CN115617029A - Path planning method, system, equipment and storage medium for automatic operation of agricultural machinery - Google Patents
Path planning method, system, equipment and storage medium for automatic operation of agricultural machinery Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The application provides a path planning method, a system, equipment and a storage medium for automatic operation of agricultural machinery, wherein the method comprises the following steps: acquiring boundary point position data and positioning edge distance of an initial field block; determining the boundary of the target field according to the boundary point position data, the positioning edge distance and the preset safety distance of the initial field; determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned; and planning the path of the area to be planned to generate a target path track. The method and the device are beneficial to improving the safety of the path planning result, and have good universality for irregular fields.
Description
Technical Field
The present application relates to the field of agricultural machinery operation, and more particularly, to a method, a system, an electronic device, and a computer-readable storage medium for planning a path for automatic operation of an agricultural machinery.
Background
In recent years, along with the new fine and intelligent stage of agricultural production, unmanned agricultural machinery receives more and more attention due to the advantages of high efficiency, low cost, comfort and the like. In the research of the unmanned agricultural machinery, how to automatically plan the operation path according to information such as agricultural machinery vehicle parameters, field environment, operation types and the like is a key technology of the unmanned agricultural machinery. At present, most path planning researches mainly aim at the operation path planning of regular plots under different evaluation indexes and different turning modes, the safety and the high efficiency of path planning results are not concerned enough, and the operation planning researches of irregular plots are less and lack certain universality.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a path planning method, system, electronic device and computer-readable storage medium for automatic operation of agricultural machinery.
In a first aspect, the present application provides a path planning method for automatic operation of an agricultural machine, including:
acquiring boundary point position data and a positioning margin of an initial field block;
determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and planning a path of the area to be planned to generate a target path track.
In some embodiments, the positioning margin comprises a distance between the vehicle-mounted positioning device and an actual field boundary when the agricultural machine is in primary operation.
In some embodiments, the boundary point location data of the initial field piece comprises boundary point latitude and longitude data of an agricultural primary operation field piece; the determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block comprises the following steps:
converting the longitude and latitude data of the boundary points into plane projection coordinate data to obtain a closed field boundary;
carrying out sparse processing and filtering processing on the boundary points of the closed field block boundary to obtain a theoretical field block boundary;
and determining the boundary of the target field block according to the theoretical field block boundary, the positioning margin and the safe distance.
In some embodiments, before the performing the polygonization processing on the current working area based on the polygonization algorithm to obtain the area to be planned, the method further includes:
acquiring a historical operation record, and determining a historical operation area according to the historical operation record;
determining a residual field area according to the historical operation area and a preset target field boundary;
and determining the current operation area according to the residual field area.
In some embodiments, the performing polygonization processing on the current working area based on the polygonization algorithm to obtain the area to be planned includes:
determining the shortest side length of the polygonization algorithm according to preset agricultural vehicle information and operation information and taking the shortest side length as the target side length;
determining an initial vertex on the boundary of the current operation area, and performing traversal circle drawing processing on the current operation area according to the length of the target side to obtain a plurality of boundary intersection points;
and sequentially connecting the initial vertex and the boundary intersections to obtain the region to be planned.
In some embodiments, performing path planning on the area to be planned to generate a target path trajectory includes:
taking an initial polygon in a region to be planned as a first-order polygon path, translating each side inwards by a preset target distance, and calculating a multi-order polygon path in a spiral mode until the whole region to be planned is covered, so that a target path track is obtained.
In some embodiments, the target spacing includes an agricultural work width and a reserved distance.
In a second aspect, the present application provides a path planning system for automatic operation of an agricultural machine, including:
the data acquisition module is used for acquiring boundary point position data and positioning margin of the initial field;
the area determining module is used for determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
the polygonization module is used for determining a current operation area according to the boundary of the target field block and carrying out polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and the path planning module is used for planning the path of the area to be planned and generating a target path track.
