement but not larger than twice of the width of the agricultural implement, so that the shortest operation path of the agricultural machinery is directly planned according to the scheme under the condition that the turning radius of the agricultural machinery is larger than the width of the agricultural implement but not larger than twice of the width of the agricultural implement, and the planning efficiency of the operation path of the agricultural machinery is greatly improved.

In one embodiment, as shown in fig. 8 and 9, the step S300 generates a plurality of curved working paths according to the turning radius, and specifically further includes:

s313, when the turning radius is larger than two times of the width of the farm implement but not larger than three times of the width of the farm implement, selecting a third grouping scheme from a plurality of preset grouping schemes as a target grouping scheme.

Specifically, the third grouping scheme is used to divide all the linear operation paths into a plurality of third operation groups, and nine linear operation paths in each third operation group are a thirteenth linear operation path, a fourteenth linear operation path, a fifteenth linear operation path, a sixteenth linear operation path, a seventeenth linear operation path, an eighteenth linear operation path, a nineteenth linear operation path, a twentieth linear operation path and a twenty-first linear operation path in sequence along a fixed direction, wherein the fixed direction may be set from right to left in the display screen, and may be set from east to west in a latitude and longitude coordinate system, and the direction is only used as a description of the thirteenth linear operation path, the fourteenth linear operation path, the fifteenth linear operation path, the sixteenth linear operation path, the seventeenth linear operation path, the eighteenth linear operation path, the nineteenth linear operation path, the twentieth linear operation path and the twenty-first linear operation path, and does not include practical significance.

The nineteenth curved work path in each third work group comprises a thirteenth curved work path, a fourteenth curved work path, a fifteenth curved work path, a sixteenth curved work path, a seventeenth curved work path, an eighteenth curved work path, a nineteenth curved work path, a twentieth curved work path and a twenty-first curved work path, the thirteenth curved work path in each third work group is connected between the endpoints on the same side of the thirteenth straight work path and the seventeenth straight work path, the fourteenth curved work path is connected between the endpoints on the same side of the seventeenth straight work path and the twenty-first straight work path, the fifteenth curved work path is connected between the endpoints on the same side of the twenty-first straight work path and the sixteenth straight work path, the sixteenth curved work path is connected between the endpoints on the same side of the sixteenth straight work path and the twenty-first straight work path, the seventeenth curved work path is connected between the endpoints on the same side of the twenty-first straight work path and the fifteenth straight work path, the eighteenth curved work path is connected between the endpoints on the same side of the fifteenth straight work path and the nineteenth straight work path, the eighteenth straight work path is connected between the endpoints on the twenty-second straight work path, and the eighteenth straight work path.

S324, after dividing all the straight-line job paths into a plurality of third job marshalls according to the third grouping scheme, when the remaining straight-line job paths cannot form a complete third job marshalling, marshalling the remaining straight-line job paths into the last third job marshalls in the third grouping scheme.

S334, when there are ten straight-line job paths in the last third job grouping, select the fourth last job grouping scheme.

Specifically, the ten straight-line working paths in the fourth last work grouping scheme are sequentially from a forty-eighth straight-line working path to a fifty-seventh straight-line working path in the fixed direction, and the nine curved working paths in the fourth last work grouping scheme include a forty-fifth curved working path to a fifty-third curved working path.

Wherein a forty-fifth curved work path is connected between the same side end points of the forty-eighth and fifty-second straight work paths, a forty-sixth curved work path is connected between the same side end points of the fifty-second and fifty-sixth straight work paths, a forty-seventh curved work path is connected between the same side end points of the fifty-sixth and fifty-fifth straight work paths, a forty-eighth curved work path is connected between the same side end points of the fifty-fifth and fifty-fifth straight work paths, a forty-ninth curved work path is connected between the same side end points of the fifty-fifth and fifty-fifth straight work paths, a fifty-fifth curved work path is connected between the same side end points of the fifty-fifth and fifty-fourth straight work paths, a fifty-first curved work path is connected between the same side end points of the fourth and forty-ninth straight work paths, a second curved work path is connected between the same side end points of the forty-ninth and fifty-third straight work paths, a fifty-third curved work path is connected between the same side end points of the third and seventeenth straight work paths, and it is judged that all of the work paths within the current work area.