In a third aspect, the present application provides an electronic device, comprising: a memory for storing a computer program; and the processing system is used for executing the computer program stored in the memory, and when the computer program is executed, the processor is used for executing the path planning method of the agricultural machinery automatic operation.
In a fourth aspect, the present application provides a computer-readable storage medium, where the storage medium includes computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method for planning a path for automatic farm machinery work.
According to the method, the boundary point position data and the positioning edge distance of the initial field are obtained, then the boundary of the target field can be determined according to the boundary point position data, the positioning edge distance and the preset safety distance of the initial field, and the set safety distance is beneficial to improving the safety of a subsequent path planning result; according to the boundary of the target field block, the current operation area can be determined, and the current operation area is subjected to polygonization processing based on a polygonization algorithm to obtain an area to be planned, so that the method has certain universality on irregular field blocks and is convenient for path planning of the field blocks which are not planned; furthermore, the path planning is carried out on the area to be planned, the target path track is generated, so that the agricultural machinery can automatically run on the regular or irregular field, and the agricultural machinery is high in applicability and good in safety.
Drawings
Fig. 1 is a flowchart of a path planning method for automatic operation of agricultural machinery in an embodiment of the present application;
FIG. 2 is a flowchart of step S102 of a path planning method for automatic operation of agricultural machinery according to an embodiment of the present application;
FIG. 3a is a schematic diagram of a local field boundary before being processed by a filtering algorithm according to an embodiment of the present application;
FIG. 3b is a schematic diagram of a local field boundary after being processed by a filtering algorithm according to an embodiment of the present application;
FIG. 4 is a flowchart of step S103 of a path planning method for automatic operation of agricultural machinery according to an embodiment of the present application;
FIG. 5a is a schematic diagram of a first-order polygon path in path planning according to an embodiment of the present application;
fig. 5b is a schematic diagram of a first extension calculation in path planning according to an embodiment of the present application;
FIG. 5c is a schematic diagram of a second extension calculation during path planning according to an embodiment of the present application;
FIG. 5d is a schematic diagram of a target path trajectory for path planning in an embodiment of the present application;
FIG. 6 is a flow chart of a path planning method for automatic operation of agricultural machinery in another embodiment of the present application;
FIG. 7 is a schematic block diagram of a path planning system for agricultural machinery automatic operation according to an embodiment of the present application;
fig. 8 is a functional block diagram of an electronic device in an embodiment of the present application.
Detailed Description
The technical solutions in the implementations of the present application will be described clearly and completely with reference to the accompanying drawings in the implementations of the present application, and it is obvious that the described implementations are only a part of the implementations of the present application, and not all implementations of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It is further noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
In this application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, e.g., A and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The terms "first," "second," "third," "fourth," and the like in the description and in the claims and drawings of the present application, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the embodiments of the present application, the words "exemplary" or "such as" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "such as" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.
Referring to fig. 1, the method for planning a path for an automatic operation of an agricultural machine provided by the present application may include the following steps:
s101, boundary point position data and positioning edge distance of the initial field are obtained.
Wherein, the initial field is the field needing the initial operation of the agricultural machine, the operation type of the agricultural machine can be the modes of ploughing, sowing or harvesting, etc., and the agricultural machine can be a tractor, a rotary cultivator, a rice transplanter or a harvester, etc.; the boundary point location data of the initial field block refers to the location data of positioning acquisition points or track points on the boundary of the initial field block; the boundary point location data of the initial field comprises boundary point longitude and latitude data of the field for primary operation of the agricultural machinery; the positioning margin comprises a distance between the vehicle-mounted positioning equipment and an actual field boundary when the agricultural machine is in primary operation, wherein the actual field boundary refers to the actual boundary of the initial field.
Specifically, when the field is subjected to primary operation, the field is driven by a manual driving agricultural machine for a circle around the field, and boundary point longitude and latitude data of the initial field are acquired by utilizing vehicle-mounted positioning equipment and stored in a field operation database.
It should be noted that the positioning margin can be determined by the horizontal distance of the vehicle-mounted positioning device relative to the edge of the agricultural vehicle body, and the horizontal distance of the edge of the agricultural vehicle body relative to the actual field boundary, wherein the edge of the agricultural vehicle body refers to the edge of the vehicle body closest to the actual field boundary.
And S102, determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block.
The safe distance refers to the shortest distance between the edge of the agricultural machine body and the boundary of the actual field.
Specifically, the longitude and latitude data of the boundary points of the initial field are converted into plane projection coordinate data through calculation, then a closed boundary is obtained according to the projection coordinate data of the time sequence, and then the positioning edge distance and the preset safety distance are considered, so that the boundary of the target field can be obtained.
Understandably, the target field boundary is retracted by a safe distance relative to the actual field boundary, so that the agricultural vehicle cannot exceed the actual field boundary in the driving process, and the safety of subsequent path planning results is improved.
S103, determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned.
Specifically, if the current field belongs to the initial operation plan, the area determined by the boundary of the target field is used as the current operation area; then, performing polygonization processing on the current operation area based on a polygonization algorithm to obtain a polygonal field area which is used as an area to be planned; the area to be planned refers to a polygonal field area for path planning.
And S104, planning a path of the area to be planned, and generating a target path track.
The target path track refers to a to-be-operated route of the agricultural vehicle.
Specifically, path planning processing is carried out on a polygonal area to be planned to obtain a path to be operated of the agricultural vehicle, so that a running path instruction is generated and sent to a controller of the agricultural vehicle; the driving path command may include information of driving direction, distance, steering point, and steering angle.
In the embodiment, boundary point location data and a positioning margin of an initial field are obtained, and then a target field boundary can be determined according to the boundary point location data, the positioning margin and a preset safety distance of the initial field, wherein the set safety distance is beneficial to improving the safety of a subsequent path planning result; then, according to the boundary of the target field block, the current operation area can be determined, and the current operation area is subjected to polygonization processing based on a polygonization algorithm to obtain an area to be planned, so that the method has certain universality on irregular field blocks and is convenient for path planning of the field blocks which are not planned; furthermore, the path planning is carried out on the area to be planned, the target path track is generated, so that the agricultural machinery can automatically run on the regular or irregular field, and the agricultural machinery is high in applicability and good in safety.
In some embodiments, referring to fig. 2, in the method for planning a path for agricultural machinery automatic operation according to the present application, the determining a boundary of a target field block according to the boundary point location data, the positioning margin and the preset safety distance of the initial field block in step S102 includes:
s201, converting the longitude and latitude data of the boundary points into plane projection coordinate data to obtain a closed field boundary.
Specifically, the longitude and latitude data of the boundary points are subjected to coordinate conversion to obtain plane projection coordinate data, and then the plane projection coordinates of the initial field boundaries are sequentially connected according to a time sequence. If the starting point and the end point are not coincident, the starting point and the end point are connected to form a closed field boundary.
S202, carrying out sparse processing and filtering processing on boundary points of the closed field boundary to obtain a theoretical field boundary.
Wherein, the theoretical field boundary refers to the field boundary after optimization processing.
Specifically, the rarefaction algorithm can be used for carrying out sparse processing on boundary points of the closed field boundary, so that the calculation amount of subsequent calculation is reduced; in this embodiment, the thinning algorithm may use the Douglas-Pock algorithm.
Further, the boundary points after the sparse processing are processed by a filtering algorithm to eliminate abnormal points generated by conditions such as backing of agricultural vehicles or positioning errors, wherein the processing of the filtering algorithm specifically comprises the following steps: constructing a grid on the boundary of the closed field block after sparse processing, so that the grid can cover all track points on the boundary of the closed field block; wherein the size of the grid depends on the size of the boundary of the closed field; further, all track points are moved to the central point of the grid where the track points are located; sequentially connecting the central points of all grids containing the track points according to the sequence of the original track points to obtain a theoretical field block boundary; shown in fig. 3a as a local field boundary before filtering and in fig. 3b as a local field boundary after filtering.