Similarly, after dividing all the straight line operation paths into a plurality of operation groups according to the third grouping scheme, the situations that the remaining one, two, three, four, five, six, seven and eight straight line operation paths cannot form a complete third operation group are not listed one by one, and a plurality of curve operation paths in the last second operation group are planned according to the last operation grouping scheme in the embodiment so as to meet the requirements of paths of the straight line operation paths and the curve operation paths in the last operation grouping scheme and the shortest path for the agricultural machinery to run through all the straight line operation paths in the last operation grouping scheme.

In fig. 9, all the linear job paths in the current job area are divided into two third job groups, each third job group from right to left includes nine linear job paths and nine curved job paths, and the nine linear job paths in each third job group are, from right to left, a thirteenth linear job path, a fourteenth linear job path, a fifteenth linear job path, a sixteenth linear job path, a seventeenth linear job path, an eighteenth linear job path, a nineteenth linear job path, a twentieth linear job path and a twenty-first linear job path in sequence.

The method for automatically planning the agricultural machinery operation path provided by the embodiment discloses a scheme for planning the path in an operation area when the turning radius is more than two times of the width of the agricultural implement but not more than three times of the width of the agricultural implement, so that the shortest operation path of the agricultural machinery is directly planned according to the scheme under the condition that the turning radius of the agricultural machinery is more than two times of the width of the agricultural implement but not more than three times of the width of the agricultural implement, and the planning efficiency of the operation path of the agricultural machinery is greatly improved.

In one embodiment, as shown in fig. 10, the step S340 generates a plurality of curved job paths according to the target grouping scheme, specifically including:

s341 obtains path points of each curved operation path in the target grouping scheme, and takes the remaining path points except the first path point and the last path point in each curved operation path as target path points.

S342 calculates an ideal path between the previous path point and the next path point by a Dubins curve algorithm according to the previous path point and the next path point of each target path point in the same curve operation path, the direction angle of the agricultural machine at the previous path point, the direction angle of the agricultural machine at the next path point, and the turning radius.

S343 sets an ideal path between the path points in the same curved work path as the curved work path.

Specifically, a set of path points of each curved work path in the target grouping scheme is acquired

Taking the rest path points except the first path point and the last path point in each curve operation path as target path points

The path point before this point is

The latter waypoint is

Memory for recording

To

In an azimuth of

Record of

To

In an azimuth of

According to

、

、

、

And calculating the steering radius R of the agricultural machine by using a Dubins curve algorithm

Walk to

With the body facing in a direction from

Turn to

Set of ideal path points, noted

Will be

From the collection

While removing the collection

Insert into collections

Is/are as follows

And with

In between. To the collection

Each target path point except the first and last points

Executing the above steps to obtain a set

And is marked as the curved operation path.

According to the automatic planning method for the agricultural machine operation path, the operation paths of all curves in the current operation area are planned through the Dubins curve algorithm, so that the agricultural machine can complete steering through the shortest path, and the operation efficiency of the agricultural machine is improved.

In one embodiment, an agricultural machine includes a GNSS positioning device, a steering control device, an angle sensor and a control processor,

the GNSS positioning device is used for obtaining the current position positioning information of the agricultural machinery.

The GNSS positioning device mounted on the agricultural machinery comprises a GNSS antenna mounted on the roof of the agricultural machinery and a GNSS receiver arranged in the control processor or arranged externally, wherein the GNSS antenna is connected with the GNSS receiver through a cable and used for receiving satellite signals and transmitting the signals to the GNSS receiver, and the GNSS receiver can receive signals of a plurality of satellite systems and perform high-precision positioning or orientation and simultaneously transmit positioning orientation information to the control processor.

The angle sensor is used for acquiring the current direction angle of the agricultural machine, can be installed on a driving rotating shaft of the agricultural machine by adopting a contact angle sensor or installed on a chassis of the agricultural machine by adopting a non-contact angle sensor, is connected with the control processor by a cable and is used for calculating the rotation angle value of the driving rotating shaft of the agricultural machine and feeding the rotation angle value back to the control processor for closed-loop control.

The steering control device is used for steering control of the agricultural machine, a steering wheel motor mounted on a steering shaft of the agricultural machine or an electromagnetic hydraulic valve mounted in a steering power-assisted mechanism of the agricultural machine can be adopted, and the steering control device is connected to the control processor through a cable and used for receiving a control signal and controlling a steering system of the agricultural machine.

And the control processor is respectively connected with the GNSS positioning device, the steering control device and the angle sensor and is used for controlling the agricultural machinery to sequentially operate along each linear operation path and each curved operation path according to the current position positioning information and the current direction angle.

The agricultural machine further comprises a display terminal, the display terminal can be installed in a cab of the agricultural machine and used for displaying a current operation area and path planning in the current operation area, the display terminal can be connected with the mobile terminal and synchronously transmits information displayed by the display terminal to the mobile terminal, and therefore a user of the agricultural machine can obtain the current path planning information of the agricultural machine in real time through the mobile terminal in the unmanned driving process.

In one embodiment, as shown in fig. 11, according to another aspect of the present invention, the present invention further provides an automatic planning system for an agricultural machinery working path, which includes an acquisition module 10, a first generation module 20, a second generation module 30 and a control module 40.

The obtaining module 10 is configured to obtain boundary vertex information of a current operation area of the agricultural machine, a turning radius of the agricultural machine, and a width of the agricultural machine carrying the agricultural machine.

Specifically, before formal operation of the agricultural machine, the agricultural machine is controlled to run along the boundary of the current operation area, the boundary track is obtained according to a positioning device on the agricultural machine, the boundary vertex information of the current operation area is obtained in a manual marking or outermost peripheral coordinate identification mode, the turning radius of the agricultural machine and the width of an agricultural implement of the agricultural machine carrying the agricultural implement are obtained through manual input according to hardware parameters of the agricultural machine, the turning radius of the agricultural machine refers to the radius of the shortest turning curve when the agricultural machine turns 180 degrees, and the scheme can be applied to various operations such as agricultural machine cultivation, harvesting, paddy field beating and transplanting according to the type of the agricultural implement carrying the agricultural implement.

The first generation module 20 is connected to the acquisition module 10, and is configured to generate a plurality of linear operation paths in the current operation area according to the width of the farm implement and the information of the boundary vertex.

In the process of generating a plurality of linear operation paths in the current operation area, the distance between the linear operation paths is set to be the width of the farm tool, so that the condition that the distance between the linear operation paths is larger than the width of the farm tool, an unessential operation path is arranged, and the condition that the distance between the linear operation paths is smaller than the width of the farm tool, is avoided, so that the shortest whole operation path after the farm machine runs along the current linear operation path is ensured.

The second generating module 30 is connected to the obtaining module 10, and is configured to generate a plurality of curved working paths according to the turning radius.

The control module 40 is respectively connected with the first generating module 20 and the second generating module 30, and is used for controlling the agricultural machine to work along each linear working path and each curved working path in sequence.

According to the automatic planning system for the agricultural machinery operation path, the straight line operation path and the curve operation path of the agricultural machinery are planned in advance according to the boundary vertex information, the turning radius and the agricultural implement width of the operation area, the radius of the curve operation path is not smaller than the turning radius in the process of planning the curve operation path, the situation that the agricultural machinery has an area without operation in the turning process and needs repeated operation for many times is avoided, meanwhile, the agricultural machinery does not need to back the vehicle before turning and then turns the vehicle, the operation energy consumption of the agricultural machinery is reduced, and the operation efficiency of the agricultural machinery is improved.

In one embodiment, as shown in fig. 12, the present invention further provides an intelligent agricultural machine 100, which includes a processor 110, a memory 120, wherein the memory 120 is used for storing a computer program 121; the processor 110 is configured to execute the computer program 121 stored in the memory 120 to implement the method for automatically planning the working path of the farm machine in the above-described corresponding method embodiment.