And S203, determining the boundary of the target field according to the theoretical field boundary, the positioning margin and the safety distance.
Specifically, as the acquired boundary track point of the initial field is actually the position of the agricultural machinery vehicle-mounted positioning device, when an agricultural machinery vehicle runs along the boundary of the initial field, a positioning margin exists between the vehicle-mounted positioning device and the actual field boundary, and meanwhile, the shortest distance, namely the safety distance, between the edge of the agricultural machinery vehicle body and the actual field boundary is considered to be set, the filtered theoretical field boundary is expanded outwards by a specific distance, wherein the specific distance = positioning margin-safety distance; further, the expanded theoretical field boundary is used as a target field boundary. The data of the target field boundary may be stored in the field work database.
In some embodiments, referring to fig. 4, in the path planning method for agricultural machinery automatic operation according to the present application, the step S103 of performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned includes:
s401, determining the shortest side length of a polygonization algorithm according to preset agricultural vehicle information and operation information and taking the shortest side length as a target side length; the agricultural vehicle information comprises the length, the width and the turning radius of the agricultural vehicle; the job information includes a job width and a reserved distance.
Specifically, according to the length of the agricultural vehicle, the width of the vehicle, the turning radius, the operation width and the reserved distance, the shortest side length of the polygon can be calculated through a space geometric algorithm.
S402, determining an initial vertex on the boundary of the current operation area, and performing traversal circle drawing processing on the current operation area according to the length of the target side to obtain a plurality of boundary intersection points.
Specifically, the current position point of the agricultural machine may be taken as an initial vertex, and it should be noted that the current position point of the agricultural machine is located on the boundary of the current working area. And (3) taking the initial vertex P0 as the center of a circle and the length L of the target side as the radius to make a circle, selecting all points of the circle intersected with the boundary of the current working area, starting from P0 and moving along the boundary clockwise, and taking the encountered first intersected point as the next vertex P1. And then taking the P1 as the center of a circle and the L as the radius to make a circle, and selecting the first intersection point which starts from the P1 and moves along the boundary from the clockwise direction from all the points of intersection of the circle and the boundary of the current working area as the next vertex P2. The above steps are repeated until the initial vertex P0 is traversed clockwise.
And S403, sequentially connecting the initial vertex and the plurality of boundary intersection points to obtain the region to be planned.
Specifically, P0-P1-as-Pn-1-Pn-P0 are connected in sequence to form a polygonal region to be planned, wherein n is the number of circles.
In some embodiments, in the path planning method for agricultural machinery automatic operation of the present application, the step S104 of planning a path of the area to be planned and generating a target path trajectory includes: and taking an initial polygon in the area to be planned as a first-order polygon path, translating each side inwards by a preset target distance, and calculating a multi-order polygon path in a spiral manner until the whole area to be planned is covered to obtain a target path track. The target distance comprises an agricultural machine operation width and a reserved distance, and the agricultural machine operation width refers to the longitudinal width of the agricultural machine during operation; the reserved distance is the longitudinal distance between the two paths when the agricultural machine works back and forth.
In a specific embodiment, performing path planning on an area to be planned to generate a target path trajectory specifically includes:
1. initializing path planning track points to be null: [] (ii) a
2. Sequentially putting a region P0-P1-. -Pn-1-Pn-P0 to be planned into path planning track points: [ P0, P1, P2,.., pn-1, pn ], resulting in a first-order polygon path as shown in FIG. 5 a;
3. and moving the point P0 to the Pn direction by a distance w to obtain P01, wherein the moving distance w is the target space. Further, moving the P0-P1 line segment by a distance w in the P01 direction to obtain P0'-P1', calculating a point P11 with the length of the P1-P2 line segment being w on the P0'-P1', and putting the P01 and the P11 into a path planning track point: [ P0-P1-. -Pn-1-Pn-P01-P11], as shown in FIG. 5 b;
4. moving the P1-P2 line segment by a distance w in the P11 direction to obtain P1'-P2', calculating a point P21 with the length of the distance P2-P3 line segment being w on the P1'-P2', and putting the P21 into a path planning track point: [ P0-P1-. -Pn-1-Pn-P01-P11-P21], as shown in FIG. 5 c;
5. and (4) sequentially generating path planning track points according to the step (3) and the step (4) to obtain a multi-order polygonal path until the area to be planned is covered, so as to obtain a target path track, as shown in fig. 5 d.
In some embodiments, referring to fig. 6, the method for planning a path for an agricultural machine to automatically operate according to the present application may include:
s601, obtaining a history operation record, and determining a history operation area according to the history operation record;
s602, determining a residual field area according to the historical operation area and a preset target field boundary;
s603, determining a current operation area according to the remaining field area;
s604, performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and S605, performing path planning on the area to be planned to generate a target path track.
It should be noted that the historical operation records are stored in a field operation database, and the field operation database may be arranged on an electronic device such as an upper computer or an agricultural machine controller.
Specifically, when the field operation is interrupted and then the operation is resumed, the historical operation record of the field can be imported from the field operation database, the historical operation record comprises historical operation point position data and the agricultural machinery historical operation width, and the historical operation area can be calculated by combining a space geometry algorithm. Further, the coordinate data of the target field boundary is imported from the field operation database, and the historical operation area is subtracted from the area determined by the target field boundary to obtain the remaining field area, so that the remaining field area can be used as the current operation area.
It is to be understood that step S604 may be calculated according to the specific step principle of steps S401 to S403, and step S605 may be calculated according to the specific step principle of step S104, which is not described herein again.
The embodiment can realize the interruption and continuation of agricultural production activities by storing and importing historical operation records, is more flexible, is convenient for improving the universality of path planning, and can reduce the missing plowing rate and the replanting rate.
In the embodiment, boundary point location data and a positioning margin of an initial field are obtained, and then a target field boundary can be determined according to the boundary point location data, the positioning margin and a preset safety distance of the initial field, wherein the set safety distance is beneficial to improving the safety of a subsequent path planning result; then, according to the boundary of the target field block, the current operation area can be determined, and the polygonal processing is carried out on the current operation area based on the polygonal algorithm to obtain the area to be planned, so that the method has certain universality on irregular field blocks and is convenient for path planning of the field blocks which are not planned; furthermore, the path planning is carried out on the area to be planned, the target path track is generated, so that the agricultural machinery can automatically run on the regular or irregular field, and the agricultural machinery is high in applicability and good in safety.
The embodiment also provides a path planning system for automatic operation of the agricultural machine, and the path planning system for automatic operation of the agricultural machine corresponds to the path planning method for automatic operation of the agricultural machine in the embodiment one to one. As shown in fig. 7, the path planning system for automatic operation of agricultural machinery comprises:
the data acquisition module 701 is used for acquiring boundary point position data and positioning edge distance of the initial field;
a region determining module 702, configured to determine a boundary of the target field according to the boundary point location data of the initial field, the positioning margin and a preset safety distance;
the polygonization module 703 is configured to determine a current operation area according to the boundary of the target field, and perform polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and the path planning module 704 is configured to perform path planning on the area to be planned, and generate a target path trajectory.