In one embodiment, the present invention further provides a storage medium, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed in the above embodiments of the agricultural machinery work path automatic planning method, for example, the storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and so on.

In the foregoing embodiments, the descriptions of the respective embodiments have their respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed agricultural machinery operation path automatic planning method, system, agricultural machinery and storage medium may be implemented in other ways. For example, the above-described embodiments of methods, systems, agricultural machines and storage media for automatically planning agricultural machine operation paths are merely illustrative, and for example, the modules or units may be divided into only one logical function, and may be actually implemented in another way, for example, multiple units or modules may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the communication links shown or discussed may be through interfaces, devices or units, or integrated circuits, and may be electrical, mechanical or other forms.

It should be noted that the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be regarded as the protection scope of the present invention.

Claims

1. An automatic planning method for an agricultural machinery operation path is characterized by comprising the following steps:

2. The method for automatically planning the agricultural machinery operation path according to claim 1, wherein the step of generating a plurality of curved operation paths according to the turning radius specifically comprises:

3. The method according to claim 2, wherein the selecting of the target grouping scheme corresponding to the turning radius from the plurality of preset grouping schemes specifically comprises:

the five linear operation paths in each first operation marshalling are a first linear operation path, a second linear operation path, a third linear operation path, a fourth linear operation path and a fifth linear operation path in sequence along a fixed direction, and the five curved operation paths in each first operation marshalling comprise a first curved operation path, a second curved operation path, a third curved operation path, a fourth curved operation path and a fifth curved operation path;

4. The method according to claim 2, wherein the selecting of the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes specifically comprises:

when the turning radius is larger than the width of the agricultural implement but not larger than two times of the width of the agricultural implement, selecting a second grouping scheme from a plurality of preset grouping schemes as the target grouping scheme, wherein the second grouping scheme is used for dividing all the linear operation paths into a plurality of second operation groups, and each second operation group comprises seven linear operation paths and seven curved operation paths;

the seven linear working paths in each second working grouping are a sixth linear working path, a seventh linear working path, an eighth linear working path, a ninth linear working path, a tenth linear working path, an eleventh linear working path and a twelfth linear working path in sequence along a fixed direction, and the seven curved working paths in each second working grouping comprise a sixth curved working path, a seventh curved working path, an eighth curved working path, a ninth curved working path, a tenth curved working path, an eleventh curved working path and a twelfth curved working path;

the sixth curved work path in each of the second work consists is connected between the same side end points of the sixth and ninth straight work paths, the seventh curved work path is connected between the same side end points of the ninth and twelfth straight work paths, the eighth curved work path is connected between the same side end points of the twelfth and eighth straight work paths, the ninth curved work path is connected between the same side end points of the eighth and eleventh straight work paths, the tenth curved work path is connected between the same side end points of the eleventh and seventh straight work paths, the eleventh curved work path is connected between the same side end points of the seventh and tenth straight work paths, and the twelfth curved work path is connected between the same side end points of the sixth straight work path in the tenth work consist and the next one.

5. The method for automatically planning an agricultural machinery operation path according to claim 2, wherein the target grouping scheme corresponding to the turning radius is selected from a plurality of preset grouping schemes, and specifically comprises:

when the turning radius is larger than two times of the width of the farm implement but not larger than three times of the width of the farm implement, selecting a third grouping scheme from a plurality of preset grouping schemes as the target grouping scheme, wherein the third grouping scheme is used for dividing all the linear operation paths into a plurality of third operation groups, and each third operation group comprises nine linear operation paths and nine curved operation paths;

in each of said third work consists of said thirteenth curved work path connected between the same side end points of said thirteenth straight work path and said seventeenth straight work path, said fourteenth curved work path connected between the same side end points of said seventeenth straight work path and said twenty first straight work path, said fifteenth curved work path connected between the same side end points of said twenty first straight work path and said sixteenth straight work path, said sixteenth curved work path connected between the same side end points of said sixteenth straight work path and said twentieth straight work path, said seventeenth curved work path connected between the same side end points of said twentieth straight work path and said fifteenth straight work path, said eighteenth curved work path connected between the same side end points of said fifteenth straight work path and said nineteenth straight work path, said nineteenth curved work path connected between the same side end points of said nineteenth straight work path and said fourteenth straight work path, said twentieth curved work path connected between the same side end points of said fourteenth straight work path and said eighteenth straight work path, said twenty-fourth curved work path connected between the same side end points of said thirteenth straight work path and said twenty third straight work group connected between said eighteenth straight work path.