For specific limitations of each step of the path planning method for automatic operation of agricultural machinery, reference may be made to the above limitations of the path planning system for automatic operation of agricultural machinery, and details are not repeated here. In addition, it should be noted that all or part of the modules in the path planning system for agricultural machinery automatic operation may be implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 8, the embodiment further provides an electronic device, which may be a computing device such as a mobile terminal, a desktop computer, a notebook, a palmtop computer, and a server, and may be integrated in a control portion of an agricultural machine. The electronic device includes a processor 801, a memory 802, and a display 803. Fig. 8 shows some of the components of the electronic device, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
The memory 802 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device, in some embodiments. The memory 802 may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the electronic device. Further, the memory 802 may also include both internal storage units of the electronic device and external storage devices. The memory 802 is used for storing application software installed in the electronic device and various data, such as program codes for installing the electronic device. The memory 802 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 802 has stored thereon a computer program 804.
The processor 801 may be a Central Processing Unit (CPU), a microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 802 or Processing data, such as executing a rendering method of a tree control, and the like.
The display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. The display 803 is used to display information at the electronic device as well as to display a visual user interface. The components 801-803 of the electronic device communicate with each other via a system bus.
In an embodiment, the following steps are implemented when the processor 801 executes the computer program 804 in the memory 802:
acquiring boundary point position data and a positioning margin of an initial field block;
determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and planning a path of the area to be planned to generate a target path track.
The present embodiment also provides a computer-readable storage medium on which a path planning program for automatic agricultural machinery operation is stored, the path planning program for automatic agricultural machinery operation, when executed by a processor, implementing the steps of:
acquiring boundary point position data and a positioning margin of an initial field block;
determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and planning a path of the area to be planned to generate a target path track.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A path planning method for automatic operation of agricultural machinery is characterized by comprising the following steps:
acquiring boundary point position data and a positioning margin of an initial field block;
determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
determining a current operation area according to the boundary of the target field block, and performing polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and planning a path of the area to be planned to generate a target path track.
2. The agricultural machinery automatic operation path planning method according to claim 1, wherein the positioning edge distance comprises a distance between a vehicle-mounted positioning device and an actual field boundary when the agricultural machinery is in primary operation.
3. The agricultural machinery automatic operation path planning method according to claim 1, wherein the boundary point data of the initial field comprises boundary point longitude and latitude data of an agricultural machinery primary operation field; the determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block comprises the following steps:
converting the longitude and latitude data of the boundary points into plane projection coordinate data to obtain a closed field boundary;
carrying out sparse processing and filtering processing on the boundary points of the closed field block boundary to obtain a theoretical field block boundary;
and determining the boundary of the target field block according to the theoretical field block boundary, the positioning margin and the safe distance.
4. The method for planning the path for the automatic operation of the agricultural machinery according to claim 1, wherein before the polygonization algorithm is used for polygonizing the current operation area to obtain the area to be planned, the method further comprises:
acquiring a historical operation record, and determining a historical operation area according to the historical operation record;
determining a residual field area according to the historical operation area and a preset target field boundary;
and determining the current operation area according to the residual field area.
5. The path planning method for the automatic operation of the agricultural machinery according to claim 1 or 4, wherein the polygonization processing is performed on the current operation area based on the polygonization algorithm to obtain the area to be planned, and the method comprises the following steps:
determining the shortest side length of the polygonization algorithm according to preset agricultural vehicle information and operation information and taking the shortest side length as the target side length;
determining an initial vertex on the boundary of the current operation area, and performing traversal circle drawing processing on the current operation area according to the length of the target side to obtain a plurality of boundary intersection points;
and sequentially connecting the initial vertex and the plurality of boundary intersection points to obtain the region to be planned.
6. The path planning method for automatic operation of agricultural machinery according to claim 1, wherein the path planning is performed on the area to be planned to generate a target path trajectory, and the method comprises the following steps:
taking an initial polygon in the area to be planned as a first-order polygon path, translating each side inwards by a preset target distance, and calculating a multi-order polygon path in a spiral mode until the whole area to be planned is covered to obtain a target path track.
7. The method for path planning for agricultural automatic operation according to claim 6, wherein the target distance comprises an agricultural operation width and a reserved distance.