6. The method according to any one of claims 2 to 5, wherein after selecting the target grouping scheme corresponding to the turning radius from a plurality of preset grouping schemes, and before generating a plurality of curved working paths according to the target grouping scheme, the method further comprises:

after all the linear operation paths are divided into a plurality of operation groups according to the target grouping scheme, when a plurality of residual linear operation paths which are less than the preset number cannot form a complete operation group, the residual linear operation paths are grouped into the last operation group in the target grouping scheme;

according to the number of the linear operation paths in the last operation grouping after the rest of the linear operation paths are compiled, a target last operation grouping scheme is selected from a plurality of preset last operation grouping schemes corresponding to the grouping scheme, each last operation grouping scheme corresponds to the number of the linear operation paths one by one, each last operation grouping scheme comprises a plurality of preset curve operation paths, and the path of the linear operation path and the path of the curve operation path in each last operation grouping scheme and the shortest path of all the linear operation paths passing through the last operation grouping scheme for the agricultural machinery to run.

7. The method according to claim 3, wherein after selecting the target grouping scheme corresponding to the turning radius from the plurality of preset grouping schemes and before generating the plurality of curved working paths according to the target grouping scheme, the method further comprises:

when six straight-line operation paths exist in the last first operation marshalling, selecting a first last operation marshalling scheme, wherein the six straight-line operation paths in the first last operation marshalling scheme sequentially comprise a twenty-second straight-line operation path, a twenty-third straight-line operation path, a twenty-fourth straight-line operation path, a twenty-fifth straight-line operation path, a twenty-sixth straight-line operation path and a twenty-seventh straight-line operation path along a fixed direction, and the five curve operation paths in the first last operation marshalling scheme comprise a twenty-second curve operation path, a twenty-third curve operation path, a twenty-fourth curve operation path, a twenty-fifth curve operation path and a twenty-sixth curve operation path;

8. The method for automatically planning an agricultural machinery operation path according to claim 2, wherein the generating of the plurality of curved operation paths according to the target grouping scheme specifically further comprises:

9. The method for automatically planning the operation path of the agricultural machine according to claim 1,

the agricultural machinery comprises a GNSS positioning device, a steering control device, an angle sensor and a control processor;

10. An agricultural machinery operation path automatic planning system, characterized by includes:

the agricultural machinery working area control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring boundary vertex information of a current working area of an agricultural machinery, turning radius of the agricultural machinery and width of an agricultural implement of the agricultural machinery carrying the agricultural implement;

the first generation module is connected with the acquisition module and used for generating a plurality of linear operation paths in the current operation area according to the agricultural implement width and the boundary vertex information, wherein the linear operation paths are parallel to each other and the distance between the linear operation paths is the agricultural implement width;

the second generation module is connected with the acquisition module and used for generating a plurality of curve operation paths according to the turning radius, so that any one straight line operation path passes through a certain curve operation path and is connected with another straight line operation path, and the radius of each curve operation path is not smaller than the turning radius;

and the control module is respectively connected with the first generation module and the second generation module and is used for controlling the agricultural machinery to sequentially carry out operation along each linear operation path and each curve operation path.

11. An intelligent agricultural machine, comprising a processor, a memory and a computer program stored in the memory and operable on the processor, wherein the processor is configured to execute the computer program stored in the memory to perform the operations performed by the method for automatically planning agricultural machine working path according to any one of claims 1 to 9.

12. A storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the operation performed by the method for automatically planning work path of agricultural machinery according to any one of claims 1 to 9.