8. A path planning system for automatic operation of agricultural machinery is characterized by comprising:
the data acquisition module is used for acquiring boundary point position data and positioning margin of the initial field;
the area determining module is used for determining the boundary of the target field block according to the boundary point position data, the positioning margin and the preset safety distance of the initial field block;
the polygonization module is used for determining a current operation area according to the target field block boundary and carrying out polygonization processing on the current operation area based on a polygonization algorithm to obtain an area to be planned;
and the path planning module is used for planning the path of the area to be planned and generating a target path track.
9. An electronic device, comprising:
a memory for storing a computer program;
a processing system for executing the computer program stored in the memory, the processor being configured to perform the method of path planning for agricultural robotic work as defined in any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium, characterized in that the storage medium comprises computer instructions, which when run on an electronic device, cause the electronic device to execute the path planning method for agricultural automatic work according to any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210449246.1A CN115617029A (en) | 2022-04-24 | 2022-04-24 | Path planning method, system, equipment and storage medium for automatic operation of agricultural machinery |
| PCT/CN2022/129948 WO2023207022A1 (en) | 2022-04-24 | 2022-11-04 | Path planning method and system for automatic operation of agricultural machinery, and device and storage medium |
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| CN202210449246.1A CN115617029A (en) | 2022-04-24 | 2022-04-24 | Path planning method, system, equipment and storage medium for automatic operation of agricultural machinery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300976A (en) * | 2023-05-22 | 2023-06-23 | 汇智机器人科技(深圳)有限公司 | Robot multitasking operation planning method, system and application thereof |
| CN117268401A (en) * | 2023-11-16 | 2023-12-22 | 广东碧然美景观艺术有限公司 | Gardening path generation method of dynamic fence |
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| LT3518647T (en) * | 2016-09-29 | 2021-05-25 | Agro Intelligence Aps | A system and a method for determining a trajectory to be followed by an agricultural work vehicle |
| JP2018073050A (en) * | 2016-10-27 | 2018-05-10 | 株式会社クボタ | Running route creating device |
| JP6920969B2 (en) * | 2016-12-19 | 2021-08-18 | 株式会社クボタ | Travel route management system |
| CN107992078A (en) * | 2017-12-15 | 2018-05-04 | 西安天问智能科技有限公司 | A kind of autonomous paths planning method of plant protection unmanned plane |
| CN109634276B (en) * | 2018-12-13 | 2021-05-25 | 中联重科股份有限公司 | Agricultural vehicle unmanned control method and system and agricultural vehicle |
| US20210267115A1 (en) * | 2020-03-02 | 2021-09-02 | Stephen Filip Fjelstad | Guidance systems and methods |
| CN112286189B (en) * | 2020-10-22 | 2022-11-08 | 广州极飞科技股份有限公司 | Operation route planning method and device, unmanned equipment and storage medium |
| CN112985401A (en) * | 2021-02-02 | 2021-06-18 | 上海华测导航技术股份有限公司 | Headline full path planning and tracking method |
| CN113848880B (en) * | 2021-08-30 | 2023-12-22 | 中车大连电力牵引研发中心有限公司 | Agricultural machinery path optimization method based on improved Q-learning |
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2022
- 2022-04-24 CN CN202210449246.1A patent/CN115617029A/en active Pending
- 2022-11-04 WO PCT/CN2022/129948 patent/WO2023207022A1/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300976A (en) * | 2023-05-22 | 2023-06-23 | 汇智机器人科技(深圳)有限公司 | Robot multitasking operation planning method, system and application thereof |
| CN116300976B (en) * | 2023-05-22 | 2023-07-21 | 汇智机器人科技(深圳)有限公司 | Robot multitasking operation planning method, system and application thereof |
| CN117268401A (en) * | 2023-11-16 | 2023-12-22 | 广东碧然美景观艺术有限公司 | Gardening path generation method of dynamic fence |
| CN117268401B (en) * | 2023-11-16 | 2024-02-20 | 广东碧然美景观艺术有限公司 | Gardening path generation method of dynamic fence |
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